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paparazzi/conf/airframes/TUDELFT/tudelft_iris_indi.xml
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<?xml version="1.0" encoding="UTF-8"?>
<!-- this is a quadrotor frame equiped with
* Autopilot: 3dr Pixhawk 2.4
* IMU: MPU6000 + L3GD20 + LSM303D
* Actuators: PWM motor controllers?
* GPS: Ublox http://wiki.paparazziuav.org/wiki/Subsystem/gps
* RC: PPM
-->
<airframe name="iris_indi">
<firmware name="rotorcraft">
<target name="ap" board="px4fmu_2.4" />
<define name="BAT_CHECKER_DELAY" value="80" />
<!-- amount of time it take for the bat to check -->
<!-- to avoid bat low spike detection when strong pullup withch draws short sudden power-->
<define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="80" />
<!-- in seconds-->
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim" />
<subsystem name="udp" />
</target>
<subsystem name="telemetry" type="transparent" />
<!-- <subsystem name="imu" type="px4fmu_v2.4">-->
<subsystem name="imu" type="mpu6000">
<configure name="IMU_MPU_SPI_DEV" value="spi1" />
<configure name="IMU_MPU_SPI_SLAVE_IDX" value="SPI_SLAVE2" />
</subsystem>
<subsystem name="gps" type="ublox" />
<subsystem name="stabilization" type="indi" />
<subsystem name="ahrs" type="int_cmpl_quat" />
<subsystem name="ins" type="extended" />
<subsystem name="current_sensor">
<configure name="ADC_CURRENT_SENSOR" value="ADC_3" />
</subsystem>
<subsystem name="intermcu" type="uart">
<configure name="INTERMCU_PORT" value="UART6" />
<configure name="INTERMCU_BAUD" value="B1500000" />
</subsystem>
</firmware>
<firmware name="rotorcraft">
<target name="fbw" board="px4io_2.4" />
<subsystem name="motor_mixing" />
<subsystem name="radio_control" type="ppm">
<define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="1" />
<define name="RADIO_KILL_SWITCH" value="RADIO_KILL" />
</subsystem>
<!-- <subsystem name="radio_control" type="spektrum">-->
<!-- <define name="RADIO_CONTROL_SPEKTRUM_NO_SIGN" value="1"/>-->
<!-- <define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="1"/>-->
<!-- <define name="RADIO_FBW_MODE" value="RADIO_AUX2"/>-->
<!-- <define name="RADIO_MODE" value="RADIO_GEAR"/>-->
<!-- <define name="SPEKTRUM_HAS_SOFT_BIND_PIN" value="1"/>-->
<!-- </subsystem>-->
<subsystem name="actuators" type="pwm">
<define name="SERVO_HZ" value="400" />
</subsystem>
<define name="RC_LOST_FBW_MODE" value="FBW_MODE_FAILSAFE" />
<!-- Switch to Failsafe or to Autopilot on RC loss? -->
<define name="RC_LOST_IN_AUTO_FBW_MODE" value="FBW_MODE_AUTO" />
<define name="AP_LOST_FBW_MODE" value="FBW_MODE_MANUAL" />
<!-- Switch to Failsafe or to Manual on AP loss? -->
<define name="INTERMCU_LOST_CNT" value="100" />
<subsystem name="intermcu" type="uart">
<configure name="INTERMCU_PORT" value="UART2" />
<configure name="INTERMCU_BAUD" value="B1500000" />
</subsystem>
</firmware>
<firmware name="test_progs">
<target name="test_telemetry" board="px4fmu_2.4" />
</firmware>
<firmware name="test_progs">
<target name="test_baro_board" board="px4fmu_2.4" />
</firmware>
<firmware name="test_progs">
<target name="test_datalink" board="px4fmu_2.4" />
</firmware>
<modules main_freq="512">
<load name="px4_flash.xml" />
<load name="geo_mag.xml" />
<load name="air_data.xml" />
<load name="send_imu_mag_current.xml" />
<load name="gps_ubx_ucenter.xml" />
<!-- <load name="spektrum_soft_bind.xml"/>-->
</modules>
<section name="MISC">
<define name="MilliAmpereOfAdc(adc)" value="((float)adc) * (3.3f / 4096.0f) * (90.0f / 5.0f)" />
<!-- 100Amp = 2Volt -> 2482,42 tick/100Amp"(0.0402832*adc)" -->
</section>
<section name="IMU" prefix="IMU_">
<!-- replace this with your own calibration -->
<define name="MAG_X_NEUTRAL" value="14" />
<define name="MAG_Y_NEUTRAL" value="116" />
<define name="MAG_Z_NEUTRAL" value="119" />
<define name="MAG_X_SENS" value="5.09245681612" integer="16" />
<define name="MAG_Y_SENS" value="5.29702744632" integer="16" />
<define name="MAG_Z_SENS" value="5.65287938992" integer="16" />
<define name="BODY_TO_IMU_PHI" value="180." unit="deg" />
<define name="BODY_TO_IMU_THETA" value="180." unit="deg" />
<define name="BODY_TO_IMU_PSI" value="90." unit="deg" />
</section>
<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>
<rc_commands>
<set command="THRUST" value="@THROTTLE" />
<set command="ROLL" value="@ROLL" />
<set command="PITCH" value="@PITCH" />
<set command="YAW" value="@YAW" />
</rc_commands>
<servos driver="Default">
<servo name="TOP_LEFT" no="2" min="1140" neutral="1280" max="1850" />
<servo name="TOP_RIGHT" no="0" min="1140" neutral="1280" max="1850" />
<servo name="BOTTOM_RIGHT" no="3" min="1140" neutral="1280" max="1850" />
<servo name="BOTTOM_LEFT" no="1" min="1140" neutral="1280" max="1850" />
</servos>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0" />
<define name="TRIM_PITCH" value="0" />
<define name="TRIM_YAW" value="0" />
<define name="REVERSE" value="FALSE" />
<define name="TYPE" value="QUAD_X" />
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)" />
