mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 13:55:40 +08:00
Christophe De Wagter
220 lines
7.8 KiB
XML
220 lines
7.8 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="Microjet CDW Tiny 1.1">
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<!-- commands section -->
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<servos>
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<servo name="THROTTLE" no="0" min="1110" neutral="1110" max="1900"/>
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<servo name="AILEVON_LEFT" no="1" min="1000" neutral="1450" max="2000"/>
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<servo name="AILEVON_RIGHT" no="2" min="2000" neutral="1450" max="1000"/>
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</servos>
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<commands>
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<axis name="THROTTLE" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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</commands>
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<rc_commands>
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<set command="THROTTLE" value="@THROTTLE"/>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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</rc_commands>
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<section name="MIXER">
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<define name="AILEVON_AILERON_RATE" value="0.4"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.7"/>
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</section>
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<command_laws>
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<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
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<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
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<set servo="THROTTLE" value="@THROTTLE"/>
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<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
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<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="0.7"/>
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<define name="MAX_PITCH" value="0.6"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<!-- MAX1168 ADC CHANNELS -->
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<define name="GYRO_P_CHAN" value="0"/>
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<define name="GYRO_Q_CHAN" value="1"/>
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<define name="GYRO_R_CHAN" value="2"/>
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<define name="ACCEL_X_CHAN" value="4"/>
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<define name="ACCEL_Y_CHAN" value="3"/>
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<define name="ACCEL_Z_CHAN" value="5"/>
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<!-- Calibration Neutral -->
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<define name="GYRO_P_NEUTRAL" value="33924"/>
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<define name="GYRO_Q_NEUTRAL" value="33417"/>
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<define name="GYRO_R_NEUTRAL" value="32809"/>
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<define name="GYRO_P_SENS" value=" 1.00" integer="16"/>
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<define name="GYRO_Q_SENS" value=" 1.00" integer="16"/>
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<define name="GYRO_R_SENS" value=" 1.00" integer="16"/>
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<define name="GYRO_P_SIGN" value="1"/>
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<define name="GYRO_Q_SIGN" value="1"/>
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<define name="GYRO_R_SIGN" value="1"/>
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<define name="ACCEL_X_NEUTRAL" value="26000"/>
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<define name="ACCEL_Y_NEUTRAL" value="26000"/>
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<define name="ACCEL_Z_NEUTRAL" value="26000"/>
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<define name="ACCEL_X_SENS" value="-2.50411474" integer="16"/>
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<define name="ACCEL_Y_SENS" value="-2.48126183" integer="16"/>
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<define name="ACCEL_Z_SENS" value="-2.51396167" integer="16"/>
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<define name="ACCEL_X_SIGN" value="1"/>
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<define name="ACCEL_Y_SIGN" value="1"/>
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<define name="ACCEL_Z_SIGN" value="-1"/>
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<define name="MAG_X_NEUTRAL" value="2358"/>
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<define name="MAG_Y_NEUTRAL" value="2362"/>
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<define name="MAG_Z_NEUTRAL" value="2119"/>
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<define name="MAG_X_SENS" value="-3.4936416" integer="16"/>
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<define name="MAG_Y_SENS" value=" 3.607713" integer="16"/>
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<define name="MAG_Z_SENS" value="-4.90788848" integer="16"/>
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<!-- <define name="MAG_45_HACK" value="1"/> -->
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<define name="BODY_TO_IMU_PHI" value="0"/>
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<define name="BODY_TO_IMU_THETA" value="0"/>
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<define name="BODY_TO_IMU_PSI" value="0"/>
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<define name="ROLL_NEUTRAL_DEFAULT" value="0"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="CONTROL_RATE" value="60" unit="Hz"/>
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<define name="XBEE_INIT" value=""ATPL2\rATRN5\rATTT80\r""/>
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<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
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<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
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<define name="GLIDE_AIRSPEED" value="10"/>
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<define name="GLIDE_VSPEED" value="3."/>
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<define name="GLIDE_PITCH" value="45" unit="deg"/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="-0.03"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="2."/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
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<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
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</section>
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="-1.4"/>
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<define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
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<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
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<define name="PITCH_PGAIN" value="0."/>
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<define name="PITCH_DGAIN" value="0."/>
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<define name="ELEVATOR_OF_ROLL" value="0."/>
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<define name="ROLL_SLEW" value="0."/>
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<define name="ROLL_ATTITUDE_GAIN" value="0."/>
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<define name="ROLL_RATE_GAIN" value="0."/>
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</section>
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<section name="AGGRESSIVE" prefix="AGR_">
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<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
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<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
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<define name="CLIMB_THROTTLE" value="1.00"/><!-- Gaz for Aggressive Climb -->
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<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
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<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
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<define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
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<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
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<define name="DESCENT_NAV_RATIO" value="1.0"/>
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</section>
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
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</section>
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<section name="DATALINK" prefix="DATALINK_">
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<define name="DEVICE_TYPE" value="XBEE"/>
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<define name="DEVICE_ADDRESS" value="...."/>
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</section>
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<firmware name="fixedwing">
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<target name="ap" board="tiny_1.1"/>
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<target name="sim" board="pc" />
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<define name="AGR_CLIMB" />
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<define name="LOITER_TRIM" />
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<define name="ALT_KALMAN" />
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<subsystem name="radio_control" type="ppm"/>
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<!-- Communication -->
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<subsystem name="telemetry" type="xbee_api">
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<param name="MODEM_BAUD" value="B57600"/>
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</subsystem>
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<subsystem name="control"/>
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<!-- Sensors -->
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<subsystem name="imu" type="booz"/>
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<subsystem name="attitude" type="dcm"/>
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<subsystem name="gps" type="ublox_lea4p"/>
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<subsystem name="navigation"/>
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</firmware>
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<firmware name="setup">
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<target name="tunnel" board="tiny_1.1" />
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</firmware>
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<modules>
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<load name="light.xml">
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<param name="LIGHT_LED_STROBE" value="2"/>
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<param name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
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</load>
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</modules>
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</airframe>
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