mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 15:30:08 +08:00
Felix Ruess
223 lines
7.7 KiB
XML
223 lines
7.7 KiB
XML
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
|
|
|
|
<!-- SPirit Of Corsica III
|
|
Ailerons, elevator, NO rudder
|
|
Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
|
|
arduIMU i2c
|
|
XBee modem (transparent)
|
|
Current sensor
|
|
-->
|
|
|
|
<airframe name="Spoc III Tiny 2.1">
|
|
|
|
<modules>
|
|
<load name="ins_arduimu_basic.xml"/>
|
|
<load name="airspeed_ets.xml">
|
|
<define name="SENSOR_SYNC_SEND"/>
|
|
<define name="USE_AIRSPEED"/>
|
|
<define name="AIRSPEED_ETS_SCALE" value="1.53"/>
|
|
<!--define name="AIRSPEED_ETS_REVERSE"/-->
|
|
</load>
|
|
<load name="generic_com.xml"/>
|
|
</modules>
|
|
|
|
<firmware name="fixedwing">
|
|
<define name="ALT_KALMAN"/>
|
|
<define name="LOITER_TRIM"/>
|
|
<define name="USE_GYRO_PITCH_RATE"/>
|
|
|
|
<target name="sim" board="pc"/>
|
|
<target name="ap" board="tiny_2.11">
|
|
<configure name="FLASH_MODE" value="IAP"/>
|
|
<define name="USE_I2C0"/>
|
|
</target>
|
|
|
|
|
|
<!-- Control -->
|
|
<subsystem name="control" type="new"/>
|
|
<subsystem name="navigation"/>
|
|
|
|
<!-- Communication -->
|
|
<subsystem name="telemetry" type="xbee_api"/>
|
|
<subsystem name="radio_control" type="datalink"/>
|
|
|
|
<!-- Sensors -->
|
|
<subsystem name="gps" type="ublox"/>
|
|
|
|
<subsystem name="current_sensor">
|
|
<configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
|
|
</subsystem>
|
|
|
|
</firmware>
|
|
|
|
<firmware name="setup">
|
|
<target name="tunnel" board="tiny_2.11"/>
|
|
<target name="setup_actuators" board="tiny_2.11"/>
|
|
</firmware>
|
|
|
|
<!-- commands section -->
|
|
<servos>
|
|
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
|
|
<servo name="ELEVATOR" no="7" min="1900" neutral="1600" max="1100"/>
|
|
<!-- Wing 4 -->
|
|
<!--servo name="AILERON_LEFT" no="6" min="1900" neutral="1500" max="1100"/>
|
|
<servo name="AILERON_RIGHT" no="2" min="1900" neutral="1590" max="1100"/-->
|
|
<!-- Wing 1 -->
|
|
<servo name="AILERON_LEFT" no="2" min="1900" neutral="1526" max="1100"/>
|
|
<servo name="AILERON_RIGHT" no="6" min="1900" neutral="1537" max="1100"/>
|
|
</servos>
|
|
|
|
<commands>
|
|
<axis name="THROTTLE" failsafe_value="0"/>
|
|
<axis name="ROLL" failsafe_value="0"/>
|
|
<axis name="PITCH" failsafe_value="0"/>
|
|
</commands>
|
|
|
|
<rc_commands>
|
|
<set command="THROTTLE" value="@THROTTLE"/>
|
|
<set command="ROLL" value="@ROLL"/>
|
|
<set command="PITCH" value="@PITCH"/>
|
|
</rc_commands>
|
|
|
|
<section name="MIXER">
|
|
<define name="AILERON_DIFF" value="0.66"/>
|
|
</section>
|
|
|
|
<command_laws>
|
|
<set servo="MOTOR" value="@THROTTLE"/>
|
|
<set servo="ELEVATOR" value="@PITCH"/>
|
|
<let var="roll" value="@ROLL"/>
|
|
<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
|
|
<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
|
|
</command_laws>
|
|
|
|
<section name="AUTO1" prefix="AUTO1_">
|
|
<define name="MAX_ROLL" value="0.85"/>
|
|
<define name="MAX_PITCH" value="0.8"/>
|
|
</section>
|
|
|
|
<section name="INS" prefix="INS_">
|
|
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="rad" />
|
|
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="rad" />
|
|
</section>
|
|
|
|
<section name="BAT">
|
|
<define name="CATASTROPHIC_BAT_LEVEL" value="4" unit="V"/>
|
|
<define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*18.2"/>
|
|
</section>
|
|
|
|
<section name="MISC">
|
|
<define name="MINIMUM_AIRSPEED" value="14." unit="m/s"/>
|
|
<define name="NOMINAL_AIRSPEED" value="17." unit="m/s"/>
|
|
<define name="MAXIMUM_AIRSPEED" value="25." unit="m/s"/>
|
|
<define name="CARROT" value="5." unit="s"/>
|
|
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
|
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
|
<!-- define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/ -->
|
|
<!-- define name="NO_XBEE_API_INIT" value="TRUE"/ -->
|
|
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
|
|
|
<define name="TRIGGER_DELAY" value="1."/>
|
|