<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]" />
<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]" />
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]" />
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]" />
</command_laws>
<section name="AIR_DATA" prefix="AIR_DATA_">
<define name="CALC_AIRSPEED" value="FALSE" />
<define name="CALC_TAS_FACTOR" value="FALSE" />
<define name="CALC_AMSL_BARO" value="TRUE" />
</section>
<!-- local magnetic field -->
<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
<section name="AHRS" prefix="AHRS_">
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
<!-- Toulouse -->
<!--define name="H_X" value="0.513081"/>
<define name="H_Y" value="-0.00242783"/>
<define name="H_Z" value="0.858336"/-->
<!-- Delft -->
<define name="H_X" value="0.3892503" />
<define name="H_Y" value="0.0017972" />
<define name="H_Z" value="0.9211303" />
</section>
<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2" />
<define name="SONAR_UPDATE_ON_AGL" value="TRUE" />
</section>
<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoint limits for attitude stabilization rc flight -->
<define name="SP_MAX_PHI" value="45" unit="deg" />
<define name="SP_MAX_THETA" value="45" unit="deg" />
<define name="SP_MAX_R" value="300" unit="deg/s" />
<define name="DEADBAND_A" value="0" />
<define name="DEADBAND_E" value="0" />
<define name="DEADBAND_R" value="50" />
</section>
<section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
<!-- attitude reference generation model -->
<define name="REF_OMEGA_P" value="450" unit="deg/s" />
<define name="REF_ZETA_P" value="0.9" />
<define name="REF_MAX_P" value="600." unit="deg/s" />
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)" />
<define name="REF_OMEGA_Q" value="450" unit="deg/s" />
<define name="REF_ZETA_Q" value="0.9" />
<define name="REF_MAX_Q" value="600." unit="deg/s" />
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)" />
<define name="REF_OMEGA_R" value="450" unit="deg/s" />
<define name="REF_ZETA_R" value="0.9" />
<define name="REF_MAX_R" value="600." unit="deg/s" />
<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)" />
</section>
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
<!-- control effectiveness -->
<define name="G1_P" value="0.017" />
<define name="G1_Q" value="0.019" />
<define name="G1_R" value="0.0011" />
<define name="G2_R" value="0.089" />
<!-- For the bebop2 we need to filter the roll rate due to the dampers -->
<define name="FILTER_ROLL_RATE" value="FALSE" />
<define name="FILTER_PITCH_RATE" value="FALSE" />
<define name="FILTER_YAW_RATE" value="FALSE" />
<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="100.0" />
<define name="REF_ERR_Q" value="100.0" />
<define name="REF_ERR_R" value="100.0" />
<define name="REF_RATE_P" value="14.0" />
<define name="REF_RATE_Q" value="14.0" />
<define name="REF_RATE_R" value="14.0" />
<!-- second order filter parameters -->
<define name="FILT_OMEGA" value="20.0" />
<define name="FILT_ZETA" value="0.55" />
<define name="FILT_OMEGA_R" value="20.0" />
<define name="FILT_ZETA_R" value="0.55" />
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.04" />
<define name="ACT_DYN_Q" value="0.04" />
<define name="ACT_DYN_R" value="0.04" />
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE" />
<define name="ADAPTIVE_MU" value="0.0001" />
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="350" />
<define name="HOVER_KD" value="85" />
<define name="HOVER_KI" value="20" />
<define name="NOMINAL_HOVER_THROTTLE" value="0.4" />
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE" />
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<!-- Good weather -->
<define name="MAX_BANK" value="20" unit="deg" />
<define name="REF_MAX_SPEED" value="2" unit="m/s" />
<!-- Bad weather -->
<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
<define name="PGAIN" value="120" />
<define name="DGAIN" value="100" />
<define name="IGAIN" value="30" />
</section>
<section name="NAVIGATION" prefix="NAV_">
<define name="CLIMB_VSPEED" value="4.5" />
<define name="DESCEND_VSPEED" value="-1.0" />
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]" />
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string" />
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string" />
</section>
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_RC_DIRECT" />
<define name="MODE_MANUAL" value="AP_MODE_RC_DIRECT" /> <!-- changing this mode may not work, since fbw will be in mode manual directly from rc!-->
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT" />
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_DIRECT" />
<define name="NO_RC_THRUST_LIMIT" value="TRUE" />
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700" />
<define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V" />
<define name="CRITIC_BAT_LEVEL" value="10.8" unit="V" />
<define name="LOW_BAT_LEVEL" value="11.1" unit="V" />
<define name="MAX_BAT_LEVEL" value="12.4" unit="V" />
</section>
</airframe>
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