mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-30 11:37:06 +08:00
Christophe De Wagter
4e00e22993
* WLS Debug WLS Debug * track new develop branch * WLS to use pointer of struct to allow multiple calls of WLS in the same control loop * additional changes and bug fixes to wls struct pointer rework * Track new pprzling branch with wls msg additions * code clean up * Implement new WLS in guidance and stabilization * code clean up * add wls mesg to telemetry. Fix stabilization wanring. * track pprzlink * Better casing * Use WLS_N_U_MAX and WLS_N_V_MAX * Register periodic telemetry of WLS only if WLS is used * Track master pprzlink * Shortened explanation of parameters * track pprzlink master --------- Co-authored-by: Tomaso Maria Luigi De Ponti <48210579+tmldeponti@users.noreply.github.com> Co-authored-by: tomaso_de_ponti <tomasodp@gmail.com>
419 lines
18 KiB
XML
419 lines
18 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!-- This is a Nedderdrone with Trailing edge motors
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* Airframe: TUD00343
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* Autopilot: Pixhawk 4
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* Actuators: 12x T-Motor ESC + Motors and 8x Servos (all CAN)
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* Datalink: Herelink
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* GPS: UBlox F9P
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* RC: SBUS Crossfire
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-->
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<airframe name="Neddrone7">
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<description>Neddrone7</description>
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<firmware name="rotorcraft">
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<target name="ap" board="px4fmu_5.0_chibios">
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<configure name="PERIODIC_FREQUENCY" value="500"/>
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<configure name="FLASH_MODE" value="SWD"/>
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<define name="USE_BARO_BOARD" value="1"/>
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<module name="radio_control" type="sbus">
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<configure name="SBUS_PORT" value="UART3"/>
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</module>
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<!-- Forward FuelCell data back to the GCS -->
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<!--module name="generic_uart_sensor"/-->
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<!-- Logger -->
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<module name="tlsf"/>
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<module name="pprzlog"/>
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<module name="logger" type="sd_chibios"/>
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<module name="flight_recorder"/>
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<!-- Airspeed sensors -->
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<module name="airspeed" type="ms45xx_i2c">
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<define name="USE_I2C4"/>
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<configure name="MS45XX_I2C_DEV" value="i2c4"/>
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<define name="I2C4_CLOCK_SPEED" value="100000"/>
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</module>
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<!--module name="airspeed" type="uavcan"/-->
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<!-- Monitoring -->
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<module name="sys_mon"/>
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<!--module name="status_nederdrone"/-->
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<define name="ADC_CURRENT_DISABLE" value="TRUE"/>
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<define name="RADIO_TH_HOLD" value="RADIO_AUX1"/> <!-- Throttle hold in command laws -->
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<define name="RADIO_FMODE" value="RADIO_AUX2"/> <!-- Throttle curve select -->
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<define name="RADIO_FBW_MODE" value="RADIO_AUX3"/> <!-- Switch between AP and FBW control -->
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<define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
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<!-- <module name="ahrs" type="int_cmpl_quat">
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<configure name="USE_MAGNETOMETER" value="FALSE"/>
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<define name="AHRS_USE_GPS_HEADING" value="TRUE"/>
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<define name="AHRS_HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
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</module> -->
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<!--module name="ins" type="extended">
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<define name="INS_USE_GPS_ALT" value="1"/>
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<define name="INS_USE_GPS_ALT_SPEED" value="1"/>
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<define name="INS_VFF_R_GPS" value="0.01"/>
