mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 13:55:40 +08:00
Gautier Hattenberger
184 lines
6.8 KiB
XML
184 lines
6.8 KiB
XML
<!-- This is a star hexacopter frame equiped with Lisa/M 2.0, Aspirin 2.1 and hobbyking blue series 12A ESCs with SimonK firmware and 10/4.5 props -->
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<!--
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Applicable configuration:
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airframe="airframes/ESDEN/hexy_lm2a2pwm.xml"
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radio="radios/cockpitSX.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/rotorcraft_tri.xml"
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settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
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-->
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="E-HexyFig">
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<servos driver="Pwm">
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<servo name="FRONT_LEFT" no="0" min="1000" neutral="1100" max="1950"/>
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<servo name="FRONT_RIGHT" no="1" min="1000" neutral="1100" max="1950"/>
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<servo name="RIGHT" no="2" min="1000" neutral="1100" max="1950"/>
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<servo name="BACK_RIGHT" no="3" min="1000" neutral="1100" max="1950"/>
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<servo name="BACK_LEFT" no="4" min="1000" neutral="1100" max="1950"/>
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<servo name="LEFT" no="5" min="1000" neutral="1100" max="1950"/>
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</servos>
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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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<command_laws>
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<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
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<set servo="FRONT_LEFT" value="motor_mixing.commands[0]"/>
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<set servo="FRONT_RIGHT" value="motor_mixing.commands[1]"/>
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<set servo="RIGHT" value="motor_mixing.commands[2]"/>
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<set servo="BACK_RIGHT" value="motor_mixing.commands[3]"/>
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<set servo="BACK_LEFT" value="motor_mixing.commands[4]"/>
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<set servo="LEFT" value="motor_mixing.commands[5]"/>
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</command_laws>
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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="6"/>
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<define name="SCALE" value="256"/>
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<define name="ROLL_COEF" value="{ 256, -256, -256, -256, 256, 256 }"/>
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<define name="PITCH_COEF" value="{ 256, 256, 0, -256, -256, 0 }"/>
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<define name="YAW_COEF" value="{ 256, -256, 256, -256, 256, -256 }"/>
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<define name="THRUST_COEF" value="{ 256, 256, 256, 256, 256, 256 }"/>
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</section>
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<include href="conf/airframes/ESDEN/calib/esden_asp21-026.xml"/>
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<section name="IMU" prefix="IMU_">
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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="180." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="180." unit="deg"/>
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</section>
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<section name="AUTOPILOT">
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<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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</section>
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<section name="BAT">
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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="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoints -->
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<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
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<define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
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<define name="SP_MAX_PSI" value="RadOfDeg(45.)"/>
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<define name="SP_MAX_R" value="RadOfDeg(90.)"/>
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<define name="SP_MAX_P" value="RadOfDeg(90.)"/>
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<define name="DEADBAND_R" value="250"/>
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<define name="DEADBAND_A" value="250"/>
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<!-- reference -->
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<define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
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<define name="REF_ZETA_P" value="0.85"/>
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<define name="REF_MAX_P" value="RadOfDeg(400.)"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
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<define name="REF_ZETA_Q" value="0.85"/>
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<define name="REF_MAX_Q" value="RadOfDeg(400.)"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
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<define name="REF_ZETA_R" value="0.85"/>
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<define name="REF_MAX_R" value="RadOfDeg(180.)"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
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<!-- simonk esc firmware gains light quad? -->
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<!-- feedback -->
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<define name="PHI_PGAIN" value="570"/>
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<define name="PHI_DGAIN" value="400"/>
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<define name="PHI_IGAIN" value="100"/>
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<define name="THETA_PGAIN" value="570"/>
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<define name="THETA_DGAIN" value="400"/>
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<define name="THETA_IGAIN" value="100"/>
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<define name="PSI_PGAIN" value="1300"/>
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<define name="PSI_DGAIN" value="1000"/>
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<define name="PSI_IGAIN" value="10"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value=" 530"/>
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<define name="THETA_DDGAIN" value=" 530"/>
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<define name="PSI_DDGAIN" value=" 300"/>
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</section>
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<section name="INS" prefix="INS_">
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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="830"/>
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<define name="HOVER_KD" value="650"/>
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<define name="HOVER_KI" value="100"/>
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<!--define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/-->
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</section>
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<section name="AHRS" prefix="AHRS_">
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<define name="H_X" value=" 0.47577"/>
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<define name="H_Y" value=" 0.11811"/>
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<define name="H_Z" value=" 0.87161"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="PGAIN" value="50"/>
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<define name="DGAIN" value="50"/>
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<define name="IGAIN" value="0"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="front_motor, back_motor, right_motor, left_motor" 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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<modules main_freq="512">
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<module name="gps" type="ubx_ucenter"/>
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</modules>
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<firmware name="rotorcraft">
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<target name="ap" board="lisa_m_2.0">
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<module name="radio_control" type="spektrum">
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<define name="RADIO_MODE" value="RADIO_FLAP"/>
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<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
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<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
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</module>
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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="pwm">
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<define name="SERVO_HZ" value="400"/>
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<define name="USE_SERVOS_7AND8"/>
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</module>
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<module name="telemetry" type="transparent"/>
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<module name="imu" type="aspirin_v2.1"/>
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<define name="LISA_M_LONGITUDINAL_X"/>
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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="int_cmpl_quat"/>
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<module name="ins"/>
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<!--define name="USE_INS_NAV_INIT"/-->
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<!--module name="stabilization" type="int_euler"/>
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<module name="ahrs" type="int_cmpl_euler"/-->
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</firmware>
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</airframe>
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