mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 13:55:40 +08:00
Gautier Hattenberger
266 lines
11 KiB
XML
266 lines
11 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!--
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Tobias Muench 2012
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example airframe for energyadaptive ctl
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aircraft:
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Twinstar II
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hardware:
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twog_1.0 + aspirin + ETS baro + ETS speed
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-->
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<airframe name="Tob_energyadaptive">
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<firmware name="fixedwing">
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<target name="ap" board="twog_1.0">
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<configure name="PERIODIC_FREQUENCY" value="120"/>
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<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
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<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
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<define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
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<define name="USE_I2C0"/>
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<define name="USE_BARO_ETS"/>
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</target>
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<target name="sim" board="pc">
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<define name="INS_BARO_ID" value="BARO_SIM_SENDER_ID"/>
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</target>
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<define name="USE_AIRSPEED"/>
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<define name="AGR_CLIMB"/>
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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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<module name="radio_control" type="ppm"/> <!-- Radio -->
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<module name="gps" type="ublox"/> <!-- GPS -->
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<module name="telemetry" type="transparent"/> <!-- Communication -->
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<module name="imu" type="aspirin_i2c_v1.5"> <!-- IMU -->
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<configure name="ASPIRIN_I2C_DEV" value="i2c0"/>
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</module>
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<module name="ahrs" type="int_cmpl_quat"/>
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<module name="ins" type="alt_float">
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<define name="USE_BAROMETER"/>
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</module>
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<module name="control" type="energyadaptive"/>
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<module name="navigation"/>
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</firmware>
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<modules>
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<module name="airspeed_ets">
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<define name="AIRSPEED_ETS_SYNC_SEND"/>
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<define name="AIRSPEED_ETS_SCALE" value="1.44"/> <!-- default 1.8-->
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<!-- <define name="AIRSPEED_ETS_OFFSET" value="50"/> --> <!-- default 0 -->
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<!-- <configure name="AIRSPEED_ETS_I2C_DEV" value="i2c1"/> -->
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</module>
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<module name="baro_ets">
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<define name="BARO_ETS_SCALE" value="40.0"/>
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<define name="BARO_ETS_ALT_SCALE" value="0.3"/>
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<define name="BARO_ETS_SYNC_SEND"/>
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</module>
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<module name="baro_sim"/>
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<module name="air_data"/>
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<module name="digital_cam">
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<define name="DC_SHUTTER_GPIO" value="GPIOB,GPIO22"/><!-- 18:aux 22:camsw-->
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</module>
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<module name="nav" type="survey_polygon"/>
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</modules>
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<!-- ################################################## -->
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<servos> <!-- Actuators -->
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<servo name="MOTOR_LEFT" no="0" min="1000" neutral="1000" max="2000"/>
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<!-- <servo name="MOTOR_RIGHT" no="1" min="1000" neutral="1000" max="2000"/> -->
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<servo name="AILERON_LEFT" no="7" min="900" neutral="1300" max="1700"/>
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<servo name="AILERON_RIGHT" no="3" min="1140" neutral="1540" max="1940"/>
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<servo name="ELEVATOR" no="2" min="1700" neutral="1400" max="1000"/>
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<servo name="RUDDER" no="6" min="1810" neutral="1410" max="1010"/>
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<servo name="HATCH" no="4" min="1300" neutral="1300" max="800"/>
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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="YAW" failsafe_value="0"/>
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<axis name="HATCH" failsafe_value="0"/>
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</commands>
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<rc_commands> <!-- commands section -->
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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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<set command="YAW" value="@YAW"/>
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<set command="HATCH" value="@GAIN2"/>
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</rc_commands>
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<section name="MIXER">
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<define name="AILERON_DIFF" value="0.66"/>
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<define name="COMBI_SWITCH" value="1.0"/>
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</section>
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<command_laws>
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<set servo="MOTOR_LEFT" value="@THROTTLE"/>
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<!-- <set servo="MOTOR_RIGHT" value="@THROTTLE"/> -->
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<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
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<let var="roll" value="@ROLL"/>
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<set servo="AILERON_LEFT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
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<set servo="AILERON_RIGHT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
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<set servo="ELEVATOR" value="@PITCH"/>
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<set servo="HATCH" value="@HATCH"/>
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</command_laws>
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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="40" unit="deg"/>
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</section>
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<section name="TRIM" prefix="COMMAND_">
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<define name="ROLL_TRIM" value="0"/>
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<define name="PITCH_TRIM" value="0."/> <!--788 -->
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</section>
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<!--
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######################################################################################
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-->