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</module-->
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</target>
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<target name="nps" board="pc">
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<module name="radio_control" type="datalink"/>
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<module name="fdm" type="jsbsim"/>
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<module name="logger_file">
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<define name="FILE_LOGGER_PATH" value="~/"/>
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</module>
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<!--Not dealing with these in the simulation-->
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<define name="RADIO_TH_HOLD" value="0"/> <!-- Throttle hold in command laws -->
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<define name="RADIO_FMODE" value="0"/> <!-- Throttle curve select -->
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<define name="RADIO_FBW_MODE" value="0"/> <!-- Switch between AP and FBW control -->
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<define name="RADIO_KILL_SWITCH" value="0"/>
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</target>
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<module name="eff_scheduling_nederdrone">
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<!-- Trims -->
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<define name="INDI_SCHEDULING_TRIM_ELEVATOR" value="0"/>
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<define name="INDI_SCHEDULING_PREF_FLAPS_FACTOR" value="1.0"/>
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</module>
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<module name="telemetry" type="transparent">
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<configure name="MODEM_BAUD" value="B460800"/>
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</module>
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<module name="approach_moving_target"/>
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<module name="ins" type="ekf2">
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<define name="USE_INS_NAV_INIT" value="FALSE"/>
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</module>
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<module name="actuators" type="uavcan">
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<configure name="UAVCAN_USE_CAN1" value="TRUE"/>
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<configure name="UAVCAN_USE_CAN2" value="TRUE"/>
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</module>
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<module name="imu" type="mpu6000"/>
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<!--module name="gps" type="datalink"/-->
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<module name="gps" type="ublox">
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<configure name="UBX_GPS_BAUD" value="B460800"/>
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<define name="USE_GPS_UBX_RTCM" value="TRUE"/>
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</module>
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<module name="stabilization" type="indi">
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<configure name="INDI_NUM_ACT" value="8"/>
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<define name="WLS_N_U_MAX" value="8"/>
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<define name="WLS_N_V_MAX" value="4"/>
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<define name="TILT_TWIST_CTRL" value="TRUE"/>
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</module>
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<module name="stabilization" type="rate_indi"/>
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<module name="air_data">
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<define name="AIR_DATA_BARO_DIFF_ID" value="MS45XX_SENDER_ID"/> <!-- UAVCAN_SENDER_ID -->
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<define name="AIR_DATA_CALC_AMSL_BARO" value="TRUE" />
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</module>
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<!-- Internal MAG -->
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<!--module name="mag_ist8310">
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<define name="MODULE_IST8310_UPDATE_AHRS" value="TRUE"/>
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<configure name="MAG_IST8310_I2C_DEV" value="I2C3"/>
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</module-->
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<!-- External MAG on GPS -->
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<module name="mag_lis3mdl">
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<define name="MODULE_LIS3MDL_UPDATE_AHRS" value="TRUE"/>
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<configure name="MAG_LIS3MDL_I2C_DEV" value="I2C1"/>
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<define name="LIS3MDL_CHAN_X_SIGN" value="-"/>
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<define name="LIS3MDL_CHAN_Y_SIGN" value="-"/>
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</module>
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<!--module name="lidar" type="tfmini">
