mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 06:54:49 +08:00
Felix Ruess
232 lines
8.5 KiB
XML
232 lines
8.5 KiB
XML
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
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<!-- Fire Storm
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Umarim
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Radiotronix modem
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-->
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<airframe name="FireStorm">
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<modules>
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<load name="poles.xml"/>
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<load name="baro_board.xml"/>
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</modules>
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<firmware name="fixedwing">
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<define name="AGR_CLIMB"/>
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<define name="ALT_KALMAN"/>
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<define name="LOITER_TRIM"/>
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<!--define name="PITCH_TRIM"/-->
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<target name="sim" board="pc"/>
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<target name="ap" board="umarim_1.0">
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<configure name="FLASH_MODE" value="IAP"/>
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<define name="USE_I2C0"/>
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<define name="USE_I2C1"/>
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</target>
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<subsystem name="radio_control" type="ppm"/>
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<!-- Communication -->
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<subsystem name="telemetry" type="transparent">
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<configure name="MODEM_BAUD" value="B57600"/>
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</subsystem>
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<!-- Actuators are automatically chosen according to board-->
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<subsystem name="imu" type="umarim"/>
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<subsystem name="ahrs" type="float_dcm">
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<define name="USE_HIGH_ACCEL_FLAG"/>
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</subsystem>
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<subsystem name="control" type="adaptive"/>
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<subsystem name="navigation"/>
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<!-- Sensors -->
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<subsystem name="gps" type="ublox"/>
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<subsystem name="current_sensor">
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<configure name="ADC_CURRENT_SENSOR" value="ADC_0"/>
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</subsystem>
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</firmware>
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<!-- commands section -->
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<servos>
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<servo name="MOTOR" no="2" min="1250" neutral="1250" max="1800"/>
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<servo name="AILEVON_LEFT" no="0" min="1850" neutral="1370" max="1000"/>
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<servo name="AILEVON_RIGHT" no="1" min="1000" neutral="1515" max="1870"/>
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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="0.75"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
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<define name="AILERON_DIFF" value="0.5"/>
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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="MOTOR" value="@THROTTLE"/>
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<set servo="AILEVON_LEFT" value="$elevator + ($aileron > 0 ? 1 : AILERON_DIFF) * $aileron"/>
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<set servo="AILEVON_RIGHT" value="$elevator - ($aileron > 0 ? AILERON_DIFF : 1) * $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="0.85"/>
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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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<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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<!-- Calibration Neutral -->
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<define name="GYRO_P_NEUTRAL" value="-53"/>
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<define name="GYRO_Q_NEUTRAL" value="33"/>
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<define name="GYRO_R_NEUTRAL" value="-16"/>
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<!-- SENS ITG3200 1/14.375 (deg/s)/LSB, rate frac 12bit => 1/14.375 * pi / 180 * 2^12 -->
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<define name="GYRO_P_SENS" value="4.97312" integer="16"/>
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<define name="GYRO_Q_SENS" value="4.97312" integer="16"/>
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<define name="GYRO_R_SENS" value="4.97312" 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="ACCEL_X_NEUTRAL" value="-2"/>
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<define name="ACCEL_Y_NEUTRAL" value="1"/>
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<define name="ACCEL_Z_NEUTRAL" value="-43"/>
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<define name="ACCEL_X_SENS" value="38.9923420841" integer="16"/>
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<define name="ACCEL_Y_SENS" value="39.2011913001" integer="16"/>
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<define name="ACCEL_Z_SENS" value="39.4148057033" integer="16"/>
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<!-- Just to compile -->
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<define name="MAG_X_NEUTRAL" value="0"/>
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<define name="MAG_Y_NEUTRAL" value="0"/>
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<define name="MAG_Z_NEUTRAL" value="0"/>
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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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</section>
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<section name="INS" prefix="INS_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="-0.0640000030398" unit="rad"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0.0670000016689" unit="rad"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="2000"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="MilliAmpereOfAdc(_adc)" value="(_adc-162)*17.4"/>
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</section>
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<section name="MISC">
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<define name="MINIMUM_AIRSPEED" value="13." unit="m/s"/>
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<define name="NOMINAL_AIRSPEED" value="16." unit="m/s"/>
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<define name="MAXIMUM_AIRSPEED" value="24." 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="ALT_KALMAN_ENABLED" value="TRUE"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
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<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
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<define name="TELEMETRY_MODE_AP" value="1"/>
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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="-0.04"/>
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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="0.5"/>
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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="0.80"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-2500"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.05" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="-0.007"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.067"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.11"/>
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<!-- auto pitch inner loop -->
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<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
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<define name="AUTO_PITCH_IGAIN" value="0.075"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
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<define name="THROTTLE_SLEW" value="0.5"/>
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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="0.9"/>
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<define name="ROLL_MAX_SETPOINT" value="0.805000007153" 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="14255.3193359"/>
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<define name="PITCH_DGAIN" value="1.5"/>
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<define name="ELEVATOR_OF_ROLL" value="2000."/>
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<define name="ROLL_ATTITUDE_GAIN" value="2600"/>
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<define name="ROLL_RATE_GAIN" value="850"/>
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<define name="ROLL_KFF" value="-500"/>
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<define name="ROLL_IGAIN" value="-00"/>
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<define name="PITCH_IGAIN" value="-500"/>
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</section>
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<section name="NAV">
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<define name="NAV_PITCH" value="0."/>
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<define name="NAV_GLIDE_PITCH_TRIM" 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="0.75"/><!-- Gaz for Aggressive Climb -->
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<define name="CLIMB_PITCH" value="0.20"/><!-- 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="-0.15"/><!-- 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="GYRO_GAINS">
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<define name="GYRO_MAX_RATE" value="200."/>
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<define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
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<define name="ALT_ROLL__PGAIN" value="1.0"/>
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<define name="ROLL_RATE_PGAIN" value="1000.0"/>
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<define name="ROLL_RATE_IGAIN" value="0.0"/>
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<define name="ROLL_RATE_DGAIN" value="0.0"/>
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</section-->
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="1" 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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<define name="HOME_RADIUS" value="100" unit="m"/>
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</section>
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</airframe>
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