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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="IMU" prefix="IMU_">
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<define name="MAG_X_NEUTRAL" value="0"/>
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<define name="MAG_Y_NEUTRAL" value="0"/>
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<define name="MAG_Z_NEUTRAL" value="0"/>
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<define name="MAG_X_SENS" value="1." integer="16"/>
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<define name="MAG_Y_SENS" value="1." integer="16"/>
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<define name="MAG_Z_SENS" value="1." integer="16"/>
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<define name="BODY_TO_IMU_PHI" value="-2" unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="2" unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="34000" unit="mA"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/> <!--10.5-->
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<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/><!--11.-->
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<define name="LOW_BAT_LEVEL" value="9.7" unit="V"/><!--11.5-->
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<define name="MAX_BAT_LEVEL" value="12.5" unit="V"/>
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</section>
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<section name="MISC">
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<define name="CLIMB_AIRSPEED" value="12." unit="m/s"/>
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<define name="NOMINAL_AIRSPEED" value="14." unit="m/s"/>
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<define name="GLIDE_AIRSPEED" value="12." unit="m/s"/>
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<define name="RACE_AIRSPEED" value="25." unit="m/s"/>
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<define name="STALL_AIRSPEED" value="8." unit="m/s"/>
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<define name="AIRSPEED_SETPOINT_SLEW" value="0.2" unit="m/s/s"/> <!--default is 1-->
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<define name="CARROT" value="4." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/> <!-- default is 60Hz -->
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<define name="NO_XBEE_API_INIT" value="TRUE"/>
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<define name="TRIGGER_DELAY" value="1."/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="70."/>
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</section>
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<section name="GLS_APPROACH" prefix="APP_">
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<define name="ANGLE" value="10" unit="deg"/>
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<define name="INTERCEPT_AF_SD" value="100" unit="m"/>
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<define name="TARGET_SPEED" value="13" unit="m/s"/>
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</section>
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<!-- ########################################################################################### -->
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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="0.1049"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="5."/> <!--default 2-->
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.3"/>
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_PITCH" value="0."/> <!-- default 0 -->
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.15"/>
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<define name="AIRSPEED_PGAIN" value="0."/>
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<define name="AUTO_THROTTLE_OF_AIRSPEED_PGAIN" value="0.069"/>
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<define name="AUTO_THROTTLE_OF_AIRSPEED_IGAIN" value="0.01"/>
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<define name="AUTO_PITCH_OF_AIRSPEED_PGAIN" value="0.01"/>
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<define name="AUTO_PITCH_OF_AIRSPEED_IGAIN" value="0.003"/>
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<define name="AUTO_PITCH_OF_AIRSPEED_DGAIN" value="0.03"/>
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<define name="ENERGY_TOT_PGAIN" value="0."/>
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<define name="ENERGY_TOT_IGAIN" value="0."/>
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<define name="ENERGY_DIFF_PGAIN" value="0."/>
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<define name="ENERGY_DIFF_IGAIN" value="0."/>
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<define name="AUTO_GROUNDSPEED_SETPOINT" value="6.0" unit="m/s"/>
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<define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
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<define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>
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<define name="THROTTLE_SLEW_LIMITER" value="1" 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="0.8"/>
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<define name="COURSE_DGAIN" value="0.3"/>
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<define name="ROLL_MAX_SETPOINT" value="50" unit="deg"/>
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<define name="ROLL_ATTITUDE_GAIN" value="7400."/>
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<define name="ROLL_RATE_GAIN" value="200."/>
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<define name="ROLL_IGAIN" value="100."/>
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<define name="ROLL_KFFA" value="0"/>
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<define name="ROLL_KFFD" value="0"/>
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<define name="PITCH_MAX_SETPOINT" value="25" unit="deg"/>
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<define name="PITCH_MIN_SETPOINT" value="-25" unit="deg"/>
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<define name="PITCH_PGAIN" value="7200."/>
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<define name="PITCH_DGAIN" value="6."/>
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<define name="PITCH_IGAIN" value="100."/>
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<define name="PITCH_KFFA" value="0."/>
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<define name="PITCH_KFFD" value="0."/>
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<define name="PITCH_OF_ROLL" value="RadOfDeg(1.0)"/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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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="0.60"/><!-- Gaz for Aggressive Climb -->
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<define name="CLIMB_PITCH" value="RadOfDeg(12)"/><!-- 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="RadOfDeg(-20)"/><!-- 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="NAV">
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<define name="NAV_PITCH" value="0."/>
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<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
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</section>
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<section name="DIGITAL_CAMERA" prefix="DC_">
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<define name="AUTOSHOOT_PERIOD" value="3.0" unit="sec"/>
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<define name="AUTOSHOOT_DISTANCE_INTERVAL" value="50" unit="meter"/>
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</section>
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
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<define name="DEFAULT_ROLL" value="15" unit="deg"/>
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<define name="DEFAULT_PITCH" value="0" unit="deg"/>
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<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
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</section>
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<section name="SIMU">
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<define name="WEIGHT" value ="1."/>
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<define name="YAW_RESPONSE_FACTOR" value =".9"/> <!--default 1.-->
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<define name="PITCH_RESPONSE_FACTOR" value ="1."/> <!--default 1.-->
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<define name="ROLL_RESPONSE_FACTOR" value ="15."/> <!--default 15-->
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</section>
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</airframe>
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