mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-23 04:45:37 +08:00
Gautier Hattenberger
363dec8693
* [autopilot] refactor autopilot API for both firmwares With this, fixedwing and rotorcraft are mostly using the same interface for the autopilot. Some specific code and messages handling are still firmware dependent. A large part of the autopilot logic of the fixedwing is moved from main_ap to autopilot_static. More getter/setter functions are provided. * [autopilot] update the rest of the system and the conf for using the refactored autopilot API * [autopilot] fix some errors from CI servers * [actuators] use dummy actuators module to prevent autoloading * Rename Bart_heliDD_INDI.xml to tudelft_bs_helidd_indi.xml * Rename Bart_heliDD_pid.xml to tudelft_bs_helidd_pid.xml * Delete tudelft_course2016_bebop_colorfilter.xml * Delete tudelft_course2016_bebop_avoider.xml * [actuators] don't autoload actuators when set to 'none' * [gcs] autodetect firmware for strip mode button
224 lines
7.9 KiB
XML
224 lines
7.9 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="Miniquad CHNI">
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<firmware name="rotorcraft">
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<define name="USE_INS_NAV_INIT"/>
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<!--define name="GUIDANCE_H_USE_REF"/-->
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<target name="ap" board="hbmini_1.0">
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<define name="FAILSAFE_GROUND_DETECT"/>
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<define name="USE_GPS_ACC4R"/>
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<define name="ACTUATORS_START_DELAY" value="3"/>
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</target>
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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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<module name="radio_control" type="ppm"/>
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<module name="telemetry" type="transparent"/>
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<module name="actuators" type="mkk">
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<configure name="ACTUATORS_MKK_I2C_SCL_TIME" value="25"/>
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</module>
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<module name="motor_mixing"/>
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<module name="imu" type="hbmini"/>
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<module name="gps" type="ublox"/>
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<module name="stabilization" type="int_euler"/>
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<module name="ahrs" type="float_cmpl_rmat"/>
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<module name="ins" type="hff"/>
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</firmware>
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<modules main_freq="512">
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<module name="gps" type="ubx_ucenter"/>
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</modules>
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<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
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<define name="NB" value="4"/>
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<!-- NW, SE, NE, SW -->
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<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
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</section>
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<servos driver="Mkk">
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<servo name="NW" no="0" min="0" neutral="10" max="100"/>
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<servo name="SE" no="1" min="0" neutral="10" max="100"/>
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<servo name="NE" no="2" min="0" neutral="10" max="100"/>
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<servo name="SW" no="3" min="0" neutral="10" max="100"/>
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</servos>
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<commands>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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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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<define name="TRIM_ROLL" value="135"/>
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<define name="TRIM_PITCH" value="-200"/>
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<define name="TRIM_YAW" value="-300"/>
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<define name="NB_MOTOR" value="4"/>
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<define name="SCALE" value="256"/>
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<define name="ROLL_COEF" value="{ 256, -256, -256, 256}"/>
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<define name="PITCH_COEF" value="{ 256, -256, 256, -256}"/>
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<define name="YAW_COEF" value="{ 256, 256, -256, -256}"/>
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<define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
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</section>
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<command_laws>
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<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
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<set servo="NW" value="motor_mixing.commands[0]"/>
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<set servo="SE" value="motor_mixing.commands[1]"/>
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<set servo="NE" value="motor_mixing.commands[2]"/>
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<set servo="SW" value="motor_mixing.commands[3]"/>
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</command_laws>
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<section name="IMU" prefix="IMU_">
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<define name="GYRO_P_NEUTRAL" value="21460"/>
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<define name="GYRO_Q_NEUTRAL" value="21490"/>
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<define name="GYRO_R_NEUTRAL" value="21830"/>
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<define name="GYRO_P_SENS" value="5.79" integer="16"/>
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<define name="GYRO_Q_SENS" value="5.89" integer="16"/>
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<define name="GYRO_R_SENS" value="4.56" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="26480"/>
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<define name="ACCEL_Y_NEUTRAL" value="26380"/>
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<define name="ACCEL_Z_NEUTRAL" value="25836"/>
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<define name="ACCEL_X_SENS" value="1.94" integer="16"/>
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<define name="ACCEL_Y_SENS" value="1.94" integer="16"/>
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<define name="ACCEL_Z_SENS" value="1.99" integer="16"/>
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<define name="MAG_X_NEUTRAL" value="-108"/>
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<define name="MAG_Y_NEUTRAL" value="57"/>
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<define name="MAG_Z_NEUTRAL" value="-95"/>
