mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Jesús Bautista Villar
137 lines
4.7 KiB
XML
137 lines
4.7 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="Rover Steering">
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<!-- FIRMWARE & MODULES .................................... -->
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<firmware name="rover">
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<autopilot name="rover_steering_cruise.xml"/>
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<!--target name="ap" board="matek_f405_wmn">
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<configure name="PERIODIC_FREQUENCY" value="100"/>
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<module name="radio_control" type="sbus"/>
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</target-->
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<target name="nps" board="pc">
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<module name="radio_control" type="ppm"/>
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<module name="fdm" type="rover"/>
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<define name="NPS_BYPASS_AHRS" value="TRUE"/>
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<define name="NPS_BYPASS_INS" value="TRUE"/>
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<!-- Multiple agents simulation -->
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<!--configure name="MODEM_PORT_OUT" value="4246"/>
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<configure name="MODEM_PORT_IN" value="4247"/-->
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</target>
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<module name="actuators" type="pwm"/>
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<module name="telemetry" type="xbee_api"/>
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<module name="gps" type="ublox">
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<configure name="GPS_BAUD" value="B57600"/>
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<configure name="GPS_PORT" value="UART4"/>
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</module>
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<!--module name="gps_ubx_ucenter"/-->
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<module name="imu" type="icm42688"/>
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<module name="ins"/>
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<module name="ahrs" type="float_dcm">
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<define name="AHRS_FLOAT_MIN_SPEED_GPS_COURSE" value="0.1"/>
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</module>
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<module name="nav" type="rover_base"/>
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<module name="guidance" type="rover_steering">
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<define name="MAX_DELTA" value="15.0"/>
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<define name="DRIVE_SHAFT_DISTANCE" value="0.25"/>
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<define name="SR_MEASURED_KF" value="1400.0"/>
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<!--define name="MIN_CMD_SHUT" value="3800"/>
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<define name="MAX_CMD_SHUT" value="1350"/-->
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</module>
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</firmware>
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<!-- ....................................................... -->
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<!-- HARDWARE settings ..................................... -->
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<servos>
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<servo name="MOTOR_THROTTLE" no="0" min="1000" neutral="1500" max="2000"/>
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<servo name="MOTOR_STEERING" no="3" min="1700" neutral="1400" max="1000"/>
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</servos>
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<!-- Low level commands (PWM signal) -->
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<commands>
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<axis name="THROTTLE" failsafe_value="0"/>
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<axis name="STEERING" failsafe_value="0"/>
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</commands>
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<!-- When SetCommandsFromRC -->
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<rc_commands>
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<set command="THROTTLE" value="@THROTTLE"/>
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<set command="STEERING" value="@ROLL"/>
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</rc_commands>
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<!-- When SetActuatorsFromCommands-->
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<command_laws>
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<set servo="MOTOR_THROTTLE" value="@THROTTLE"/>
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<set servo="MOTOR_STEERING" value="@STEERING"/>
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</command_laws>
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<section name="IMU" prefix="IMU_">
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<!-- Matek_f405_wmn IMU (ICM42688) sensor to body calibration -->
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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="-90." unit="deg"/>
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<define name="GYRO_P_SIGN" value="1"/>
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<define name="GYRO_Q_SIGN" value="1"/>
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<define name="GYRO_R_SIGN" value="1"/>
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<define name="ACCEL_X_SIGN" value="1"/>
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<define name="ACCEL_Y_SIGN" value="1"/>
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<define name="ACCEL_Z_SIGN" value="1"/>
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</section>
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<!-- LiPo 3300mA 7.4V 2S1P CELL (Soaring)-->
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<section name="BAT">
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<define name="CATASTROPHIC_BAT_LEVEL" value="6.20" unit="V"/> <!-- 3.1 V per cell -->
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<define name="CRITIC_BAT_LEVEL" value="6.50" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="7.00" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="8.39" unit="V"/>
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="3300" unit="mA"/>
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<define name="MILLIAMP_AT_IDLE_THROTTLE" value="1000" unit="mA"/>
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<!--define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.0"/-->
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</section>
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<!-- ....................................................... -->
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<!-- GNS section ........................................... -->
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<section name="AUTOPILOT">
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<define name="MODE_MANUAL" value="AP_MODE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_CRUISER"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/> <!-- Ignoring radio_control.values -->
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</section>
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<section name="AHRS" prefix="AHRS_">
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<!-- values used if no GPS fix (i.e NPS), on 3D fix is update by geo_mag module if loaded -->
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<!-- Toulouse -->
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<define name="H_X" value="0.513081"/>
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<define name="H_Y" value="-0.00242783"/>
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<define name="H_Z" value="0.858336"/>
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<define name="USE_GPS" value="TRUE"/>
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</section>
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<!-- ....................................................... -->
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<!-- OTHERS ................................................ -->
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<section name="SIMULATOR" prefix="NPS_">
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</section>
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<section name="GCS">
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<define name="AC_ICON" value="rover"/>
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</section>
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<!-- ....................................................... -->
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</airframe>
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