mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 06:54:49 +08:00
Felix Ruess
201 lines
7.0 KiB
XML
201 lines
7.0 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!--
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YAPA + XSens + XBee
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-->
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<airframe name="Yapa v1">
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<servos>
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<servo name="THROTTLE" no="0" min="1100" neutral="1000" max="1900"/>
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<servo name="RUDDER" no="2" min="1100" neutral="1500" max="1900"/>
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<servo name="ELEVATOR" no="6" min="1000" neutral="1500" max="2000"/>
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<servo name="CAM_TILT" no="7" min="700" neutral="1600" max="2500"/>
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<servo name="CAM_PAN" no="3" min="800" neutral="1650" max="2500"/>
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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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<axis name="CAM_PAN" failsafe_value="0"/>
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<axis name="CAM_TILT" failsafe_value="0"/>
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</commands>
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<ap_only_commands>
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<copy command="CAM_PAN"/>
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<copy command="CAM_TILT"/>
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</ap_only_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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<command_laws>
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<set servo="CAM_PAN" value="@CAM_PAN"/>
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<set servo="CAM_TILT" value="@CAM_TILT"/>
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<!-- Differential Aileron Depending on Brake Value -->
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<set servo="RUDDER" value="@ROLL"/>
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<!-- Differential Thurst -->
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<set servo="THROTTLE" value="@THROTTLE"/>
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<!-- Pitch with Brake-Trim Function -->
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<set servo="ELEVATOR" value="@PITCH"/>
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</command_laws>
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<section name="INS" prefix="INS_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="rad"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="rad"/>
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</section>
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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="0.7"/>
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</section>
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<section name="PANTILT" prefix="CAM_">
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<define name="PAN_MIN" value="-45"/>
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<define name="PAN_NEUTRAL" value="33"/>
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<define name="PAN_MAX" value="156"/>
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<define name="PAN0" value="0"/>
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<define name="TILT_MIN" value="-62"/>
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<define name="TILT_NEUTRAL" value="47"/>
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<define name="TILT_MAX" value="122"/>
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<define name="TILT0" value="90"/>
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<define name="MODE0" value="1"/>
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</section>
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<section name="BAT">
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<define name="LOW_BAT_LEVEL" value="7" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="6.5" unit="V"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="6.0" 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="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="1.20000004768"/>
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<define name="COURSE_DGAIN" value="0.3"/>
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<define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
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<define name="ROLL_MAX_SETPOINT" value="0.9" 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="12000."/>
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<define name="PITCH_DGAIN" value="0"/>
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<define name="ELEVATOR_OF_ROLL" value="1000."/>
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<define name="ROLL_ATTITUDE_GAIN" value="11500"/>
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<define name="ROLL_RATE_GAIN" value="600."/>
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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="DEFAULT_THROTTLE" value="0.35" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
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<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
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<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
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<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
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</section>
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<section name="DIGITAL_CAMERA" prefix="DC_">
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<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
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<define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
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</section>
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<modules>
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<load name="ins_chimu_spi.xml" >
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<define name="CHIMU_BIG_ENDIAN" />
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</load>
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<load name="./TUDelft/campoint60Hz.xml" />
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<load name="gps_ubx_ucenter.xml">
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<define name="GPS_PORT_ID" value="GPS_PORT_UART2" />
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</load>
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</modules>
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<firmware name="fixedwing">
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<target name="ap" board="tiny_2.11">
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<define name="STRONG_WIND"/>
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<define name="WIND_INFO"/>
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<define name="WIND_INFO_RET"/>
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<define name="LOITER_TRIM"/>
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<define name="ALT_KALMAN"/>
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<define name="POINT_CAM_PITCH_ROLL" />
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</target>
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<target name="sim" board="pc"/>
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="gps" type="ublox" />
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<!-- Communication -->
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<subsystem name="telemetry" type="xbee_api">
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<configure name="MODEM_BAUD" value="B9600"/>
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</subsystem>
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<!-- Actuators -->
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<subsystem name="control"/>
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<!-- Sensors -->
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<subsystem name="navigation"/>
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<!-- <subsystem name="gps" type="ublox_lea5h"/> -->
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<subsystem name="spi_slave_hs"/>
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</firmware>
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</airframe>
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