mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
4ae40567ed
- old way (based on ins_vectornav) is not supported anymore - directly send sensor data and receive commands with a dedicated link - examples with USB link for better results - update sphinx documentation - compilation in a single build
295 lines
12 KiB
XML
295 lines
12 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!--
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AggieAir Blujayujay
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-->
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<airframe name="Bl">
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<firmware name="fixedwing">
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<target name="ap" board="lisa_mx_2.1">
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<module name="radio_control" type="sbus">
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<configure name="SBUS_PORT" value="UART5"/>
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</module>
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<configure name="HAS_LUFTBOOT" value="1"/>
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<configure name="FLASH_MODE" value="DFU"/>
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</target>
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<!-- NOTE: if you want to use extra_dl module for HITL
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you have to set TELEMETRY_FREQUENCY to CONTROL_FREQUENCY -->
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<configure name="PERIODIC_FREQUENCY" value="100"/>
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<define name="CONTROL_FREQUENCY" value="100"/>
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<configure name="TELEMETRY_FREQUENCY" value="100"/>
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<define name="SERVO_HZ" value="100"/>
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<target name="nps" board="pc">
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<module name="fdm" type="jsbsim"/>
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<module name="radio_control" type="spektrum"/>
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</target>
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<module name="control"/>
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<module name="navigation"/>
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<module name="telemetry" type="transparent">
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<configure name="MODEM_PORT" value="UART3"/>
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<configure name="MODEM_BAUD" value="B57600"/>
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</module>
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<module name="ins" type="vectornav">
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<configure name="VN_PORT" value="UART2"/>
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<configure name="VN_BAUD" value="B230400"/>
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</module>
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<define name="AGR_CLIMB" />
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<define name="POLY_OSAM_HALF_SWEEP_ENABLED" value="FALSE"/>
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<define name="GEOFENCE_DATALINK_LOST_TIME" value="45"/>
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<module name="nav" type="line"/>
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<module name="nav" type="flower"/>
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<module name="nav" type="survey_poly_osam"/>
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<module name="nav" type="launcher"/>
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<module name="nav" type="skid_landing"/>
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<module name="sys_mon"/>
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<module name="copilot"/>
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<module name="extra_dl">
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<!-- in order to use uart1 without chibios we need to remap the peripheral-->
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<define name="REMAP_UART1" value="TRUE"/>
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<configure name="EXTRA_DL_PORT" value="UART1"/>
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<configure name="EXTRA_DL_BAUD" value="B921600"/>
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</module>
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<!--module name="lidar_sf11">
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<configure name="LIDAR_SF11_I2C_DEV" value="i2c2"/>
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</module-->
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<module name="battery_monitor.xml">
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<define name="BATMON_REV4" value="1"/>
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<define name="BATMON_CURRENT_OFFSET" value="-120"/>
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<define name="BATMON_CURRENT_SENSITIVITY" value="25.6"/>
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<define name="BATMON_TEMP_OFFSET" value="250"/>
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<define name="BATMON_TEMP_SENSITIVITY" value="10"/>
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</module>
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</firmware>
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<!-- commands section -->
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<!-- Servo Configuration -->
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<servos>
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<servo name="FLAP" no="0" min="2000" neutral="900" max="900"/>
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<servo name="AILERON_RIGHT" no="1" min="900" neutral="1500" max="2100"/>
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<servo name="AILERON_LEFT" no="2" min="2100" neutral="1500" max="900"/>
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<servo name="ELEVATOR" no="3" min="2100" neutral="1500" max="900"/>
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<servo name="RUDDER" no="4" min="900" neutral="1500" max="2100"/>
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<servo name="THROTTLE" no="5" min="1100" neutral="1100" max="1900"/>
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</servos>
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<!-- Servo Command Structure -->
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<commands>
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<axis name="THROTTLE" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="FLAP" failsafe_value="0"/>
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</commands>
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<!-- RC Command Structure -->
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<rc_commands>
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<set command="THROTTLE" value="@THROTTLE"/>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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<set command="YAW" value="@YAW"/>
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<set command="FLAP" value="@FLAP"/>
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</rc_commands>
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<!-- Define RC commands to Servo in Auto Mode -->
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<auto_rc_commands>
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<set command="YAW" value="@YAW"/>
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<set command="FLAP" value="@FLAP"/>
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</auto_rc_commands>
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<!-- Define Mixing Parameters -->
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<section name="MIXER">
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<define name="AILERON_AILERON_RATE" value="0.9"/>
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<define name="ELEV_ELEV_RATE" value="0.8"/>
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</section>
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<!-- Define RC commands to Servos in Manual -->
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<command_laws>
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<let var="aileron" value="@ROLL * AILERON_AILERON_RATE"/>
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<let var="elevator" value="@PITCH * ELEV_ELEV_RATE"/>
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<set servo="THROTTLE" value="@THROTTLE"/>
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<set servo="AILERON_RIGHT" value="$aileron"/> <!--flip signs if necessary -->
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<set servo="AILERON_LEFT" value=" - $aileron"/>
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<set servo="ELEVATOR" value="$elevator"/>
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<set servo="RUDDER" value="@YAW"/>
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<set servo="FLAP" value="@FLAP"/>
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</command_laws>
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<!-- Define Max Roll and Pitch setpoints in Auto1 -->
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="0.7"/>
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<define name="MAX_PITCH" value="0.6"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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<!-- Dummy Mag values for NPS -
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replace with your own calibration -->
