mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 05:42:49 +08:00
Gautier Hattenberger
227 lines
8.1 KiB
XML
227 lines
8.1 KiB
XML
<!-- this is a LadyBird quadrotor frame equiped with Lisa/S 1.0 -->
|
|
<!-- The LadyBird frame comes with four brushed motors in an X configuration. -->
|
|
|
|
<!--
|
|
The motor and rotor configuration is the following:
|
|
|
|
Front
|
|
^
|
|
|
|
|
|
|
Motor3(NW) Motor0(NE)
|
|
CW CCW
|
|
\ /
|
|
,___,
|
|
| |
|
|
| |
|
|
|___|
|
|
/ \
|
|
CCW CW
|
|
Motor2(SW) Motor1(SE)
|
|
|
|
The Lisa/S is rotated by 13deg CCW against the frame.
|
|
-->
|
|
|
|
<!--
|
|
Applicable configuration:
|
|
airframe="airframes/examples/ladybird_lisa_s.xml"
|
|
radio="radios/cockpitSX.xml"
|
|
telemetry="telemetry/default_rotorcraft.xml"
|
|
flight_plan="flight_plans/rotorcraft_basic.xml"
|
|
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
|
|
-->
|
|
|
|
<airframe name="quadrotor_lisa_s">
|
|
|
|
<servos driver="Pwm">
|
|
<servo name="NE" no="0" min="0" neutral="50" max="1000"/>
|
|
<servo name="SE" no="1" min="0" neutral="50" max="1000"/>
|
|
<servo name="SW" no="2" min="0" neutral="50" max="1000"/>
|
|
<servo name="NW" no="3" min="0" neutral="50" max="1000"/>
|
|
</servos>
|
|
|
|
<commands>
|
|
<axis name="PITCH" failsafe_value="0"/>
|
|
<axis name="ROLL" failsafe_value="0"/>
|
|
<axis name="YAW" failsafe_value="0"/>
|
|
<axis name="THRUST" failsafe_value="0"/>
|
|
</commands>
|
|
|
|
<command_laws>
|
|
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
|
|
<set servo="NE" value="motor_mixing.commands[0]"/>
|
|
<set servo="SE" value="motor_mixing.commands[1]"/>
|
|
<set servo="SW" value="motor_mixing.commands[2]"/>
|
|
<set servo="NW" value="motor_mixing.commands[3]"/>
|
|
</command_laws>
|
|
|
|
<section name="MIXING" prefix="MOTOR_MIXING_">
|
|
<define name="TRIM_ROLL" value="0"/>
|
|
<define name="TRIM_PITCH" value="0"/>
|
|
<define name="TRIM_YAW" value="0"/>
|
|
<define name="NB_MOTOR" value="4"/>
|
|
<define name="SCALE" value="256"/>
|
|
<define name="ROLL_COEF" value="{ -256, -256, 256, 256 }"/>
|
|
<define name="PITCH_COEF" value="{ 256, -256, -256, 256 }"/>
|
|
<define name="YAW_COEF" value="{ 256, -256, 256, -256 }"/>
|
|
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
|
|
</section>
|
|
|
|
<include href="conf/airframes/TUDELFT/calibrations/ladybird1.xml" />
|
|
|
|
<section name="IMU" prefix="IMU_">
|
|
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
|
|
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
|
|
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
|
|
</section>
|
|
|
|
<section name="AUTOPILOT">
|
|
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
|
|
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
|
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
|
|
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
|
|
|
|
<define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/>
|
|
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
|
|
</section>
|
|
|
|
<section name="BAT">
|
|
<define name="MILLIAMP_AT_FULL_THROTTLE" value="14000"/>
|
|
<define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
|
|
<define name="CRITIC_BAT_LEVEL" value="3.3" unit="V"/>
|
|
<define name="LOW_BAT_LEVEL" value="3.4" unit="V"/>
|
|
<define name="MAX_BAT_LEVEL" value="4.1" unit="V"/>
|
|
</section>
|
|
|
|
|
|
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
|
|
|
<!-- setpoints -->
|
|
<define name="SP_MAX_PHI" value="45." unit="deg"/>
|
|
<define name="SP_MAX_THETA" value="45." unit="deg"/>
|
|
<define name="SP_MAX_PSI" value="45." unit="deg"/>
|
|
<define name="SP_MAX_R" value="90." unit="deg/s"/>
|
|
<define name="SP_MAX_P" value="90." unit="deg/s"/>
|
|
<define name="DEADBAND_R" value="250"/>
|
|
<define name="DEADBAND_A" value="250"/>
|
|
|
|
<!-- reference -->
|
|
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
|
|
<define name="REF_ZETA_P" value="0.85"/>
|
|
<define name="REF_MAX_P" value="400." unit="deg/s"/>
|
|
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
|
|
|
|
