mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Christophe De Wagter
a07d674c19
* Silent compile warnings in tests * silent warnings in conf_test * fix defines: if OLD -> warn and convert. If new, then use. If no old and no new, use default.
353 lines
15 KiB
XML
353 lines
15 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!-- This is a Nedderdrone
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* Airframe: TUD00328
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* Autopilot: Pixhawk 4
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* FBW: Pixhawk 4
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* Actuators: 12x T-Motor ESC + Motors and 8x Servos (all CAN)
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* Datalink: Doodlelabs 2.4GHz
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* GPS: UBlox F9P
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* RC: SBUS Crossfire
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-->
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<airframe name="Neddrone5">
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<description>Neddrone5</description>
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<firmware name="rotorcraft">
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<target name="ap" board="cube_orangeplus">
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<configure name="PERIODIC_FREQUENCY" value="500"/>
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<define name="SYS_TIME_FREQUENCY" value="1500"/><!-- To be able to send 3x IMU measurements -->
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<configure name="TELEMETRY_FREQUENCY" value="1500"/><!-- To be able to send 3x IMU measurements -->
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<!--configure name="RTOS_DEBUG" value="1"/-->
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<module name="radio_control" type="sbus">
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<configure name="SBUS_PORT" value="UART3"/>
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</module>
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<module name="airspeed" type="uavcan"/>
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<module name="range_sensor" type="uavcan"/>
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<module name="scheduling_indi_simple"/>
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<module name="sys_mon"/>
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<!-- Forward FuelCell data back to the GCS -->
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<!--module name="generic_uart_sensor"/-->
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<!-- Logger -->
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<module name="flight_recorder"/>
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<!--define name="ADC_CURRENT_DISABLE" value="TRUE"/-->
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<module name="adc_generic">
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<configure name="ADC_CHANNEL_GENERIC1" value="ADC_4"/>
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<configure name="ADC_CHANNEL_GENERIC2" value="ADC_5"/>
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</module>
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<define name="RADIO_TH_HOLD" value="RADIO_AUX1"/> <!-- Throttle hold in command laws -->
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<define name="RADIO_FMODE" value="RADIO_AUX2"/> <!-- Throttle curve select -->
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<define name="RADIO_FBW_MODE" value="RADIO_AUX3"/> <!-- Switch between AP and FBW control -->
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<define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
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<!-- Choose which sensors to use in the EKF2 (not in NPS target as then it needs to listen to all) -->
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<define name="INS_EKF2_ACCEL_ID" value="IMU_CUBE2_ID"/>
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<define name="INS_EKF2_GYRO_ID" value="IMU_CUBE2_ID"/>
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<define name="INS_EKF2_MAG_ID" value="MAG_LIS3MDL_SENDER_ID"/>
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</target>
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<target name="nps" board="pc">
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<module name="radio_control" type="datalink"/>
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<module name="fdm" type="jsbsim"/>
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<module name="scheduling_indi_simple"/>
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<module name="logger_file">
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<define name="LOGGER_FILE_PATH" value="/home/ewoud/Documents"/>
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</module>
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<!--Not dealing with these in the simulation-->
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<define name="RADIO_TH_HOLD" value="0"/> <!-- Throttle hold in command laws -->
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<define name="RADIO_FMODE" value="0"/> <!-- Throttle curve select -->
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<define name="RADIO_FBW_MODE" value="0"/> <!-- Switch between AP and FBW control -->
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<define name="RADIO_KILL_SWITCH" value="0"/>
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</target>
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<module name="preflight_checks"/>
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<module name="telemetry" type="transparent">
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<configure name="MODEM_BAUD" value="B115200"/>
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<configure name="MODEM_PORT" value="usb_serial"/>
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</module>
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<module name="actuators" type="uavcan">
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<configure name="UAVCAN_USE_CAN1" value="TRUE"/>
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<configure name="UAVCAN_USE_CAN2" value="TRUE"/>
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</module>
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<module name="actuators" type="pwm"/>
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<module name="imu" type="cube"/>
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<module name="gps" type="ublox"/>
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<module name="gps" type="ubx_ucenter"/>
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<module name="stabilization" type="indi_simple"/>
