mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-22 20:36:06 +08:00
Christophe De Wagter
951019e34b
* Cleanup: dual identical conf: mk=delfly, renames, removed doubles * [airframes] remove doubles, move modules to firmware section * [airframes] modules -> firmware * more fixes
226 lines
8.8 KiB
XML
226 lines
8.8 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!-- this is a quadrotor frame in X-configuration equipped with
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* Autopilot: Lisa/M 2.0 with STM32F1 http://wiki.paparazziuav.org/wiki/Lisa/M_v2.0
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* IMU: Aspirin 2.2 http://wiki.paparazziuav.org/wiki/AspirinIMU
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* Actuators: HobbyKing Afro Slim 20A with BLHeli 14.0
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* GPS: Datalink http://wiki.paparazziuav.org/wiki/Subsystem/gps
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* RC: one Spektrum sat http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
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-->
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<airframe name="MAVTec1">
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<firmware name="rotorcraft">
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<target name="ap" board="lisa_m_2.0">
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<module name="radio_control" type="spektrum">
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<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
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<define name="RADIO_MODE" value="RADIO_AUX2"/>
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</module>
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<configure name="NO_LUFTBOOT" value="1"/>
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<configure name="USE_BARO_BOARD" value="FALSE"/>
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<configure name="USE_MAGNETOMETER" value="0"/>
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<!-- MPU6000 is configured to output data at 2kHz, but polled at 512Hz PERIODIC_FREQUENCY -->
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</target>
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<module name="motor_mixing"/>
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<module name="actuators" type="pwm">
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<define name="SERVO_HZ" value="400"/>
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</module>
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<module name="telemetry" type="xbee_api"/>
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<module name="imu" type="aspirin_v2.2"/>
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<module name="gps" type="optitrack"/>
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<module name="stabilization" type="indi_simple"/>
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<module name="ahrs" type="int_cmpl_quat">
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<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
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</module>
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<module name="ins" type="hff"/>
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<module name="guidance" type="indi"/>
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</firmware>
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<servos driver="Pwm">
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<servo name="MOTOR_0" no="0" min="1148" neutral="1200" max="1832"/>
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<servo name="MOTOR_1" no="1" min="1148" neutral="1200" max="1832"/>
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<servo name="MOTOR_2" no="2" min="1148" neutral="1200" max="1832"/>
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<servo name="MOTOR_3" no="3" min="1148" neutral="1200" max="1832"/>
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</servos>
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<commands>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" 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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<section name="MIXING" prefix="MOTOR_MIXING_">
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<!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
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<define name="TYPE" value="QUAD_X"/>
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</section>
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<command_laws>
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<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
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<set servo="MOTOR_0" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
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<set servo="MOTOR_1" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
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<set servo="MOTOR_2" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
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<set servo="MOTOR_3" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
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</command_laws>
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<section name="MISC">
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<define name="NAV_CLIMB_VSPEED" value="2.5"/>
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<define name="NAV_DESCEND_VSPEED" value="-1.0"/>
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<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<define name="ACCEL_X_NEUTRAL" value="29"/>
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<define name="ACCEL_Y_NEUTRAL" value="-5"/>
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<define name="ACCEL_Z_NEUTRAL" value="-344"/>
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<define name="ACCEL_X_SENS" value="4.88671674253" integer="16"/>
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<define name="ACCEL_Y_SENS" value="4.85140885386" integer="16"/>
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<define name="ACCEL_Z_SENS" value="4.89977338537" integer="16"/>
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<!-- replace this with your own calibration -->
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<define name="MAG_X_NEUTRAL" value="-88"/>
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<define name="MAG_Y_NEUTRAL" value="42"/>
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<define name="MAG_Z_NEUTRAL" value="44"/>
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<define name="MAG_X_SENS" value="3.55840131062" integer="16"/>
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<define name="MAG_Y_SENS" value="3.59312782171" integer="16"/>
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<define name="MAG_Z_SENS" value="4.16199901926" integer="16"/>
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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="180." unit="deg"/>
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</section>
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<section name="AHRS" prefix="AHRS_">
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<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
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<define name="H_X" value="0.3770441"/>
