mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-29 19:17:28 +08:00
Felix Ruess
276 lines
9.4 KiB
XML
276 lines
9.4 KiB
XML
<!--DOCTYPE airframe SYSTEM "../../airframe.dtd"-->
|
|
|
|
<airframe name="Booz Mkk1 Enac">
|
|
|
|
<modules main_freq="512">
|
|
<load name="vision_cmucam.xml"/>
|
|
<load name="sonar_maxbotix_booz.xml"/>
|
|
</modules>
|
|
|
|
<servos min="0" neutral="0" max="0xff">
|
|
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
|
|
<servo name="BACK" no="1" min="0" neutral="0" max="255"/>
|
|
<servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
|
|
<servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
|
|
</servos>
|
|
|
|
<commands>
|
|
<axis name="PITCH" failsafe_value="0"/>
|
|
<axis name="ROLL" failsafe_value="0"/>
|
|
<axis name="YAW" failsafe_value="0"/>
|
|
<axis name="THRUST" failsafe_value="0"/>
|
|
</commands>
|
|
|
|
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
|
|
<define name="NB" value="4"/>
|
|
<define name="ADDR" value="{ 0x58, 0x52, 0x54, 0x56 }"/>
|
|
</section>
|
|
|
|
<section name="SUPERVISION" prefix="SUPERVISION_">
|
|
<define name="MIN_MOTOR" value="2"/>
|
|
<define name="MAX_MOTOR" value="210"/>
|
|
<define name="TRIM_A" value="0"/>
|
|
<define name="TRIM_E" value="0"/>
|
|
<define name="TRIM_R" value="0"/>
|
|
<define name="NB_MOTOR" value="4"/>
|
|
<define name="SCALE" value="256"/>
|
|
<define name="ROLL_COEF" value="{ 0, 0, -256, 256}"/>
|
|
<define name="PITCH_COEF" value="{ 256, -256, 0, 0}"/>
|
|
<define name="YAW_COEF" value="{ -256, -256, 256, 256}"/>
|
|
<define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
|
|
</section>
|
|
|
|
<section name="IMU" prefix="IMU_">
|
|
|
|
<define name="GYRO_P_CHAN" value="1"/>
|
|
<define name="GYRO_Q_CHAN" value="0"/>
|
|
<define name="GYRO_R_CHAN" value="2"/>
|
|
|
|
<define name="GYRO_P_NEUTRAL" value="30907"/>
|
|
<define name="GYRO_Q_NEUTRAL" value="33253"/>
|
|
<define name="GYRO_R_NEUTRAL" value="32329"/>
|
|
|
|
<define name="GYRO_P_SENS" value="1.00" integer="16"/>
|
|
<define name="GYRO_Q_SENS" value="1.00" integer="16"/>
|
|
<define name="GYRO_R_SENS" value="1.00" integer="16"/>
|
|
|
|
<define name="ACCEL_X_CHAN" value="5"/>
|
|
<define name="ACCEL_Y_CHAN" value="3"/>
|
|
<define name="ACCEL_Z_CHAN" value="4"/>
|
|
|
|
<define name="ACCEL_X_NEUTRAL" value="32913"/>
|
|
<define name="ACCEL_Y_NEUTRAL" value="33032"/>
|
|
<define name="ACCEL_Z_NEUTRAL" value="32843"/>
|
|
|
|
<define name="ACCEL_X_SENS" value="2.5749914646" integer="16"/>
|
|
<define name="ACCEL_Y_SENS" value="2.56940516083" integer="16"/>
|
|
<define name="ACCEL_Z_SENS" value="2.56940374188" integer="16"/>
|
|
|
|
<define name="MAG_X_CHAN" value="0"/>
|
|
<define name="MAG_Y_CHAN" value="1"/>
|
|
<define name="MAG_Z_CHAN" value="2"/>
|
|
|
|
<define name="MAG_X_NEUTRAL" value="-62"/>
|
|
<define name="MAG_Y_NEUTRAL" value="-13"/>
|
|
<define name="MAG_Z_NEUTRAL" value="-95"/>
|
|
|
|
<define name="MAG_X_SENS" value="6.42348671436" integer="16"/>
|
|
<define name="MAG_Y_SENS" value="6.95371185551" integer="16"/>
|
|
<define name="MAG_Z_SENS" value="3.12322557454" integer="16"/>
|
|
|
|
|
|
<!--define name="MAG_X_NEUTRAL" value="-12"/>
|
|
<define name="MAG_Y_NEUTRAL" value="-10"/>
|
|
<define name="MAG_Z_NEUTRAL" value="-11"/>
|
|
|
|
<define name="MAG_X_SENS" value="22.008352" integer="16"/>
