mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-10 06:59:54 +08:00
Felix Ruess
215 lines
8.1 KiB
XML
215 lines
8.1 KiB
XML
<!DOCTYPE airframe SYSTEM "airframe.dtd">
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<!--
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Use settings/tuning_ins.xml
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Use telemetry/default_fixedwing_imu.xml
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Reely Condor
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TWOG v1.0 Board (http://paparazzi.enac.fr/wiki/TWOG)
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Sparkfun Razor IMU with Premerlani Code
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wi.232 Radiomodems
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-->
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<airframe name="Reely Condor CHNI">
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<servos>
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<servo name="THROTTLE" no="7" min="1200" neutral="1200" max="2000"/>
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<servo name="AILERON" no="4" min="2000" neutral="1500" max="1000"/>
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<servo name="ELEVATOR" no="3" max="2000" neutral="1500" min="1000"/>
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<servo name="CAM" no="2" max="2000" neutral="1500" min="1000"/>
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<servo name="TILT" no="6" max="2000" neutral="1501" min="1000"/>
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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="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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</rc_commands>
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<command_laws>
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<set servo="THROTTLE" value="@THROTTLE"/>
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<set servo="AILERON" value="@ROLL"/>
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<set servo="ELEVATOR" value="@PITCH"/>
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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="512"/>
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<define name="GYRO_Q_NEUTRAL" value="512"/>
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<define name="GYRO_R_NEUTRAL" value="512"/>
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<define name="GYRO_P_SENS" value="0.017" integer="16"/>
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<define name="GYRO_Q_SENS" value="0.017" integer="16"/>
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<define name="GYRO_R_SENS" value="0.017" integer="16"/>
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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_SENS" value="0.1" integer="16"/>
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<define name="ACCEL_Y_SENS" value="0.1" integer="16"/>
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<define name="ACCEL_Z_SENS" value="0.1" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="512"/>
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<define name="ACCEL_Y_NEUTRAL" value="512"/>
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<define name="ACCEL_Z_NEUTRAL" value="512"/>
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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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<!-- this should not be needed if no mag is used -->
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<define name="MAG_X_NEUTRAL" value="512"/>
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<define name="MAG_Y_NEUTRAL" value="512"/>
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<define name="MAG_Z_NEUTRAL" value="512"/>
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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="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="1.0"/>
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<define name="MAX_PITCH" value="1.0"/>
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</section>
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<!-- settings for the Analog IMU -->
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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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<!-- 3S LiPo with 1050mAh, connected to an 20A ESC -->
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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="VOLTAGE_ADC_A" value="0.02456533604651162791"/>
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<define name="VOLTAGE_ADC_B" value="0.24024993023255813953"/>
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<define name="VoltageOfAdc(adc)" value ="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.0" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="9.3" 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="12.4" unit="V"/>
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</section>
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<section name="SIMU">
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<define name="YAW_RESPONSE_FACTOR" value="0.7"/>
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</section>
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<section name="MISC">
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<define name="TELEMETRY_MODE_FBW" value="1"/>
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<define name="NOMINAL_AIRSPEED" value="12.5" unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="CONTROL_RATE" value="60" unit="Hz"/>
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<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
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<define name="TRIGGER_DELAY" value="1."/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="50."/>
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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="11.1" unit="volt"/>
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="-0.07"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="2."/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-500"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="-0.025"/>
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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"/>
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<!-- auto pitch inner loop -->
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<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
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<define name="AUTO_PITCH_IGAIN" value="0.075"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
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<define name="THROTTLE_SLEW" value="0.05"/>
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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="-0.85"/>
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<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
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<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
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<define name="ROLL_PGAIN" value="12000."/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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<define name="PITCH_PGAIN" value="-9000."/>
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<define name="PITCH_DGAIN" value="1.5"/>
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<define name="ELEVATOR_OF_ROLL" value="1250"/>
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</section>
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<section name="NAV">
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<define name="NAV_PITCH" value="0."/>
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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="0.8"/><!-- Gaz for Aggressive Climb -->
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<define name="CLIMB_PITCH" value="0.3"/><!-- 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="-0.25"/><!-- 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="1" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.3" 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="100" unit="m"/>
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</section>
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<firmware name="fixedwing">
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<target name="sim" board="pc"/>
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<target name="ap" board="twog_1.0">
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<define name="AGR_CLIMB" />
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<define name="LOITER_TRIM" />
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<define name="ALT_KALMAN" />
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</target>
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<subsystem name="radio_control" type="ppm"/>
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<!-- Communication -->
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<subsystem name="telemetry" type="transparent">
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<configure name="MODEM_BAUD" value="B9600"/>
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</subsystem>
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<!-- Actuators are automatically chosen according to the board-->
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<subsystem name="control"/>
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<!-- Sensors -->
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<subsystem name="imu" type="analog">
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<configure name="GYRO_P" value="ADC_0"/>
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<configure name="GYRO_Q" value="ADC_1"/>
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<configure name="GYRO_R" value="ADC_2"/>
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<configure name="ACCEL_X" value="ADC_5"/>
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<configure name="ACCEL_Y" value="ADC_6"/>
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<configure name="ACCEL_Z" value="ADC_7"/>
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<configure name="ADC_ACCEL_NB_SAMPLES" value="32"/>
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</subsystem>
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<subsystem name="ahrs" type="float_dcm"/>
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<subsystem name="gps" type="ublox"/>
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<subsystem name="navigation"/>
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</firmware>
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</airframe>
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