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<configure name="TFMINI_PORT" value="UART4"/>
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<configure name="USE_TFMINI_AGL" value="FALSE"/>
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</module-->
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<module name="nav" type="hybrid">
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<define name="GUIDANCE_H_USE_REF" value="FALSE"/>
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</module>
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<module name="guidance" type="indi_hybrid_tailsitter">
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<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
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<define name="GUIDANCE_INDI_POS_GAIN" value="0.3"/>
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<define name="GUIDANCE_INDI_SPEED_GAIN" value="0.5"/>
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<define name="GUIDANCE_INDI_POS_GAINZ" value="0.3"/>
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<define name="GUIDANCE_INDI_SPEED_GAINZ" value="0.5"/>
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<define name="GUIDANCE_INDI_PITCH_LIFT_EFF" value="0.12"/>
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<define name="GUIDANCE_INDI_PITCH_EFF_SCALING" value="1.0"/>
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<define name="GUIDANCE_H_REF_MAX_SPEED" value="18.0"/> <!--not used-->
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<define name="GUIDANCE_INDI_MAX_AIRSPEED" value="17.0"/>
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<define name="GUIDANCE_HEADING_IS_FREE" value="FALSE"/> <!--heading can not be set by navigation-->
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<define name="GUIDANCE_INDI_HEADING_BANK_GAIN" value="5"/>
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<!--define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-943.0"/>
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<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN_45" value="-500.0"/>
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<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN_FWD" value="-1600.0"/-->
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<!-- <define name="GUIDANCE_INDI_FILTER_CUTOFF" value="0.5"/> -->
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<define name="GUIDANCE_INDI_LINE_GAIN" value="0.2"/>
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<define name="GUIDANCE_INDI_MIN_THROTTLE" value="1500"/>
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<define name="GUIDANCE_INDI_MIN_THROTTLE_FWD" value="1500"/>
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<define name="GUIDANCE_INDI_LIFTD_P50" value="6.0"/>
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<define name="GUIDANCE_INDI_LIFTD_P80" value="10.0"/>
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<define name="GUIDANCE_INDI_LIFTD_ASQ" value="0.15"/>
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</module>
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<module name="motor_mixing"/>
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</firmware>
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<!-- CAN BUS 1 (Front Wing) -->
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<servos driver="Uavcan1">
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<servo name="MOTOR_1" no="0" min="-8191" neutral="1500" max="8191"/>
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<servo name="MOTOR_2" no="1" min="0" neutral="600" max="8191"/>
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<servo name="MOTOR_3" no="2" min="0" neutral="600" max="8191"/>
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<servo name="MOTOR_4" no="3" min="0" neutral="600" max="8191"/>
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<servo name="MOTOR_5" no="4" min="0" neutral="600" max="8191"/>
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<servo name="MOTOR_6" no="5" min="-8191" neutral="1500" max="8191"/>
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<servo name="AIL_1" no="6" min="-6000" neutral="0" max="6000"/>
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<servo name="AIL_2" no="7" min="6000" neutral="0" max="-6000"/>
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</servos>
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<!-- CAN BUS 2 (Back Wing) -->
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<servos driver="Uavcan2">
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<servo name="MOTOR_7" no="0" min="0" neutral="600" max="8191"/>
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<servo name="MOTOR_8" no="1" min="0" neutral="600" max="8191"/>
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<servo name="MOTOR_9" no="2" min="0" neutral="600" max="8191"/>
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<servo name="MOTOR_10" no="3" min="0" neutral="600" max="8191"/>
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<servo name="MOTOR_11" no="4" min="0" neutral="600" max="8191"/>
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<servo name="MOTOR_12" no="5" min="0" neutral="600" max="8191"/>
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<servo name="AIL_3" no="6" min="-6000" neutral="0" max="6000"/>
