mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-25 23:46:04 +08:00
Gautier Hattenberger
204 lines
7.5 KiB
XML
204 lines
7.5 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!-- Microjet Multiplex (http://www.multiplex-rc.de/)
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Lisa/M v1.0 board (http://wiki.paparazziuav.org/wiki/Lisa/M_v10)
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Xsens running as IMU
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Xbee modem in transparent mode
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-->
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<airframe name="Microjet Lisa/M 1.0">
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<firmware name="fixedwing">
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<target name="sim" board="pc"/>
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<target name="ap" board="lisa_m_1.0"/>
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<define name="AGR_CLIMB" />
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<define name="LOITER_TRIM" />
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<module name="radio_control" type="ppm"/>
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<!-- Communication -->
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<module name="telemetry" type="transparent"/>
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<!-- Sensors -->
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<module name="imu" type="xsens">
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<configure name="XSENS_PORT" value="uart3"/>
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<configure name="XSENS_BAUD" value="B115200"/>
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</module>
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<module name="ahrs" type="int_cmpl_quat"/>
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<module name="gps" type="ublox"/>
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<module name="control"/>
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<module name="navigation"/>
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<module name="ins" type="alt_float"/>
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</firmware>
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<modules>
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<module name="sys_mon"/>
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</modules>
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<servos>
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<servo name="MOTOR" no="0" min="1290" neutral="1290" max="1810"/>
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<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1510" max="1000"/>
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<servo name="AILEVON_RIGHT" no="3" min="1000" neutral="1535" max="2000"/>
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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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</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 - $aileron"/>
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<set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
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</command_laws>
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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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<define name="GYRO_P_NEUTRAL" value="0"/>
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<define name="GYRO_R_NEUTRAL" value="0"/>
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<define name="GYRO_Q_NEUTRAL" value="0"/>
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<define name="GYRO_P_SENS" value="1" integer="16"/>
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<define name="GYRO_R_SENS" value="1" integer="16"/>
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<define name="GYRO_Q_SENS" value="1" 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_SENS" value="1" integer="16"/>
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<define name="ACCEL_Z_SENS" value="1" integer="16"/>
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<define name="ACCEL_Y_SENS" value="1" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="0"/>
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<define name="ACCEL_Z_NEUTRAL" value="0"/>
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<define name="ACCEL_Y_NEUTRAL" value="0"/>
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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="-45"/>
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<define name="MAG_Y_NEUTRAL" value="334"/>
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<define name="MAG_Z_NEUTRAL" value="7"/>
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<define name="MAG_X_SENS" value="4.47647816128" integer="16"/>
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<define name="MAG_Y_SENS" value="4.71085671542" integer="16"/>
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<define name="MAG_Z_SENS" value="4.41585354498" integer="16"/>
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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="0" 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="AHRS" prefix="AHRS_">
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<!-- replace this with your local magnetic field -->
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<define name="H_X" value="0.3770441"/>
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<define name="H_Y" value="0.0193986"/>
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<define name="H_Z" value="0.9259921"/>
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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" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0" 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="1.0"/>
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<define name="COURSE_DGAIN" value="0.3"/>
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<define name="ROLL_MAX_SETPOINT" value="35" unit="deg"/>
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<define name="PITCH_MAX_SETPOINT" value="30" unit="deg"/>
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<define name="PITCH_MIN_SETPOINT" value="-30" unit="deg"/>
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<define name="PITCH_PGAIN" value="12000."/>
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<define name="PITCH_DGAIN" value="1.5"/>
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<define name="ELEVATOR_OF_ROLL" value="1250"/>
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<define name="ROLL_SLEW" value="0.1"/>
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<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
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<define name="ROLL_RATE_GAIN" value="1500"/>
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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="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="40." unit="deg"/>
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<define name="MAX_PITCH" value="35." unit="deg"/>
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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="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="12.4" 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="DEFAULT_CIRCLE_RADIUS" value="80."/>
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</section>
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</airframe>
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