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<module name="stabilization" type="rate_indi"/>
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<module name="ins" type="ekf2"/>
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<module name="nav" type="hybrid"/>
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<module name="air_data"/>
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<!-- Internal MAG -->
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<!--module name="mag_ist8310">
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<define name="MODULE_IST8310_UPDATE_AHRS" value="TRUE"/>
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<configure name="MAG_IST8310_I2C_DEV" value="I2C3"/>
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</module-->
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<!-- External MAG on GPS -->
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<module name="mag_lis3mdl">
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<define name="MODULE_LIS3MDL_UPDATE_AHRS" value="TRUE"/>
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<configure name="MAG_LIS3MDL_I2C_DEV" value="I2C1"/>
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<define name="LIS3MDL_CHAN_X_SIGN" value="-"/>
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<define name="LIS3MDL_CHAN_Y_SIGN" value="-"/>
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</module>
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<!--module name="lidar" type="tfmini">
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<configure name="TFMINI_PORT" value="UART4"/>
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<configure name="USE_TFMINI_AGL" value="FALSE"/>
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</module-->
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<module name="guidance" type="indi_hybrid_tailsitter">
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<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
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<define name="GUIDANCE_INDI_POS_GAIN" value="0.2"/>
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<define name="GUIDANCE_INDI_SPEED_GAIN" value="1.0"/>
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<define name="GUIDANCE_INDI_POS_GAINZ" value="0.2"/>
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<define name="GUIDANCE_INDI_SPEED_GAINZ" value="1.0"/>
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<define name="GUIDANCE_INDI_LIFTD_ASQ" value="0.20"/>
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<define name="GUIDANCE_INDI_PITCH_EFF_SCALING" value="1.0"/>
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<define name="GUIDANCE_H_REF_MAX_SPEED" value="18.0"/> <!--not used-->
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<define name="GUIDANCE_INDI_MAX_AIRSPEED" value="16.0"/>
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<define name="GUIDANCE_INDI_HEADING_BANK_GAIN" value="5"/>
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<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-943.0"/>
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<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN_45" value="-500.0"/>
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<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN_FWD" value="-1600.0"/>
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<define name="GUIDANCE_INDI_FILTER_CUTOFF" value="0.5"/>
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<define name="GUIDANCE_INDI_LINE_GAIN" value="0.2"/>
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<define name="GUIDANCE_INDI_MIN_THROTTLE" value="2500"/>
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<define name="GUIDANCE_INDI_THRUST_DYNAMICS_FREQ" value="18"/>
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</module>
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<module name="motor_mixing"/>
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</firmware>
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<!-- CPWM outputs -->
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<servos driver="Pwm">
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<servo name="MOTOR_1" no="0" min="1000" neutral="1100" max="2000"/>
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<servo name="MOTOR_2" no="1" min="1000" neutral="1100" max="2000"/>
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<servo name="MOTOR_3" no="2" min="1000" neutral="1100" max="2000"/>
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<servo name="MOTOR_4" no="3" min="1000" neutral="1100" max="2000"/>
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<servo name="MOTOR_5" no="4" min="1000" neutral="1100" max="2000"/>
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<servo name="MOTOR_6" no="5" min="1000" neutral="1100" max="2000"/>
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<servo name="MOTOR_7" no="6" min="1000" neutral="1100" max="2000"/>
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</servos>
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<!-- CAN BUS 1 outputs -->
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<servos driver="Uavcan1">
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<!--servo name="MOTOR_1" no="0" min="-8191" neutral="1500" max="8191"/>
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<servo name="MOTOR_2" no="1" min="-8191" neutral="1500" max="8191"/>
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<servo name="MOTOR_3" no="2" min="-8191" neutral="1500" max="8191"/>
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<servo name="MOTOR_4" no="3" min="-8191" neutral="1500" max="8191"/>
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<servo name="MOTOR_5" no="4" min="-8191" neutral="1500" max="8191"/>
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<servo name="MOTOR_6" no="5" min="-8191" neutral="1500" max="8191"/-->
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<servo name="AIL_1" no="6" min="6000" neutral="0" max="-6000"/>
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<servo name="FLAP_1" no="7" min="6000" neutral="0" max="-6000"/>
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<servo name="FLAP_2" no="8" min="-6000" neutral="0" max="6000"/>
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<servo name="AIL_2" no="9" min="-6000" neutral="0" max="6000"/>
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</servos>
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<!-- CAN BUS 2 outputs -->
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<servos driver="Uavcan2">
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<servo name="MOTOR_8" no="0" min="-8191" neutral="1500" max="8191"/>
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<servo name="MOTOR_9" no="1" min="-8191" neutral="1500" max="8191"/>