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<servo name="AIL_4" no="7" min="6000" neutral="0" max="-6000"/>
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</servos>
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<commands>
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<axis name="FRONT_LEFT" failsafe_value="0"/>
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<axis name="FRONT_RIGHT" failsafe_value="0"/>
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<axis name="REAR_LEFT" failsafe_value="0"/>
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<axis name="REAR_RIGHT" failsafe_value="0"/>
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<axis name="FRONT_LEFT_FLAP" failsafe_value="0"/>
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<axis name="FRONT_RIGHT_FLAP" failsafe_value="0"/>
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<axis name="REAR_LEFT_FLAP" failsafe_value="0"/>
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<axis name="REAR_RIGHT_FLAP" failsafe_value="0"/>
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<axis name="TIP_THRUSTERS" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="-300"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="0"/>
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</commands>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<!-- frontleft left (CCW), frontleft mid (CW), frontleft right (CCW), frontright left (CW), frontright mid (CCW), frontright right (CW) -->
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<!-- backleft left (CW), backleft mid (CCW), backleft right (CW), backright left (CCW), backright mid (CW), backright right (CCW) -->
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<define name="NB_MOTOR" value="12"/>
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<define name="SCALE" value="256"/>
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<define name="ROLL_COEF" value="{256, 157, 56, -56, -157, -256, 256, 157, 56, -56, -157, -256}"/>
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<define name="PITCH_COEF" value="{256, 256, 256, 256, 256, 256, -256, -256, -256, -256, -256, -256}"/>
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<define name="YAW_COEF" value="{251, -256, 252, -252, 256, -251, -256, 252, -254, 254, -252, 256}"/>
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<define name="THRUST_COEF" value="{256, 256, 256, 256, 256, 256, 256, 256, 256, 256, 256, 256}"/>
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</section>
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<command_laws>
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<let var="th_hold" value="Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), !autopilot_get_motors_on())"/>
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<!-- Tip props always at 80% -->
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<call fun="actuators_pprz[8] = (Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), 0.01 > sched_ratio_tip_props)? -9600 : 9600/100*70*sched_ratio_tip_props);"/>
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<set servo="MOTOR_1" value="($th_hold? -9600 : actuators_pprz[8])"/>
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<set servo="MOTOR_2" value="($th_hold? -9600 : actuators_pprz[0])"/>
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<set servo="MOTOR_3" value="($th_hold? -9600 : actuators_pprz[0])"/>
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<set servo="MOTOR_4" value="($th_hold? -9600 : actuators_pprz[1])"/>
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<set servo="MOTOR_5" value="($th_hold? -9600 : actuators_pprz[1])"/>
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<set servo="MOTOR_6" value="($th_hold? -9600 : actuators_pprz[8])"/>
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<set servo="MOTOR_7" value="($th_hold? -9600 : actuators_pprz[2])"/>
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<set servo="MOTOR_8" value="($th_hold? -9600 : actuators_pprz[2])"/>
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<set servo="MOTOR_9" value="($th_hold? -9600 : actuators_pprz[2])"/>
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<set servo="MOTOR_10" value="($th_hold? -9600 : actuators_pprz[3])"/>
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<set servo="MOTOR_11" value="($th_hold? -9600 : actuators_pprz[3])"/>
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<set servo="MOTOR_12" value="($th_hold? -9600 : actuators_pprz[3])"/>
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<!-- Removed ApplyDiff for differential control -->
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<set servo="AIL_1" value="($th_hold? 9600 : actuators_pprz[4])"/>
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<set servo="AIL_2" value="($th_hold? 9600 : actuators_pprz[5])"/>
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<set servo="AIL_3" value="actuators_pprz[6]"/>
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<set servo="AIL_4" value="actuators_pprz[7]"/>
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</command_laws>
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<section name="MISC">
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<define name="VoltageOfAdc(adc)" value="((3.3f/4096.0f) * 18.028 * adc)"/>
