mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 15:30:08 +08:00
Felix Ruess
195 lines
7.3 KiB
XML
195 lines
7.3 KiB
XML
<!-- this is a default Walkera V120D02S frame equiped with Lisa/S 0.1 -->
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<!--
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Applicable configuration:
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airframe="airframes/TUDelft/IMAV2013/walkera_V120D02S.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/rotorcraft_basic.xml"
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settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml"
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-->
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<airframe name="walkera_v120d02s">
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<servos driver="Pwm">
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<servo name="CIC_FRONT" no="5" min="2000" neutral="1550" max="900"/>
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<servo name="CIC_RIGHT" no="0" min="900" neutral="1550" max="2000"/>
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<servo name="CIC_LEFT" no="1" min="900" neutral="1550" max="2000"/>
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<servo name="TAIL" no="2" min="1000" neutral="1400" max="1800"/>
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<servo name="GAS" no="3" min="900" neutral="980" max="2200"/>
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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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<let var="hoverpower" value=".75*MAX_PPRZ"/>
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<let var="hoverstick" value=".35*MAX_PPRZ"/>
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<let var="halfway" value="(@THRUST >= ($hoverstick) ? 1 : 0)"/>
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<let var="collective" value="@THRUST * 0.4 + (MAX_PPRZ*0.01)"/>
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<let var="gas" value="($hoverpower) + $halfway * (((@THRUST) - ($hoverstick)) * (MAX_PPRZ - ($hoverpower))) / (MAX_PPRZ - ($hoverstick)) + (1 - $halfway) * ((@THRUST - ($hoverstick)) * ($hoverpower)) / ($hoverstick)"/>
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<set servo="GAS" value="$gas"/>
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<set servo="CIC_LEFT" value="((@PITCH*0.5*0.5)-(@ROLL*0.5*0.7))+($collective)"/>
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<set servo="CIC_RIGHT" value="((-@PITCH*0.5*0.5)-(@ROLL*0.5*0.7))-($collective)"/>
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<set servo="CIC_FRONT" value="-@PITCH*0.5*1.0+($collective)"/>
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<set servo="TAIL" value="@YAW"/>
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</command_laws>
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<section name="IMU" prefix="IMU_">
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<define name="BODY_TO_IMU_PHI" value="190." 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="0." unit="deg"/>
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<define name="ACCEL_X_NEUTRAL" value="0"/>
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<define name="ACCEL_Y_NEUTRAL" value="0"/>
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<define name="ACCEL_Z_NEUTRAL" value="0"/>
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<!-- From delft MAVLab (TODO) -->
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<define name="MAG_X_NEUTRAL" value="396"/>
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<define name="MAG_Y_NEUTRAL" value="-260"/>
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<define name="MAG_Z_NEUTRAL" value="-91"/>
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<define name="MAG_X_SENS" value="3.71635905504" integer="16"/>
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<define name="MAG_Y_SENS" value="3.5526454063" integer="16"/>
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<define name="MAG_Z_SENS" value="3.52339566014" integer="16"/>
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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_ATTITUDE_DIRECT"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="10"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="4.3" 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="80000"/>
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<define name="SP_MAX_Q" value="80000"/>
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<define name="SP_MAX_R" value="80000"/>
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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="90." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
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<!-- feedback -->
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<define name="PHI_PGAIN" value="3052"/>
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<define name="PHI_DGAIN" value="108"/>
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<define name="PHI_IGAIN" value="0"/>
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<define name="THETA_PGAIN" value="3052"/>
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<define name="THETA_DGAIN" value="108"/>
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<define name="THETA_IGAIN" value="0"/>
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<define name="PSI_PGAIN" value="944"/>
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<define name="PSI_DGAIN" value="300"/>
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<define name="PSI_IGAIN" value="10"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value="0"/>
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<define name="THETA_DDGAIN" value="0"/>
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<define name="PSI_DDGAIN" value=" 300"/>
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<define name="PHI_AGAIN" value="0"/>
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<define name="THETA_AGAIN" value="0"/>
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<define name="PSI_AGAIN" value="0"/>
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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="281"/>
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<define name="HOVER_KD" value="66"/>
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<define name="HOVER_KI" value="0"/>
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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="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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<modules main_freq="512">
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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_s_0.1">
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<subsystem name="radio_control" type="superbitrf_rc">
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<define name="RADIO_TRANSMITTER_ID" value="2008496626"/> <!-- TUDelft Dx6i: TX 4 -->
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<define name="RADIO_TRANSMITTER_CHAN" value="6"/>
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<define name="RADIO_TRANSMITTER_PROTOCOL" value="0x01"/>
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<define name="RADIO_KILL_SWITCH" value="RADIO_FLAP"/>
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</subsystem>
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<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
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<configure name="LISA_S_BARO" value="BARO_MS5611_SPI"/>
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</target>
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<subsystem name="actuators" type="pwm">
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<define name="SERVO_HZ" value="50"/>
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<define name="USE_SERVOS_1AND2"/>
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</subsystem>
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<subsystem name="telemetry" type="superbitrf"/>
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<subsystem name="imu" type="lisa_s_v0.1"/>
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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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</firmware>
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</airframe>
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