mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 13:55:40 +08:00
Piotr Esden-Tempski
230 lines
8.7 KiB
XML
230 lines
8.7 KiB
XML
<!-- this is a quadrocopter frame equiped with Lisa/M 1.0, Aspirin 1.0 and generic china pwm motor controllers -->
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<!--
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Applicable configuration:
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airframe="airframes/esden/quady_lm1a1pwm.xml"
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radio="radios/cockpitSX.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/dummy.xml"
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settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
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-->
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<airframe name="quady_lm1a1pwm">
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<servos driver="Pwm">
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<servo name="FRONT" no="0" min="1000" neutral="1100" max="1950"/>
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<servo name="RIGHT" no="1" min="1000" neutral="1100" max="1950"/>
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<servo name="BACK" no="2" min="1000" neutral="1100" max="1950"/>
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<servo name="LEFT" no="3" min="1000" neutral="1100" max="1950"/>
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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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<command_laws>
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<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
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<set servo="FRONT" value="motor_mixing.commands[SERVO_FRONT]"/>
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<set servo="BACK" value="motor_mixing.commands[SERVO_BACK]"/>
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<set servo="RIGHT" value="motor_mixing.commands[SERVO_RIGHT]"/>
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<set servo="LEFT" value="motor_mixing.commands[SERVO_LEFT]"/>
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</command_laws>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<define name="TRIM_ROLL" value="0"/>
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<define name="TRIM_PITCH" value="0"/>
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<define name="TRIM_YAW" value="0"/>
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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="{ 0, -256, 0, 256 }"/>
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<define name="PITCH_COEF" value="{ 256, 0, -256, 0 }"/>
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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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<include href="conf/airframes/esden/calib/asp21-018.xml"/>
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<section name="IMU" prefix="IMU_">
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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="45." unit="deg"/>
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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_HOVER_Z_HOLD"/>
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</section>
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<section name="BAT">
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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</section>
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<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
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<define name="SP_MAX_P" value="10000"/>
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<define name="SP_MAX_Q" value="10000"/>
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<define name="SP_MAX_R" value="10000"/>
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<define name="GAIN_P" value="400"/>
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<define name="GAIN_Q" value="400"/>
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<define name="GAIN_R" value="350"/>
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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_PSI" value="45." unit="deg"/>
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<define name="SP_MAX_R" value="90." unit="deg/s"/>
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<define name="SP_MAX_P" value="90." unit="deg/s"/>
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<define name="DEADBAND_R" value="250"/>
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<define name="DEADBAND_A" value="250"/>
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<!-- reference -->
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<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.85"/>
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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(8000.)"/>
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<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.85"/>
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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(8000.)"/>
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<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.85"/>
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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="1500"/>
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<define name="PHI_DGAIN" value="1000"/>
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<define name="PHI_IGAIN" value="100"/>
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<define name="THETA_PGAIN" value="1500"/>
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<define name="THETA_DGAIN" value="1000"/>
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<define name="THETA_IGAIN" value="100"/>
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<define name="PSI_PGAIN" value="1500"/>
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<define name="PSI_DGAIN" value="1000"/>
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<define name="PSI_IGAIN" value="10"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value=" 300"/>
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<define name="THETA_DDGAIN" value=" 300"/>
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<define name="PSI_DDGAIN" value=" 300"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="BARO_SENS" value="22.4" integer="16"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
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<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
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<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
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<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
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<define name="MAX_SUM_ERR" value="2000000"/>
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<define name="HOVER_KP" value="400"/>
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<define name="HOVER_KD" value="350"/>
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<define name="HOVER_KI" value="144"/>
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<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
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<define name="RC_CLIMB_COEF" value ="163"/>
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<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
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<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
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<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/>
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</section>
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<section name="AHRS" prefix="AHRS_">
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<define name="PROPAGATE_FREQUENCY" value="512"/>
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<define name="H_X" value=" 0.47577"/>
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<define name="H_Y" value=" 0.11811"/>
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<define name="H_Z" value=" 0.87161"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="PGAIN" value="50"/>
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<define name="DGAIN" value="50"/>
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<define name="IGAIN" value="0"/>
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</section>
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<section name="MISC">
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<define name="FACE_REINJ_1" value="1024"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="{"front_motor", "back_motor", "right_motor", "left_motor"}"/>
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<define name="INITIAL_CONDITITONS" value=""reset00""/>
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<define name="SENSORS_PARAMS" value=""nps_sensors_params_booz2_a1.h""/>
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</section>
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<modules main_freq="512">
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<!--load name="vehicle_interface_overo_link.xml"/-->
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<load name="gps_ubx_ucenter.xml"/>
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</modules>
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<firmware name="rotorcraft">
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<target name="ap" board="lisa_m_1.0">
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<subsystem name="radio_control" type="spektrum">
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<define name="RADIO_MODE" value="RADIO_FLAP"/>
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<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
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<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
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</subsystem>
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<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
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</target>
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<target name="nps" board="pc">
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<subsystem name="fdm" type="jsbsim"/>
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<subsystem name="radio_control" type="ppm"/>
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</target>
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<subsystem name="motor_mixing"/>
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<subsystem name="actuators" type="pwm">
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<define name="SERVO_HZ" value="400"/>
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<define name="USE_SERVOS_7AND8"/>
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</subsystem>
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<subsystem name="telemetry" type="transparent"/>
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<subsystem name="imu" type="aspirin_v1.0"/>
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<subsystem name="gps" type="ublox"/>
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<subsystem name="stabilization" type="int_quat"/>
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<subsystem name="ahrs" type="int_cmpl_quat"/>
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<subsystem name="ins"/>
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<!--define name="USE_INS_NAV_INIT"/-->
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<!--subsystem name="stabilization" type="euler"/>
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<subsystem name="ahrs" type="int_cmpl_euler"/-->
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</firmware>
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<firmware name="lisa_test_progs">
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<target name="test_led" board="lisa_m_1.0">
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<configure name="SYS_TIME_LED" value="none"/>
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</target>
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<target name="test_uart" board="lisa_m_1.0"/>
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<target name="test_servos" board="lisa_m_1.0"/>
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<target name="test_telemetry" board="lisa_m_1.0"/>
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<target name="test_imu_aspirin" board="lisa_m_1.0"/>
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<target name="test_rc_spektrum" board="lisa_m_1.0"/>
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<target name="test_baro" board="lisa_m_1.0"/>
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<!--<target name="test_imu" board="lisa_m_1.0"/>
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<target name="test_rc_ppm" board="lisa_m_1.0"/>
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<target name="test_adc" board="lisa_m_1.0"/>
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<target name="test_hmc5843" board="lisa_m_1.0"/>
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<target name="test_itg3200" board="lisa_m_1.0"/>
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<target name="test_adxl345" board="lisa_m_1.0"/>
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<target name="test_esc_mkk_simple" board="lisa_m_1.0"/>
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<target name="test_esc_asctecv1_simple" board="lisa_m_1.0"/>
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<target name="test_actuators_mkk" board="lisa_m_1.0"/>
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<target name="test_actuators_asctecv1" board="lisa_m_1.0"/-->
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</firmware>
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</airframe>
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