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<servo name="MOTOR_10" no="2" min="-8191" neutral="1500" max="8191"/>
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<servo name="MOTOR_11" no="3" min="-8191" neutral="1500" max="8191"/>
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<servo name="MOTOR_12" no="4" min="-8191" neutral="1500" max="8191"/>
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</servos>
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<!-- CAN BUS 1 command outputs-->
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<servos driver="Uavcan1Cmd">
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<servo name="AIL_3" no="6" min="6000" neutral="0" max="-6000"/>
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<servo name="FLAP_3" no="7" min="6000" neutral="0" max="-6000"/>
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</servos>
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<!-- CAN BUS 1 command outputs-->
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<servos driver="Uavcan2Cmd">
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<servo name="FLAP_4" no="8" min="-6000" neutral="0" max="6000"/>
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<servo name="AIL_4" no="9" min="-6000" neutral="0" max="6000"/>
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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="-300"/>
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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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<rc_commands>
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<set command="THRUST" value="@THROTTLE" />
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<set command="ROLL" value="@YAW" />
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<set command="PITCH" value="@PITCH/2" />
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<set command="YAW" value="-@ROLL/4" />
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</rc_commands>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<!-- frontleft left (CCW), frontleft mid (CW), frontleft right (CCW), frontright left (CW), frontright mid (CCW), frontright right (CW) -->
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<!-- backleft left (CW), backleft mid (CCW), backleft right (CW), backright left (CCW), backright mid (CW), backright right (CCW) -->
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<define name="NB_MOTOR" value="12"/>
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<define name="SCALE" value="256"/>
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<define name="ROLL_COEF" value="{256, 157, 56, -56, -157, -256, 256, 157, 56, -56, -157, -256}"/>
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<define name="PITCH_COEF" value="{256, 256, 256, 256, 256, 256, -256, -256, -256, -256, -256, -256}"/>
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<define name="YAW_COEF" value="{256, -256, 256, -256, 256, -256, -256, 256, -256, 256, -256, 256}"/>
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<!--<define name="YAW_COEF" value="{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}"/>-->
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<define name="THRUST_COEF" value="{256, 256, 256, 256, 256, 256, 256, 256, 256, 256, 256, 256}"/>
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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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<let var="th_hold" value="LessThan(RadioControlValues(RADIO_TH_HOLD), -4800)"/>
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<set servo="MOTOR_1" value="($th_hold? -9600 : motor_mixing.commands[0])"/>
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<set servo="MOTOR_2" value="($th_hold? -9600 : motor_mixing.commands[1])"/>
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<set servo="MOTOR_3" value="($th_hold? -9600 : motor_mixing.commands[2])"/>
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<set servo="MOTOR_4" value="($th_hold? -9600 : motor_mixing.commands[3])"/>
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<set servo="MOTOR_5" value="($th_hold? -9600 : motor_mixing.commands[4])"/>
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<set servo="MOTOR_6" value="($th_hold? -9600 : motor_mixing.commands[5])"/>
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<set servo="MOTOR_7" value="($th_hold? -9600 : motor_mixing.commands[6])"/>
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<set servo="MOTOR_8" value="($th_hold? -9600 : motor_mixing.commands[7])"/>
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<set servo="MOTOR_9" value="($th_hold? -9600 : motor_mixing.commands[8])"/>
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<set servo="MOTOR_10" value="($th_hold? -9600 : motor_mixing.commands[9])"/>
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<set servo="MOTOR_11" value="($th_hold? -9600 : motor_mixing.commands[10])"/>
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<set servo="MOTOR_12" value="($th_hold? -9600 : motor_mixing.commands[11])"/>
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</command_laws>
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<section name="MISC">
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<!--define name="VoltageOfAdc(adc)" value="((3.3f/4096.0f) * 18.9040120162 * adc)"/--><!-- TODO: verify/calibrate -->
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<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
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<!-- Basic navigation settings -->
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<define name="NAV_CLIMB_VSPEED" value="3.5"/>
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<define name="NAV_DESCEND_VSPEED" value="-0.5"/>
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<define name="ARRIVED_AT_WAYPOINT" value="50.0"/>
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<!-- Avoid GPS loss behavior when having RC or datalink -->
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<define name="NO_GPS_LOST_WITH_DATALINK_TIME" value="20"/>
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<define name="NO_GPS_LOST_WITH_RC_VALID" value="TRUE"/>
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</section>
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<section name="FORWARD">
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<!--The Nederdrone uses a slightly different axis system for the setpoint, to make both hovering and flying forward intuitive-->
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<define name="USE_EARTH_BOUND_RC_SETPOINT" value="TRUE"/>
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<!-- This is the pitch angle that the Nederdrone will have in forward flight, where 0 degrees is hover-->