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<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
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<!-- Basic navigation settings -->
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<define name="NAV_CLIMB_VSPEED" value="3.5"/>
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<define name="NAV_DESCEND_VSPEED" value="-0.7"/>
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<define name="ARRIVED_AT_WAYPOINT" value="50.0"/>
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<!-- Settings for circle -->
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<define name="DEFAULT_CIRCLE_RADIUS" value="700"/>
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<define name="NAV_CARROT_DIST" value="200"/>
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<!-- Avoid GPS loss behavior when having RC or datalink -->
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<define name="NO_GPS_LOST_WITH_DATALINK_TIME" value="20"/>
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<define name="NO_GPS_LOST_WITH_RC_VALID" value="TRUE"/>
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</section>
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<section name="FORWARD">
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<!--The Nederdrone uses a slightly different axis system for the setpoint, to make both hovering and flying forward intuitive-->
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<define name="USE_EARTH_BOUND_RC_SETPOINT" value="TRUE"/>
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<!-- This is the pitch angle that the Nederdrone will have in forward flight, where 0 degrees is hover-->
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<define name="TRANSITION_MAX_OFFSET" value="-80.0" unit="deg"/>
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<!-- For RC coordinated turns, lower because the yawing was too slow -->
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<define name="MAX_FWD_SPEED" value="20.0"/>
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<!-- For hybrid guidance -->
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<define name="MAX_AIRSPEED" value="20.0"/>
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<!-- Enable airspeed measurements -->
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<define name="USE_AIRSPEED" value="TRUE"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<!-- Rotate the IMU -->
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<define name="MPU_CHAN_X" value="0"/>
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<define name="MPU_CHAN_Y" value="2"/>
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<define name="MPU_CHAN_Z" value="1"/>
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<define name="MPU_X_SIGN" value="-1"/>
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<define name="MPU_Y_SIGN" value="1"/>
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<define name="MPU_Z_SIGN" value="1"/>
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<!-- Calibrated with body only at cyberzoo (2022-08-22) -->
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<define name="ACCEL_X_NEUTRAL" value="-92"/>
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<define name="ACCEL_Y_NEUTRAL" value="11"/>
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<define name="ACCEL_Z_NEUTRAL" value="-233"/>
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<define name="ACCEL_X_SENS" value="4.893773666824744" integer="16"/>
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<define name="ACCEL_Y_SENS" value="4.830763157841358" integer="16"/>
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<define name="ACCEL_Z_SENS" value="4.700942730229992" integer="16"/>
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<!-- NOT CALIBRATED -->
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<define name="MAG_X_NEUTRAL" value="-2351"/>
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<define name="MAG_Y_NEUTRAL" value="2060"/>
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<define name="MAG_Z_NEUTRAL" value="4214"/>
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<define name="MAG_X_SENS" value="0.6016027350789249" integer="16"/>
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<define name="MAG_Y_SENS" value="0.6409447896809923" integer="16"/>
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<define name="MAG_Z_SENS" value="0.648324840639345" integer="16"/>
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<!-- Define axis in hover frame -->
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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="77.7" unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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</section>
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<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoints -->
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<define name="SP_MAX_PHI" value="60." unit="deg"/>
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<define name="SP_MAX_THETA" value="80." unit="deg"/>
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<define name="SP_MAX_R" value="180." unit="deg/s"/>
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<define name="DEADBAND_R" value="200"/>
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<define name="SP_PSI_DELTA_LIMIT" value="60" unit="deg"/>