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<define name="MAG_X_SENS" value="3.6472944636" integer="16"/>
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<define name="MAG_Y_SENS" value="3.09086502241" integer="16"/>
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<define name="MAG_Z_SENS" value="3.74963511486" integer="16"/>
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<define name="BODY_TO_IMU_PHI" value="-2.5" unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="-2.0" 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="AHRS" prefix="AHRS_">
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<define name="H_X" value="0.366765"/>
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<define name="H_Y" value="0.013312"/>
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<define name="H_Z" value="0.930219"/>
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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="45." unit="deg"/>
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<define name="SP_MAX_THETA" value="45." unit="deg"/>
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<define name="SP_MAX_R" value="220." unit="deg/s"/>
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<define name="DEADBAND_R" value="250"/>
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<!-- reference -->
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<define name="REF_OMEGA_P" value="400" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.9"/>
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<define name="REF_MAX_P" value="400." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_Q" value="400" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.9"/>
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<define name="REF_MAX_Q" value="400." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.9"/>
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<define name="REF_MAX_R" value="180." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
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<!-- feedback -->
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<define name="PHI_PGAIN" value="880"/>
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<define name="PHI_DGAIN" value="400"/>
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<define name="PHI_IGAIN" value="300"/>
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<define name="THETA_PGAIN" value="880"/>
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<define name="THETA_DGAIN" value="400"/>
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<define name="THETA_IGAIN" value="300"/>
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<define name="PSI_PGAIN" value="600"/>
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<define name="PSI_DGAIN" value="320"/>
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<define name="PSI_IGAIN" value="150"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value="100"/>
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<define name="THETA_DDGAIN" value="100"/>
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<define name="PSI_DDGAIN" value="0"/>
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<define name="PHI_AGAIN" value="0"/>
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<define name="THETA_AGAIN" value="0"/>
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<define name="PSI_AGAIN" value="0"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="REF_MIN_ZDD" value="-0.5*9.81"/>
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<define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
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<define name="REF_MIN_ZD" value="-1.5"/>
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<define name="REF_MAX_ZD" value=" 1.5"/>
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<define name="HOVER_KP" value="70"/>
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<define name="HOVER_KD" value="100"/>
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<define name="HOVER_KI" value="9"/>
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<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
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<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
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<define name="ADAPT_NOISE_FACTOR" value="1.5"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="MAX_BANK" value="30" unit="deg"/>
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<define name="PGAIN" value="80"/>
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<define name="DGAIN" value="140"/>
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<define name="IGAIN" value="10"/>
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<define name="NGAIN" value="0"/>
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<!-- feedforward -->
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<define name="AGAIN" value="0"/>
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</section>
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<section name="BAT">
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<define name="CATASTROPHIC_BAT_LEVEL" value="6.0" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="6.5" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="7.0" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
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</section>
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<section name="AUTOPILOT">
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<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
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<!--define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/-->
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<define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/>
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</section>
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<section name="FMS">
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<define name="BOOZ_FMS_TIMEOUT" value="0"/>
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</section>
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<section name="MISC">
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<define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
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</section>
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<section name="GCS">
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<define name="ALT_SHIFT_PLUS_PLUS" value="5"/>
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<define name="ALT_SHIFT_PLUS" value="1"/>
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<define name="ALT_SHIFT_MINUS" value="-1"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="nw_motor, se_motor, ne_motor, sw_motor" type="string[]"/>
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<define name="JSBSIM_MODEL" value="simple_x_quad" type="string"/>
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<define name="SENSORS_PARAMS" value="nps_sensors_params_hbmini.h" type="string"/>
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<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
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<define name="JS_AXIS_MODE" value="4"/>
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</section>
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</airframe>
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