mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-10 06:59:54 +08:00
Felix Ruess
187 lines
6.8 KiB
XML
187 lines
6.8 KiB
XML
<!DOCTYPE airframe SYSTEM "airframe.dtd">
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<!-- Twinjet Multiplex (http://www.multiplex-rc.de/)
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Twog v1 board (http://paparazzi.enac.fr/wiki/Twog_v1)
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PerkinElmer TPS334 IR Sensors
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Aligned infrared sensor
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XBee modem with AT firmware
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LEA 5H GPS
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-->
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<airframe name="Twinjet">
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<firmware name="fixedwing">
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<target name="ap" board="twog_1.0"/>
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<target name="sim" board="pc"/>
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<define name="LOITER_TRIM"/>
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<define name="ALT_KALMAN"/>
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<define name="AGR_CLIMB"/>
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="telemetry" type="transparent"/>
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<subsystem name="control"/>
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<subsystem name="ahrs" type="infrared"/>
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<subsystem name="imu" type="analog">
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<configure name="GYRO_P" value="ADC_3"/>
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</subsystem>
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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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<firmware name="setup">
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<target name="tunnel" board="twog_1.0" />
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<target name="usb_tunnel_0" board="twog_1.0" />
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<target name="usb_tunnel_1" board="twog_1.0" />
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</firmware>
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<modules>
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<load name="adc_generic.xml">
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<configure name="ADC_CHANNEL_GENERIC1" value="ADC_7" />
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</load>
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<load name="infrared_adc.xml"/>
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</modules>
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<servos>
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<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
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<servo name="AILEVON_RIGHT" no="1" min="1230" neutral="1710" max="2100"/>
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<servo name="AILEVON_LEFT" no="2" min="2120" neutral="1785" max="1300"/>
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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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<section name="MIXER">
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<define name="AILEVON_AILERON_RATE" value="0.75"/>
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<define name="AILEVON_ELEVATOR_RATE" value="1.00"/>
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</section>
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<command_laws>
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<set servo="THROTTLE" value="@THROTTLE"/>
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<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
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<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
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<set servo="AILEVON_LEFT" value="$aileron + $elevator"/>
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<set servo="AILEVON_RIGHT" value="-$aileron + $elevator"/>
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="0.6"/>
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<define name="MAX_PITCH" value="0.6"/>
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</section>
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<section name="INFRARED" prefix="IR_">
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<define name="ADC_IR1_NEUTRAL" value="512"/>
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<define name="ADC_IR2_NEUTRAL" value="512"/>
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<define name="ADC_TOP_NEUTRAL" value="512"/>
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<define name="HORIZ_SENSOR_ALIGNED" value="1"/>
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<define name="IR1_SIGN" value="1"/>
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<define name="IR2_SIGN" value="-1"/>
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<define name="ROLL_NEUTRAL_DEFAULT" value="5" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="10" unit="deg"/>
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<define name="LATERAL_CORRECTION" value="1."/>
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<define name="LONGITUDINAL_CORRECTION" value="1."/>
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<define name="VERTICAL_CORRECTION" value="1.25"/>
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<define name="CORRECTION_UP" value="1."/>
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<define name="CORRECTION_DOWN" value="1."/>
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<define name="CORRECTION_LEFT" value="1."/>
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<define name="CORRECTION_RIGHT" value="1."/>
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</section>
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<section name="IMU" prefix="IMU_">
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<define name="GYRO_P_SIGN" value="1."/>
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<define name="GYRO_P_NEUTRAL" value="316"/>
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<define name="GYRO_P_SENS" value="1." integer="16"/>
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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="-0.9"/>
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<define name="ROLL_MAX_SETPOINT" value="0.53" 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="PITCH_PGAIN" value="-6000."/>
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<define name="PITCH_DGAIN" value="0."/>
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<define name="ELEVATOR_OF_ROLL" value="0"/>
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<!-- roll rate loop -->
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<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
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<define name="ROLL_RATE_GAIN" value="-1500"/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="-0.05"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="3."/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.40"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".3"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.8"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="2000"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-1500"/>
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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="-0.008"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.25"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.14"/>
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<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
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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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<define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="1000"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)" unit="s"/>
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</section>
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE+0.05" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
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<define name="HOME_RADIUS" value="50" unit="m"/>
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</section>
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<section name="AGGRESSIVE" prefix="AGR_">
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<define name="CLIMB_THROTTLE" value="0.65"/><!-- Throttle for Aggressive Climb -->
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<define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive Decent -->
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<define name="CLIMB_PITCH" value="0.2"/><!-- Pitch for Aggressive Climb -->
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<define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
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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_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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</airframe>
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