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
|
|
|
<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
|
|
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
|
|
</section>
|
|
|
|
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
|
|
|
<!-- outer loop proportional gain -->
|
|
<define name="ALTITUDE_PGAIN" value="-0.04"/>
|
|
<!-- outer loop saturation -->
|
|
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
|
|
|
<!-- Cruise throttle + limits -->
|
|
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
|
|
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
|
|
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
|
|
<define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(20.)"/>
|
|
<define name="AUTO_PITCH_MIN_PITCH" value="-RadOfDeg(20.)"/>
|
|
<define name="AUTO_THROTTLE_LOITER_TRIM" value="0."/>
|
|
<define name="AUTO_THROTTLE_DASH_TRIM" value="0."/>
|
|
|
|
<!-- Climb loop (throttle) -->
|
|
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.08" unit="%/(m/s)"/>
|
|
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
|
|
<define name="AUTO_THROTTLE_DGAIN" value="-0.0"/>
|
|
<define name="AUTO_THROTTLE_IGAIN" value="-0.001"/>
|
|
|
|
<!-- Climb loop (pitch) -->
|
|
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.08"/>
|
|
<define name="AUTO_PITCH_PGAIN" value="-0.0"/>
|
|
<define name="AUTO_PITCH_DGAIN" value="-0.0"/>
|
|
<define name="AUTO_PITCH_IGAIN" value="-0.0"/>
|
|
|
|
<!-- airspeed control -->
|
|
<define name="AUTO_AIRSPEED_SETPOINT" value="17."/>
|
|
<define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
|
|
<define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
|
|
<define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
|
|
<define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
|
|
<define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
|
|
<define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
|
|
<define name="AIRSPEED_MAX" value="25"/>
|
|
<define name="AIRSPEED_MIN" value="14"/>
|
|
|
|
<!-- groundspeed control -->
|
|
<define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
|
|
<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
|
|
<define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
|
|
|
|
<!-- pitch trim --> <!-- 5 deg -->
|
|
<define name="PITCH_LOITER_TRIM" value="RadOfDeg(0.)"/>
|
|
<define name="PITCH_DASH_TRIM" value="RadOfDeg(-0.)"/>
|
|
|
|
<define name="THROTTLE_SLEW" value="0.005"/>
|
|
|
|
</section>
|
|
|
|
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
|
<define name="COURSE_PGAIN" value="1.20599997044"/>
|
|
|
|
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="radians"/>
|
|
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
|
|
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
|
|
|
|
<define name="ROLL_ATTITUDE_GAIN" value="8500."/>
|
|
<define name="ROLL_RATE_GAIN" value="-2400."/>
|
|
<define name="ROLL_IGAIN" value="-0."/>
|
|
<define name="ROLL_KFFA" value="0"/>
|
|
<define name="ROLL_KFFD" value="0"/>
|
|
|
|
<define name="PITCH_PGAIN" value="7000."/>
|
|
<define name="PITCH_DGAIN" value="2400."/>
|
|
<define name="PITCH_IGAIN" value="-300."/>
|
|
<define name="PITCH_KFFA" value="0."/>
|
|
<define name="PITCH_KFFD" value="0."/>
|
|
|
|
<define name="PITCH_OF_ROLL" value="0.043"/>
|
|
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
|
|
|
</section>
|
|
|
|
<section name="NAV">
|
|
<define name="NAV_PITCH" value="0."/>
|
|
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
|
</section>
|
|
|
|
<section name="FAILSAFE" prefix="FAILSAFE_">
|
|
<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
|
|
<define name="DEFAULT_THROTTLE" value="0.5" unit="%"/>
|
|
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
|
<define name="DEFAULT_PITCH" value="0.0" unit="rad"/>
|
|
<define name="HOME_RADIUS" value="100" unit="m"/>
|
|
</section>
|
|
|
|
<section name="SIMU">
|
|
<define name="JSBSIM_MODEL" value=""Corsica""/>
|
|
<define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
|
|
<define name="JSBSIM_IR_PITCH_NEUTRAL" value="RadOfDeg(0.)"/>
|
|
</section>
|
|
|
|
</airframe>
|