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<define name="H_Y" value="0.0193986"/>
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<define name="H_Z" value="0.9259921"/>
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<define name="USE_GPS_HEADING" value="1"/>
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</section>
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<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
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<!-- setpoints -->
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<define name="SP_MAX_P" value="140" unit="deg/s"/>
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<define name="SP_MAX_Q" value="140" unit="deg/s"/>
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<define name="SP_MAX_R" value="140" unit="deg/s"/>
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<define name="DEADBAND_P" value="20"/>
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<define name="DEADBAND_Q" value="20"/>
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<define name="DEADBAND_R" value="200"/>
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<!-- feedback -->
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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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<define name="IGAIN_P" value="75"/>
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<define name="IGAIN_Q" value="75"/>
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<define name="IGAIN_R" value="50"/>
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</section>
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<section name="INS" prefix="INS_">
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<!-- Use GPS altitude measurments and set the R gain -->
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<define name="USE_GPS_ALT" value="1"/>
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<define name="VFF_R_GPS" value="0.01"/>
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<define name="VFF_VZ_R_GPS" value="0.01"/>
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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_R" value="250." unit="deg/s"/>
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<define name="DEADBAND_R" value="200"/>
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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="300." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
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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="300." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
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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="900"/>
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<define name="PHI_DGAIN" value="200"/>
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<define name="PHI_IGAIN" value="200"/>
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<define name="THETA_PGAIN" value="900"/>
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<define name="THETA_DGAIN" value="200"/>
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<define name="THETA_IGAIN" value="200"/>
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<define name="PSI_PGAIN" value="900"/>
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<define name="PSI_DGAIN" value="200"/>
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<define name="PSI_IGAIN" value="10"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value=" 200"/>
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<define name="THETA_DDGAIN" value=" 200"/>
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<define name="PSI_DDGAIN" value=" 200"/>
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</section>
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<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
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<!-- control effectiveness -->
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<define name="G1_P" value="0.035"/>
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<define name="G1_Q" value="0.035"/>
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<define name="G1_R" value="0.004"/>
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<define name="G2_R" value="0.06"/>
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<!-- reference acceleration for attitude control -->
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<define name="REF_ERR_P" value="900.0"/>
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<define name="REF_ERR_Q" value="900.0"/>
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<define name="REF_ERR_R" value="600.0"/>
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<define name="REF_RATE_P" value="33.0"/>
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<define name="REF_RATE_Q" value="33.0"/>
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<define name="REF_RATE_R" value="28.0"/>
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<!-- second order filter parameters -->
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<define name="FILT_CUTOFF" value="8.0"/>
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<define name="FILT_CUTOFF_R" value="3.2"/>
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<!-- first order actuator dynamics -->
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<define name="ACT_DYN_P" value="0.03"/>
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<define name="ACT_DYN_Q" value="0.03"/>
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<define name="ACT_DYN_R" value="0.03"/>
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<!-- Adaptive Learning Rate -->
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<define name="USE_ADAPTIVE" value="FALSE"/>
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<define name="ADAPTIVE_MU" value="0.0001"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="HOVER_KP" value="150"/>
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<define name="HOVER_KD" value="80"/>
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<define name="HOVER_KI" value="20"/>
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<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
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<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="MAX_BANK" value="35" unit="deg"/>
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<define name="USE_SPEED_REF" value="TRUE"/>
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<define name="PGAIN" value="50"/>
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<define name="DGAIN" value="100"/>
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<define name="AGAIN" value="70"/>
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<define name="IGAIN" value="20"/>
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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_HOVER_Z_HOLD"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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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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<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="10.1" 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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</airframe>
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