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<define name="MAG_X_NEUTRAL" value="0"/>
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<define name="MAG_Y_NEUTRAL" value="0"/>
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<define name="MAG_Z_NEUTRAL" value="0"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="16." unit="m/s"/> <!-- GCS only -->
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<define name="CARROT" value="5." unit="s"/> <!-- GCS only -->
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="200."/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<define name="POWER_CTL_BAT_NOMINAL" value="23.2" unit="volt"/>
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="0.136"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="3."/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.40"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.20"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.70"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.05" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.142"/>
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<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
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<!-- auto pitch inner loop -->
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<define name="AUTO_PITCH_PGAIN" value="0.1"/>
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<define name="AUTO_PITCH_IGAIN" value="0.025"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="0.31415" unit="rad"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="-0.31415" unit="rad"/>
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<!--New Landing V_CTL_loop -->
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<define name="LANDING_THROTTLE_PGAIN" value="600"/>
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<define name="LANDING_THROTTLE_IGAIN" value="30"/>
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<define name="LANDING_THROTTLE_MAX" value="0.60" unit="%"/>
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<define name="LANDING_DESIRED_SPEED" value="18.00" unit="(m/s)"/>
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<define name="LANDING_PITCH_PGAIN" value="0.3"/>
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<define name="LANDING_PITCH_IGAIN" value="0.0130"/>
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<define name="LANDING_PITCH_LIMITS" value="0.2000" unit="rad"/>
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<define name="LANDING_PITCH_FLARE" value="0.15000" unit="rad"/>
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<define name="LANDING_ALT_THROTTLE_KILL" value="6" unit="m"/>
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<define name="LANDING_ALT_FLARE" value="3" unit="m"/>
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<define name="USE_LIDAR" value="TRUE"/>
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</section>
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="1.33"/>
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<define name="COURSE_DGAIN" value="0."/>
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<define name="ROLL_MAX_SETPOINT" value="0.575959" unit="rad"/>
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<define name="PITCH_MAX_SETPOINT" value="0.35" unit="rad"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.2" unit="rad"/>
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<define name="PITCH_PGAIN" value="12900."/>
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<!-- ORIGINAL GAIN-->
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<define name="PITCH_DGAIN" value="1.5"/>
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<!-- SIMULATOR GAIN
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<define name="PITCH_DGAIN" value="151.5"/>
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-->
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<define name="ELEVATOR_OF_ROLL" value="1250"/>
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<define name="ROLL_ATTITUDE_GAIN" value="9000"/>
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<define name="ROLL_RATE_GAIN" value="1600"/>
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<define name="ROLL_SLEW" value="0.1"/>
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<define name="ELE_IGAIN" value="0."/>
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</section>
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<section name="AGGRESSIVE" prefix="AGR_">
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<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
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<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
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<define name="CLIMB_THROTTLE" value="0.75"/><!-- Gaz for Aggressive Climb -->
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<define name="CLIMB_PITCH" value="0.13"/><!-- Pitch for Aggressive Climb -->
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<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
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<define name="DESCENT_PITCH" value="-0.1"/><!-- Pitch for Aggressive Decent -->
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<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
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<define name="DESCENT_NAV_RATIO" value="1.0"/>
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</section>
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="5" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
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<define name="HOME_RADIUS" value="200" unit="m"/>
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</section>
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<!-- Launcher Takeoff Configuration -->
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<section name="LAUNCHER" prefix="LAUNCHER_TAKEOFF_">
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<define name="PITCH" value="0.23" unit="rad"/>
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<define name="HEIGHT" value="70" unit="m"/>
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<define name="MIN_SPEED_CIRCLE" value="8" unit="m/s"/>
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<define name="DISTANCE" value="30" unit="m"/>
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<define name="MIN_SPEED_LINE" value="5" unit="m/s"/>
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</section>
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<!-- Skid Landing Configuration -->
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<section name="LANDING" prefix="SKID_LANDING_">
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<define name="AF_HEIGHT" value="50" unit="m"/>
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<define name="FINAL_HEIGHT" value="50" unit="m"/>
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<define name="FINAL_STAGE_TIME" value="10" unit="s"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="JSBSIM_LAUNCHSPEED" value="25"/>
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<define name="JSBSIM_MODEL" value="AGGIEAIR/minion" type="string"/>
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<define name="JS_AXIS_THROTTLE" value="0"/>
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<define name="JS_AXIS_THROTTLE_REVERSED" value="1"/>
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<define name="JS_AXIS_ROLL" value="1"/>
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<define name="JS_AXIS_PITCH" value="2"/>
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<define name="JS_AXIS_PITCH_REVERSED" value="1"/>
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<define name="JS_AXIS_YAW" value="3"/>
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<define name="JS_AXIS_YAW_REVERSED" value="1"/>
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<define name="JS_AXIS_FLAPS" value="5"/>
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<define name="JS_AXIS_MODE" value="7"/>
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<define name="JSBSIM_ROLL_TRIM" value="0.008"/>
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<define name="JSBSIM_PITCH_TRIM" value="0.0375"/>
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<define name="JSBSIM_YAW_TRIM" value="0.001"/>
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</section>
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<!-- Define current estimator and Battery Level Warnings -->
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="50000"/>
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<define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.3"/>
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<!-- Flight values -->
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<!--
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<define name="MAX_BAT_LEVEL" value="16.5" unit="V" />
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<define name="LOW_BAT_LEVEL" value="14.1" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="13.8" unit="V"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="13.5" unit="V"/>
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-->
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<!-- Simulator values -->
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<define name="MAX_BAT_LEVEL" value="5.0" unit="V" />
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<define name="LOW_BAT_LEVEL" value="4.0" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="3.5" unit="V"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
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</section>
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</airframe>
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