mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 05:42:49 +08:00
Gautier Hattenberger
202 lines
7.6 KiB
XML
202 lines
7.6 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!-- this is an MavTec frame -->
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<airframe name="cdw_mavtec">
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<!-- ************************* FIRMWARE ************************* -->
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<firmware name="rotorcraft">
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<target name="ap" board="lisa_mx_2.1">
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<module name="radio_control" type="ppm"/>
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<define name="RADIO_KILL_SWITCH" value="RADIO_EXTRA1"/>
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<define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="1"/>
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<define name="USE_I2C_ACTUATORS_REBOOT_HACK"/>
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</target>
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<target name="nps" board="pc">
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<module name="fdm" type="jsbsim"/>
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<module name="radio_control" type="ppm"/>
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</target>
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<module name="motor_mixing"/>
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<module name="actuators" type="asctec_v2"/>
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<module name="actuators" type="pwm"/>
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<module name="telemetry" type="xbee_api"/>
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<module name="imu" type="lisa_mx_v2.1"/>
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<module name="gps" type="ublox"/>
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<module name="stabilization" type="int_quat"/>
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<module name="ahrs" type="float_mlkf"/>
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<module name="ins" type="hff"/>
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</firmware>
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<section name="AUTOPILOT">
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<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
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<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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</section>
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<!-- ************************* MODULES ************************* -->
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<modules main_freq="512">
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<!-- <module name="logger_spi_link"/>
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<module name="imu_quality_assessment"/> -->
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<module name="servo_switch"/>
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<module name="send_imu_mag_current"/>
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<module name="gps" type="ubx_ucenter" />
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<module name="nav" type="survey_rectangle_rotorcraft"/>
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<module name="nav" type="survey_poly_rotorcraft"/>
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<module name="geo_mag"/>
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</modules>
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<!-- ************************* ACTUATORS ************************* -->
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<servos driver="Asctec_v2">
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<!-- This is hardcoded in actec_driver: keep this naming
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and numbering at all times -->
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<servo name="FRONT" no="0" min="0" neutral="3" max="200"/><!-- FRONTLEFT -->
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<servo name="BACK" no="1" min="0" neutral="3" max="200"/><!-- FRONTRIGHT -->
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<servo name="LEFT" no="2" min="0" neutral="3" max="200"/><!-- BACKRIGHT -->
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<servo name="RIGHT" no="3" min="0" neutral="3" max="200"/><!-- BACKLEFT -->
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</servos>
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<servos driver="Pwm">
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<servo name="DROP" no="4" min="1100" neutral="1500" max="2100"/>
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</servos>
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<section name="SERVO_SWITCH">
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<define name="SERVO_SWITCH_SERVO" value="DROP"/>
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<define name="SERVO_SWITCH_ON_VALUE" value="SERVO_DROP_MIN"/>
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<define name="SERVO_SWITCH_OFF_VALUE" value="SERVO_DROP_MAX"/>
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<define name="DropOpen()" value="ServoSwitchOn()"/>
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<define name="DropClose()" value="ServoSwitchOff()"/>
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</section>
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<commands>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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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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<section name="MIXING" prefix="MOTOR_MIXING_">
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<define name="TRIM_ROLL" value="0"/>
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<define name="TRIM_PITCH" value="0"/>
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<define name="TRIM_YAW" value="0"/>
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<define name="NB_MOTOR" value="4"/>
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<define name="SCALE" value="256"/>
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<!-- FrontLeft - FrontRight - BackRight - BackLeft -->
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<define name="ROLL_COEF" value="{ 256, -256, -256, 256 }"/>
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<define name="PITCH_COEF" value="{ 256, 256, -256, -256 }"/>
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<define name="YAW_COEF" value="{ 256, -256, 256, -256 }"/>
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<define name="THRUST_COEF" value="{ 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_motors_on,FALSE,values)"/>
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<set servo="FRONT" value="motor_mixing.commands[0]"/>
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<set servo="BACK" value="motor_mixing.commands[1]"/>
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<set servo="LEFT" value="motor_mixing.commands[2]"/>
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<set servo="RIGHT" value="motor_mixing.commands[3]"/>
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</command_laws>
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<!-- ************************* SENSORS ************************* -->
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<section name="IMU" prefix="IMU_">
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<define name="ACCEL_X_NEUTRAL" value="0"/>
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<define name="ACCEL_Y_NEUTRAL" value="0"/>
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<define name="ACCEL_Z_NEUTRAL" value="0"/>
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<define name="MAG_X_NEUTRAL" value="140"/>
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<define name="MAG_Y_NEUTRAL" value="146"/>
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<define name="MAG_Z_NEUTRAL" value="80"/>
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<define name="MAG_X_SENS" value="3.68116427889" integer="16"/>
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<define name="MAG_Y_SENS" value="3.74966778358" integer="16"/>
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<define name="MAG_Z_SENS" value="4.05311539389" integer="16"/>
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<define name= "MAG_X_CURRENT_COEF" value="0.00322676138551"/>
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<define name= "MAG_Y_CURRENT_COEF" value="0.00266367218758"/>
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<define name= "MAG_Z_CURRENT_COEF" value="-0.0004557295634"/>
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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="270." unit="deg"/>
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</section>
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<section name="INS" prefix="INS_">
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</section>
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<!-- ************************* GAINS ************************* -->
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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="65." unit="deg"/>
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<define name="SP_MAX_THETA" value="65." unit="deg"/>
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<define name="SP_MAX_R" value="250." unit="deg/s"/>
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<define name="DEADBAND_R" value="200"/>
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<!-- reference -->
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<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.85"/>
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<define name="REF_MAX_P" value="300." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.85"/>
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<define name="REF_MAX_Q" value="300." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.85"/>
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<define name="REF_MAX_R" value="180." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
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<!-- feedback -->
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<define name="PHI_PGAIN" value="600"/>
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<define name="PHI_DGAIN" value="150"/>
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<define name="PHI_IGAIN" value="20"/>
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<define name="THETA_PGAIN" value="600"/>
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<define name="THETA_DGAIN" value="150"/>
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<define name="THETA_IGAIN" value="20"/>
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<define name="PSI_PGAIN" value="600"/>
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<define name="PSI_DGAIN" value="100"/>
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<define name="PSI_IGAIN" value="10"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value="150"/>
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<define name="THETA_DDGAIN" value="150"/>
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<define name="PSI_DDGAIN" value="200"/>
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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="500"/>
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<define name="HOVER_KD" value="200"/>
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<define name="HOVER_KI" value="100"/>
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<define name="NOMINAL_HOVER_THROTTLE" value="0.4"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="PGAIN" value="100"/>
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<define name="DGAIN" value="100"/>
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<define name="IGAIN" value="0"/>
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</section>
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<!-- ************************* MISC ************************* -->
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<section name="MAGNETICS" prefix="AHRS_H_">
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<define name="X" value="0.4"/>
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<define name="Y" value="0"/>
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<define name="Z" value="0.9"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
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<define name="JSBSIM_MODEL" value="simple_x_quad" type="string"/>
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<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
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</section>
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</airframe>
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