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<define name="TRANSITION_MAX_OFFSET" value="-80.0" unit="deg"/>
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<!-- For RC coordinated turns, lower because the yawing was too slow -->
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<define name="MAX_FWD_SPEED" value="20.0"/>
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<!-- For hybrid guidance -->
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<define name="MAX_AIRSPEED" value="20.0"/>
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<!-- Enable airspeed measurements -->
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<define name="USE_AIRSPEED" value="TRUE"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<!-- Calibrations -->
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<define name="MAG_CALIB" value="{{.abi_id=3, .calibrated={.neutral=true, .scale=true}, .neutral={1696,-4095,3641}, .scale={{15263,26021,26309},{25440,40858,41277}}}}"/>
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<!-- Define axis in hover frame -->
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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="90." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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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="60." unit="deg"/>
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<define name="SP_MAX_THETA" value="80." unit="deg"/>
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<define name="SP_MAX_R" value="90." unit="deg/s"/>
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<define name="DEADBAND_R" value="200"/>
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<define name="SP_PSI_DELTA_LIMIT" value="45" unit="deg"/>
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</section>
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<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
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<!-- control effectiveness (hover) -->
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<define name="G1_P" value="0.0030"/>
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<define name="G1_Q" value="0.0035"/>
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<define name="G1_R" value="0.0004"/>
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<define name="G2_R" value="0.00015"/>
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<!-- control effectiveness (forward) -->
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<define name="FORWARD_G1_P" value="0.0020"/>
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<define name="FORWARD_G1_Q" value="0.0077"/>
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<define name="FORWARD_G1_R" value="0.004"/>
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<!-- reference acceleration for attitude control -->
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<define name="REF_ERR_P" value="30.0"/>
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<define name="REF_ERR_Q" value="30.0"/>
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<define name="REF_ERR_R" value="20.0"/>
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<define name="REF_RATE_P" value="6.0"/>
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<define name="REF_RATE_Q" value="6.0"/>
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<define name="REF_RATE_R" value="6.0"/>
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<!--Maxium yaw rate, to avoid instability-->
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<define name="MAX_R" value="50.0" unit="deg/s"/>
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<!-- Maximum rate setpoint in rate control mode -->
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<define name="MAX_RATE" value="3.0" unit="rad/s"/>
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<!-- second order filter parameters -->
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<define name="FILT_CUTOFF" value="1.5"/>
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<define name="FILT_CUTOFF_RDOT" value="0.5"/>
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<define name="ESTIMATION_FILT_CUTOFF" value="5.0"/>
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<define name="FILT_CUTOFF_R" value="4.0"/>
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<!-- first order actuator dynamics -->
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<define name="ACT_FREQ_P" value="18"/>
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<define name="ACT_FREQ_Q" value="18"/>
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<define name="ACT_FREQ_R" value="18"/>
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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="310"/>
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<define name="HOVER_KD" value="130"/>
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<define name="HOVER_KI" value="10"/>
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<define name="NOMINAL_HOVER_THROTTLE" value="0.42"/>
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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="30" unit="deg"/>
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<define name="USE_SPEED_REF" value="TRUE"/>
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<define name="PGAIN" value="60"/>
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<define name="DGAIN" value="100"/>
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<define name="AGAIN" value="0"/>
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<define name="IGAIN" value="20"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="m1,m2,m3,m4,m5,m6,m7,m8,m9,m10,m11,m12,ail1,ail2,ail3,ail4,flap1,flap2,flap3,flap4" type="string[]"/>
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<define name="JSBSIM_MODEL" value="nederdrone" type="string"/>
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<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
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<define name="JS_AXIS_MODE" value="4"/>
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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_FORWARD"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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<define name="MODE_STARTUP" 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="18.0" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="18.6" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="19.2" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="25.2" unit="V"/>
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<define name="BAT_NB_CELLS" value="4"/>
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</section>
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</airframe>
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