|
|
<define name="MAG_Y_SENS" value="-21.79885" integer="16"/>
|
|
<define name="MAG_Z_SENS" value="-14.675745" integer="16"/-->
|
|
|
|
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
|
|
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
|
|
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
|
|
|
|
</section>
|
|
|
|
<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
|
|
|
|
<define name="SP_MAX_P" value="10000"/>
|
|
<define name="SP_MAX_Q" value="10000"/>
|
|
<define name="SP_MAX_R" value="10000"/>
|
|
|
|
<define name="GAIN_P" value="400"/>
|
|
<define name="GAIN_Q" value="400"/>
|
|
<define name="GAIN_R" value="350"/>
|
|
|
|
</section>
|
|
|
|
<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
|
|
|
|
<define name="SP_MAX_P" value="10000"/>
|
|
<define name="SP_MAX_Q" value="10000"/>
|
|
<define name="SP_MAX_R" value="10000"/>
|
|
|
|
<define name="GAIN_P" value="400"/>
|
|
<define name="GAIN_Q" value="400"/>
|
|
<define name="GAIN_R" value="350"/>
|
|
|
|
</section>
|
|
|
|
|
|
<section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
|
|
|
|
<!-- setpoints -->
|
|
<define name="SP_MAX_PHI" value="45." unit="deg"/>
|
|
<define name="SP_MAX_THETA" value="45." unit="deg"/>
|
|
<define name="SP_MAX_R" value="90." unit="deg/s"/>
|
|
<define name="DEADBAND_R" value="250"/>
|
|
|
|
<!-- reference -->
|
|
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
|
|
<define name="REF_ZETA_P" value="0.9"/>
|
|
<define name="REF_MAX_P" value="300." unit="deg/s"/>
|
|
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
|
|
|
|
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
|
|
<define name="REF_ZETA_Q" value="0.9"/>
|
|
<define name="REF_MAX_Q" value="300." unit="deg/s"/>
|
|
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
|
|
|
|
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
|
|
<define name="REF_ZETA_R" value="0.9"/>
|
|
<define name="REF_MAX_R" value="90." unit="deg/s"/>
|
|
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
|
|
|
|
<!-- feedback -->
|
|
<define name="PHI_PGAIN" value="650"/>
|
|
<define name="PHI_DGAIN" value="200"/>
|
|
<define name="PHI_IGAIN" value="100"/>
|
|
|
|
<define name="THETA_PGAIN" value="650"/>
|
|
<define name="THETA_DGAIN" value="200"/>
|
|
<define name="THETA_IGAIN" value="100"/>
|
|
|
|
<define name="PSI_PGAIN" value="800"/>
|
|
<define name="PSI_DGAIN" value="320"/>
|
|
<define name="PSI_IGAIN" value="20"/>
|
|
|
|
<!-- feedforward -->
|
|
<define name="PHI_DDGAIN" value=" 300"/>
|
|
<define name="THETA_DDGAIN" value=" 300"/>
|
|
<define name="PSI_DDGAIN" value=" 300"/>
|
|
|
|
</section>
|
|
|
|
<section name="INS" prefix="BOOZ_INS_">
|
|
<define name="BARO_SENS" value="15." integer="16"/>
|
|
<!--define name="SONAR_SENS" value="2.146" integer="16"/-->
|
|
<define name="SONAR_SENS" value="3." integer="16"/>
|
|
</section>
|
|
|
|
<section name="HORIZONTAL_FILTER" prefix="B2_HFF_">
|
|
<define name="ACCEL_NOISE" value="10."/>
|
|
<define name="R_POS" value="0.01"/>
|
|
<define name="R_POS_MIN" value="0."/>
|
|
<define name="R_SPEED" value="0.01"/>
|
|
<define name="R_SPEED_MIN" value="0."/>
|
|
</section>
|
|
|
|
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
|
|
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
|
|
