mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-17 23:54:34 +08:00
Gautier Hattenberger
183 lines
7.4 KiB
XML
183 lines
7.4 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!--
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Multiplex EasyStar, using rudder
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Lisa/MX board
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XBee 2.4GHz modem in transparent mode
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-->
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<airframe name="EasyStar2 - Lisa/MX">
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<firmware name="fixedwing">
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<target name="ap" board="lisa_mx_2.1"/>
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<target name="sim" board="pc"/>
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<target name="nps" board="pc">
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<module name="fdm" type="jsbsim"/>
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</target>
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<define name="AGR_CLIMB"/>
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<define name="LOITER_TRIM"/>
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<define name="WIND_INFO"/>
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<define name="USE_AIRSPEED"/>
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<define name="USE_BARO_ETS"/>
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<module name="radio_control" type="ppm"/>
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<module name="telemetry" type="transparent"/>
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<module name="control"/>
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<module name="imu" type="lisa_mx_v2.1"/>
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<module name="gps" type="ublox"/>
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<module name="navigation"/>
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<module name="ahrs" type="int_cmpl_quat"/>
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<module name="ins" type="alt_float"/>
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<module name="airspeed_ets">
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<configure name="AIRSPEED_ETS_I2C_DEV" value="i2c1"/>
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</module>
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<module name="baro_ets">
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<configure name="BARO_ETS_I2C_DEV" value="i2c1"/>
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</module>
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<module name="air_data"/>
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<module name="geo_mag"/>
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<module name="gps" type="ubx_ucenter"/>
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</firmware>
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<firmware name="setup">
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<target name="tunnel" board="twog_1.0" />
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</firmware>
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<!-- commands section -->
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<servos>
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<servo name="THROTTLE" no="0" min="1120" neutral="1120" max="1920"/>
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<servo name="ELEVATOR" no="1" min="1100" neutral="1514" max="1900"/>
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<servo name="RUDDER" no="2" min="950" neutral="1612" max="2050"/>
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</servos>
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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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</commands>
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<rc_commands>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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<set command="THROTTLE" value="@THROTTLE"/>
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</rc_commands>
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<command_laws>
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<set servo="THROTTLE" value="@THROTTLE"/>
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<set servo="RUDDER" value="@ROLL"/>
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<set servo="ELEVATOR" value="@PITCH"/>
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="50" unit="deg"/>
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<define name="MAX_PITCH" value="40" unit="deg"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<!-- ACCEL and GYRO calibration left out to take default datasheet values -->
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<!-- replace this with your own mag calibration -->
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<define name="MAG_X_NEUTRAL" value="-45"/>
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<define name="MAG_Y_NEUTRAL" value="334"/>
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<define name="MAG_Z_NEUTRAL" value="7"/>
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<define name="MAG_X_SENS" value="4.47647816128" integer="16"/>
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<define name="MAG_Y_SENS" value="4.71085671542" integer="16"/>
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<define name="MAG_Z_SENS" value="4.41585354498" integer="16"/>
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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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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000" unit="mA"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="8.0" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="8.5" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="9.5" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="12.5" unit="V"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
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<define name="CARROT" value="4." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(2.0*MAX_DIST_FROM_HOME)"/>
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<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
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<define name="NO_XBEE_API_INIT" value="TRUE"/>
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<define name="TRIGGER_DELAY" value="1."/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="90."/>
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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="11.0" unit="volt"/>
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<!-- outer loop -->
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<define name="ALTITUDE_PGAIN" value="0.075" unit="(m/s)/m"/>
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<define name="ALTITUDE_MAX_CLIMB" value="4." unit="m/s"/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5" unit="%"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.4" unit="%"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.8" unit="%"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" unit="pprz_t"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000" unit="pprz_t"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="0.02" unit="%/(m/s)"/>
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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="0.05" unit="rad/(m/s)"/>
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<!-- auto airspeed and altitude inner loop -->
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<define name="AUTO_AIRSPEED_SETPOINT" value="14.5" unit="m/s"/>
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<define name="AUTO_AIRSPEED_PGAIN" value="0.060"/>
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<define name="AUTO_AIRSPEED_IGAIN" value="0.050"/>
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<define name="AUTO_GROUNDSPEED_SETPOINT" value="6.0" unit="m/s"/>
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<define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
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<define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>
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<define name="AUTO_PITCH_PGAIN" value="0.125"/>
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<define name="AUTO_PITCH_IGAIN" value="0.025"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-25)"/>
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<define name="THROTTLE_SLEW" value="1.0"/>
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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="0.7"/>
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<define name="ROLL_MAX_SETPOINT" value="35" unit="deg"/>
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<define name="PITCH_MAX_SETPOINT" value="25" unit="deg"/>
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<define name="PITCH_MIN_SETPOINT" value="-25" unit="deg"/>
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<define name="PITCH_PGAIN" value="20000."/>
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<define name="PITCH_DGAIN" value="1.5"/>
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<define name="ELEVATOR_OF_ROLL" value="2500"/>
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<define name="ROLL_ATTITUDE_GAIN" value="7400"/>
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<define name="ROLL_RATE_GAIN" value="200"/>
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</section>
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<section name="NAV">
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<define name="NAV_GLIDE_PITCH_TRIM" 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="0.70"/><!-- Gaz for Aggressive Climb -->
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<define name="CLIMB_PITCH" value="RadOfDeg(18)"/><!-- 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="RadOfDeg(-20)"/><!-- 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="3" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.4" unit="%"/>
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<define name="DEFAULT_ROLL" value="15" unit="deg"/>
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<define name="DEFAULT_PITCH" value="0" unit="deg"/>
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<define name="HOME_RADIUS" value="90" unit="m"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="JSBSIM_MODEL" value="easystar" type="string"/>
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<define name="JSBSIM_LAUNCHSPEED" value="10" unit="m/s"/>
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<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
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</section>
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</airframe>
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