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</section>
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<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
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<define name="G1_ROLL" value="{ 0.8, -0.8, 1.6, -1.6, 0.0, 0.0, 0.0, 0.0}"/>
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<define name="G1_PITCH" value="{ 0.95, 0.95, -1.425, -1.425, -0.5, -0.5, -0.5, -0.5}"/>
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<define name="G1_YAW" value="{ 0.00, 0.0, -0.00, 0.00, 0.4, -0.4, -0.4, 0.4}"/>
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<define name="G1_THRUST" value="{ -0.3, -0.3, -0.45, -0.45, 0.0, 0.0, 0.0, 0.0}"/>
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<!--Counter torque effect of spinning up a rotor-->
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<define name="G2" value="{0, 0, 0, 0, 0, 0, 0, 0}"/>
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<!-- Forward gains -->
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<define name="G1_ROLL_FWD" value="{ 0.5, -0.5, 0.96, -0.96, 0.0, 0.0, 0.0, 0.0}"/>
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<define name="G1_PITCH_FWD" value="{ 0.6, 0.6, -0.86, -0.86, -1.4, -1.4, -1.4, -1.4}"/>
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<define name="G1_YAW_FWD" value="{ 0.0, 0.0, 0.0, 0.0, 0.94, -0.94, -0.94, 0.94}"/>
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<define name="G1_THRUST_FWD" value="{-0.18 -0.18, -0.27, -0.27, 0.0, 0.0, 0.0, 0.0}"/>
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<!-- reference acceleration for attitude control -->
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<define name="REF_ERR_P" value="30.0"/>
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<define name="REF_ERR_Q" value="30.0"/>
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<define name="REF_ERR_R" value="20.0"/>
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<define name="REF_RATE_P" value="6.0"/>
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<define name="REF_RATE_Q" value="6.0"/>
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<define name="REF_RATE_R" value="6.0"/>
|
|
|
|
<!--Maxium yaw rate, to avoid instability-->
|
|
<define name="MAX_R" value="180.0" unit="deg/s"/>
|
|
|
|
<!-- Maximum rate setpoint in rate control mode -->
|
|
<define name="MAX_RATE" value="3.0" unit="rad/s"/>
|
|
|
|
<!-- second order filter parameters -->
|
|
<define name="FILT_CUTOFF" value="1.5"/>
|
|
<define name="FILT_CUTOFF_RDOT" value="0.5"/>
|
|
<define name="ESTIMATION_FILT_CUTOFF" value="5.0"/>
|
|
<define name="FILT_CUTOFF_P" value="20."/>
|
|
<define name="FILT_CUTOFF_Q" value="20."/>
|
|
<define name="FILT_CUTOFF_R" value="4.0"/>
|
|
|
|
<!-- first order actuator dynamics -->
|
|
<define name="ACT_FREQ" value="{14.2, 14.2, 14.2, 14.2, 25.6, 25.6, 25.6, 25.6}"/>
|
|
<define name="ACT_RATE_LIMIT" value="{9600, 9600, 9600, 9600, 170, 170, 170, 170}"/>
|
|
<define name="ACT_IS_SERVO" value="{0, 0, 0, 0, 1, 1, 1, 1}"/>
|
|
<define name="WLS_WU" value="{1.,1.,1.,1.,1.,1.,1.,1.}"/>
|
|
|
|
<!-- Adaptive Learning Rate -->
|
|
<define name="USE_ADAPTIVE" value="FALSE"/>
|
|
<define name="ADAPTIVE_MU" value="0.0001"/>
|
|
</section>
|
|
|
|
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
|
<define name="HOVER_KP" value="310"/>
|
|
<define name="HOVER_KD" value="130"/>
|
|
<define name="HOVER_KI" value="10"/>
|
|
<define name="NOMINAL_HOVER_THROTTLE" value="0.42"/>
|
|
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
|
|
</section>
|
|
|
|
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
|
<define name="MAX_BANK" value="28" unit="deg"/>
|
|
<define name="USE_SPEED_REF" value="TRUE"/>
|
|
<define name="PGAIN" value="60"/>
|
|
<define name="DGAIN" value="100"/>
|
|
<define name="AGAIN" value="0"/>
|
|
<define name="IGAIN" value="20"/>
|
|
</section>
|
|
|
|
<section name="AMT" prefix="APPROACH_MOVING_TARGET_">
|
|
<define name="CUTOFF_FREQ_FILTERS_HZ" value="0.25"/>
|
|
<define name="ERR_SLOWDOWN_GAIN" value="0.25" />
|
|
<define name="SLOPE" value="35.0"/>
|
|
<define name="DISTANCE" value="60.0"/>
|
|
<define name="SPEED" value="-1.0"/>
|
|
</section>
|
|
|
|
<section name="SIMULATOR" prefix="NPS_">
|
|
<define name="ACTUATOR_NAMES" value="a0,a1,a2,a3,a4,a5,a6,a7,a8" type="string[]"/>
|
|
<define name="JSBSIM_MODEL" value="nederdrone4_tem" type="string"/>
|
|
<define name="NO_MOTOR_MIXING" value="TRUE"/>
|
|
<define name="COMMANDS_NB" value="9"/>
|
|
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
|
|
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
|
|
<define name="JS_AXIS_MODE" value="4"/>
|
|
<define name="DEBUG_SPEED_SP" value="false"/>
|
|
</section>
|
|
|
|
<section name="AUTOPILOT">
|
|
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
|
<define name="MODE_AUTO1" value="AP_MODE_FORWARD"/>
|
|
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
|
|
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
|
|
</section>
|
|
|
|
<section name="BAT">
|
|
<define name="CATASTROPHIC_BAT_LEVEL" value="18.0" unit="V"/>
|
|
<define name="CRITIC_BAT_LEVEL" value="18.6" unit="V"/>
|
|
<define name="LOW_BAT_LEVEL" value="19.2" unit="V"/>
|
|
<define name="MAX_BAT_LEVEL" value="25.2" unit="V"/>
|
|
<define name="BAT_NB_CELLS" value="6"/>
|
|
</section>
|
|
|
|
</airframe>
|