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
|
|
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
|
|
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
|
|
<define name="MAX_SUM_ERR" value="2000000"/>
|
|
<define name="REF_MIN_ZDD" value="-1.5*9.81"/>
|
|
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
|
|
<define name="REF_MIN_ZD" value="-1.5"/>
|
|
<define name="REF_MAX_ZD" value=" 1.5"/>
|
|
<define name="HOVER_KP" value="200"/>
|
|
<define name="HOVER_KD" value="100"/>
|
|
<define name="HOVER_KI" value="0"/>
|
|
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
|
|
<define name="RC_CLIMB_COEF" value ="163"/>
|
|
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
|
|
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
|
|
</section>
|
|
|
|
|
|
<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
|
|
<define name="PGAIN" value="250"/>
|
|
<define name="DGAIN" value="150"/>
|
|
<define name="IGAIN" value="35"/>
|
|
<define name="NGAIN" value="0"/>
|
|
<!-- feedforward -->
|
|
<define name="AGAIN" value="100"/>
|
|
</section>
|
|
|
|
<section name="BAT">
|
|
<define name="CATASTROPHIC_BAT_LEVEL" value="9." unit="V"/>
|
|
</section>
|
|
|
|
<section name="AUTOPILOT">
|
|
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
|
|
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
|
|
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_NAV"/>
|
|
</section>
|
|
|
|
<section name="FMS">
|
|
<define name="BOOZ_FMS_TIMEOUT" value="0"/>
|
|
</section>
|
|
|
|
<section name="MISC">
|
|
<define name="BOOZ2_FACE_REINJ_1" value="1024"/>
|
|
</section>
|
|
|
|
|
|
<section name="SIMULATOR" prefix="NPS_">
|
|
<define name="ACTUATOR_NAMES" value="{"front_motor", "back_motor", "right_motor", "left_motor"}"/>
|
|
<define name="SENSORS_PARAMS" value=""nps_sensors_params_booz2_a1.h""/>
|
|
</section>
|
|
|
|
|
|
|
|
|
|
<makefile>
|
|
ARCH=lpc21
|
|
ARCHI=arm7
|
|
BOARD_CFG = \"boards/booz2_v1_0.h\"
|
|
FLASH_MODE=IAP
|
|
|
|
# prevents motors from ever starting
|
|
#ap.CFLAGS += -DKILL_MOTORS
|
|
|
|
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
|
|
include $(CFG_BOOZ)/booz2_autopilot.makefile
|
|
include $(CFG_BOOZ)/booz2_test_progs.makefile
|
|
ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
|
|
|
|
ap.CFLAGS += -DMODEM_BAUD=B57600
|
|
include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
|
|
include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
|
|
include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
|
|
#include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
|
|
include $(CFG_BOOZ)/subsystems/booz2_analog_bat_baro.makefile
|
|
#ap.CFLAGS += -DBOOZ2_SONAR -DUSE_SONAR_1
|
|
#include $(CFG_BOOZ)/subsystems/booz2_analog_bat_baro_sonar.makefile
|
|
include $(CFG_BOOZ)/subsystems/booz2_fms_datalink.makefile
|
|
|
|
include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
|
|
|
|
#include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
|
|
|
|
ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
|
|
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT
|
|
|
|
ap.CFLAGS += -DUSE_MODULES
|
|
|
|
include $(CFG_BOOZ)/booz2_simulator_nps.makefile
|
|
#sim.CFLAGS += -DB2_GUIDANCE_H_USE_REF
|
|
sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT
|
|
sim.CFLAGS += -DUSE_MODULES
|
|
|
|
</makefile>
|
|
|
|
</airframe>
|