mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-30 03:27:33 +08:00
Felix Ruess
241 lines
8.7 KiB
XML
241 lines
8.7 KiB
XML
<airframe name="BOOZ2_F1">
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<firmware name="rotorcraft">
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<target name="ap" board="booz_1.0">
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<!--<define name="KILL_MOTORS"/>--> <!-- prevent motors from ever starting -->
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<!--<define name="RADIO_KILL_SWITCH" value="RADIO_CONTROL_SWITCH1"/>-->
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<define name="USE_INS_NAV_INIT"/>
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</target>
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<target name="sim" board="pc">
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<subsystem name="fdm" type="nps"/>
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</target>
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<define name="NO_FUCKING_STARTUP_DELAY"/>
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<subsystem name="telemetry" type="transparent_usb"/>
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="gps" type="ublox"/>
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<subsystem name="actuators" type="mkk"/>
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<subsystem name="imu" type="b2_v1.0"/>
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<subsystem name="stabilization" type="euler"/>
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<subsystem name="ahrs" type="int_cmpl_quat"/>
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</firmware>
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<firmware name="booz2_test_progs">
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<target name="test_telemetry" board="booz_1.0"/>
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<target name="test_baro" board="booz_1.0"/>
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<target name="test_spektrum" board="booz_1.0"/>
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<target name="tunnel" board="booz_1.0"/>
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<target name="usb_tunnel_0" board="booz_1.0"/>
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<target name="usb_tunnel_1" board="booz_1.0"/>
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</firmware>
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<modules main_freq="512">
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<load name="booz_pwm.xml">
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<define name="USE_PWM1"/>
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</load>
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<load name="booz_drop.xml"/>
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<load name="sys_mon.xml"/>
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<!--load name="booz_cam.xml"/-->
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<!--load name="sonar_maxbotix_booz.xml"/-->
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</modules>
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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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<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
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<define name="NB" value="4" />
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<define name="ADDR" value="{ 0x52, 0x54, 0x58, 0x56 }" />
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</section>
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<section name="SUPERVISION" prefix="SUPERVISION_">
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<define name="MIN_MOTOR" value="2" />
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<define name="MAX_MOTOR" value="210" />
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<define name="TRIM_A" value="0" />
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<define name="TRIM_E" value="0" />
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<define name="TRIM_R" 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, 0, -256, 256}" />
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<define name="PITCH_COEF" value="{ 256, -256, 0, 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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<section name="IMU" prefix="IMU_">
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<define name="GYRO_P_NEUTRAL" value="32362" />
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<define name="GYRO_Q_NEUTRAL" value="32080" />
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<define name="GYRO_R_NEUTRAL" value="32096" />
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<define name="GYRO_P_SENS" value="1.1032765" integer="16" />
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<define name="GYRO_Q_SENS" value="1.1360802599" integer="16" />
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<define name="GYRO_R_SENS" value="1.1249874614" integer="16" />
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<define name="ACCEL_X_SENS" value="2.45932966" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.45106376" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.47825717" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="31886"/>
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<define name="ACCEL_Y_NEUTRAL" value="32162"/>
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<define name="ACCEL_Z_NEUTRAL" value="32941"/>
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<define name="MAG_X_CHAN" value="4" />
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<define name="MAG_Y_CHAN" value="0" />
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<define name="MAG_Z_CHAN" value="2" />
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<define name="MAG_45_HACK" value="1" />
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<!--define name="MAG_X_SENS" value="5.14821844457 * sqrt(2)/2" integer="16"/-->
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<!--define name="MAG_Y_SENS" value="5.11810156597 * sqrt(2)/2" integer="16"/-->
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<define name="MAG_X_SENS" value="3.640340173" integer="16"/>
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<define name="MAG_Y_SENS" value="3.619044324" integer="16"/>
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<define name="MAG_Z_SENS" value="5.07618333556" integer="16"/>
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<define name="MAG_X_SIGN" value="-1" />
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<define name="MAG_Y_SIGN" value=" 1" />
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<define name="MAG_Z_SIGN" value="-1" />
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<define name="MAG_X_NEUTRAL" value="2059"/>
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<define name="MAG_Y_NEUTRAL" value="1944"/>
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<define name="MAG_Z_NEUTRAL" value="2099"/>
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<define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)" />
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<define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)" />
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<define name="BODY_TO_IMU_PSI" value="RadOfDeg(0.)" />
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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=" 0.51562740288882"/>
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<define name="H_Y" value="-0.05707735220832"/>
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<define name="H_Z" value=" 0.85490967783446"/>
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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="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="DEADBAND_P" value="0" />
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<define name="DEADBAND_Q" value="0" />
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<define name="DEADBAND_R" value="200" />
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<define name="REF_TAU" value="4" />
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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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<!-- feedforward -->
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<define name="DDGAIN_P" value="300" />
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<define name="DDGAIN_Q" value="300" />
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<define name="DDGAIN_R" value="300" />
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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="RadOfDeg(45.)" />
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<define name="SP_MAX_THETA" value="RadOfDeg(45.)" />
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<define name="SP_MAX_R" value="RadOfDeg(90.)" />
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<define name="DEADBAND_R" value="250" />
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<!-- reference -->
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<define name="REF_OMEGA_P" value="RadOfDeg(800)" />
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<define name="REF_ZETA_P" value="0.9" />
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<define name="REF_MAX_P" value="RadOfDeg(300.)" />
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<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)" />
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<define name="REF_OMEGA_Q" value="RadOfDeg(800)" />
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<define name="REF_ZETA_Q" value="0.9" />
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<define name="REF_MAX_Q" value="RadOfDeg(300.)" />
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<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)" />
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<define name="REF_OMEGA_R" value="RadOfDeg(500)" />
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<define name="REF_ZETA_R" value="0.9" />
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<define name="REF_MAX_R" value="RadOfDeg(180.)" />
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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="-1000" />
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<define name="PHI_DGAIN" value="-300" />
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<define name="PHI_IGAIN" value="-100" />
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<define name="THETA_PGAIN" value="-1000" />
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<define name="THETA_DGAIN" value="-300" />
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<define name="THETA_IGAIN" value="-100" />
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<define name="PSI_PGAIN" value="-500" />
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<define name="PSI_DGAIN" value="-320" />
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<define name="PSI_IGAIN" value="-75" />
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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="15." 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="-100"/>
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<define name="HOVER_KD" value="-60"/>
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<define name="HOVER_KI" value="-10"/>
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<!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
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<define name="RC_CLIMB_COEF" value="163" />
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<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
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<define name="RC_CLIMB_DEAD_BAND" value="160000" />
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="PGAIN" value="-70"/>
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<define name="DGAIN" value="-150"/>
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<define name="IGAIN" value="-15"/>
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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="MAX_BAT_LEVEL" value="12.0" unit="V" />
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<define name="VoltageOfAdc(adc)" value="(0.0246*adc)"/>
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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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<define name="BOOZ_ANALOG_BARO_THRESHOLD" value="512"/>
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</section>
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<section name="FMS">
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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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<section name="MODE" prefix="MODE_">
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<define name="MANUAL" value="AP_MODE_ATTITUDE_DIRECT" />
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<define name="AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD" />
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<define name="AUTO2" value="AP_MODE_HOVER_Z_HOLD" />
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</section>
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</airframe>
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