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
|
|
<define name="REF_ZETA_Q" value="0.85"/>
|
|
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
|
|
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
|
|
|
|
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
|
|
<define name="REF_ZETA_R" value="0.85"/>
|
|
<define name="REF_MAX_R" value="90." unit="deg/s"/>
|
|
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
|
|
|
|
<!-- feedback -->
|
|
<define name="PHI_PGAIN" value="400"/>
|
|
<define name="PHI_DGAIN" value="200"/>
|
|
<define name="PHI_IGAIN" value="100"/>
|
|
|
|
<define name="THETA_PGAIN" value="400"/>
|
|
<define name="THETA_DGAIN" value="200"/>
|
|
<define name="THETA_IGAIN" value="100"/>
|
|
|
|
<define name="PSI_PGAIN" value="500"/>
|
|
<define name="PSI_DGAIN" value="300"/>
|
|
<define name="PSI_IGAIN" value="10"/>
|
|
|
|
<!-- feedforward -->
|
|
<define name="PHI_DDGAIN" value="0"/>
|
|
<define name="THETA_DDGAIN" value="0"/>
|
|
<define name="PSI_DDGAIN" value=" 300"/>
|
|
|
|
<define name="PHI_AGAIN" value="0"/>
|
|
<define name="THETA_AGAIN" value="0"/>
|
|
<define name="PSI_AGAIN" value="0"/>
|
|
</section>
|
|
|
|
<section name="INS" prefix="INS_">
|
|
</section>
|
|
|
|
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
|
<define name="HOVER_KP" value="276"/>
|
|
<define name="HOVER_KD" value="455"/>
|
|
<define name="HOVER_KI" value="100"/>
|
|
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.5"/>
|
|
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
|
|
</section>
|
|
|
|
<section name="AHRS" prefix="AHRS_">
|
|
<!-- Delft magnetic field -->
|
|
<define name="H_X" value="0.39049610"/>
|
|
<define name="H_Y" value="0.00278894"/>
|
|
<define name="H_Z" value="0.92060036"/>
|
|
</section>
|
|
|
|
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
|
<define name="PGAIN" value="90"/>
|
|
<define name="DGAIN" value="50"/>
|
|
<define name="IGAIN" value="24"/>
|
|
</section>
|
|
|
|
<section name="SIMULATOR" prefix="NPS_">
|
|
<define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
|
|
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
|
|
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
|
|
</section>
|
|
|
|
<modules main_freq="512">
|
|
<module name="gps" type="ubx_ucenter"/>
|
|
<module name="send_imu_mag_current"/>
|
|
</modules>
|
|
|
|
<firmware name="rotorcraft">
|
|
<target name="ap" board="lisa_s_1.0">
|
|
<module name="radio_control" type="superbitrf_rc">
|
|
<define name="RADIO_MODE" value="RADIO_GEAR"/>
|
|
<!--<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>-->
|
|
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
|
|
</module>
|
|
|
|
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
|
|
</target>
|
|
|
|
<target name="nps" board="pc">
|
|
<module name="fdm" type="jsbsim"/>
|
|
<module name="radio_control" type="ppm"/>
|
|
</target>
|
|
|
|
<module name="motor_mixing"/>
|
|
<module name="actuators" type="pwm">
|
|
<!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
|
|
With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
|
|
If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors.
|
|
-->
|
|
<!-- Setting the PWM timer base frequency to 36MHz -->
|
|
<define name="PWM_BASE_FREQ" value="36000000"/>
|
|
<!-- Setting the PWM interval to 36KHz -->
|
|
<define name="SERVO_HZ" value="36000"/>
|
|
<define name="USE_SERVOS_1AND2"/>
|
|
</module>
|
|
|
|
<!--<module name="telemetry" type="superbitrf"/>-->
|
|
<!-- Comment the previous line and uncomment the following one if you need
|
|
to use the debug serial interface for telemetry. -->
|
|
<module name="telemetry" type="superbitrf"/>
|
|
<module name="imu" type="lisa_s_v1.0">
|
|
<define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
|
|
</module>
|
|
<module name="gps" type="ublox"/>
|
|
<module name="stabilization" type="int_quat"/>
|
|
<module name="ahrs" type="int_cmpl_quat">
|
|
<configure name="USE_MAGNETOMETER" value="1"/>
|
|
<define name="AHRS_USE_GPS_HEADING" value="0"/>
|
|
</module>
|
|
<module name="ins"/>
|
|
</firmware>
|
|
</airframe>
|