mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 13:55:40 +08:00
Freek van Tienen
190 lines
6.9 KiB
XML
190 lines
6.9 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="Quadrotor with floating point unit">
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<firmware name="rotorcraft">
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<target name="ap" board="lisa_m_2.0">
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<configure name="USE_MAGNETOMETER" value="1"/>
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</target>
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<target name="nps" board="pc">
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<subsystem name="fdm" type="jsbsim"/>
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</target>
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="motor_mixing"/>
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<subsystem 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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</subsystem>
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<subsystem name="telemetry" type="transparent">
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<configure name="MODEM_PORT" value="UART1"/>
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</subsystem>
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<subsystem name="imu" type="aspirin_v2.1"/>
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<subsystem name="gps" type="ublox"/>
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<subsystem name="stabilization" type="float_quat"/>
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<subsystem name="ahrs" type="float_mlkf"/>
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<subsystem name="ins"/>
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</firmware>
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<modules main_freq="512">
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<load name="sys_mon.xml"/>
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</modules>
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<servos driver="Pwm">
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<servo name="FRONT" no="0" min="1000" neutral="1100" max="1900"/>
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<servo name="BACK" no="1" min="1000" neutral="1100" max="1900"/>
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<servo name="RIGHT" no="2" min="1000" neutral="1100" max="1900"/>
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<servo name="LEFT" no="3" min="1000" neutral="1100" max="1900"/>
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</servos>
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<commands>
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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="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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<!-- front/back turning CW, right/left CCW -->
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<define name="ROLL_COEF" value="{ 0, 0, -256, 256 }"/>
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<define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/>
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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="RIGHT" value="motor_mixing.commands[2]"/>
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<set servo="LEFT" value="motor_mixing.commands[3]"/>
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</command_laws>
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<section name="IMU" prefix="IMU_">
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<define name="ACCEL_X_NEUTRAL" value="11"/>
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<define name="ACCEL_Y_NEUTRAL" value="11"/>
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<define name="ACCEL_Z_NEUTRAL" value="-25"/>
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<!-- replace this with your own calibration -->
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<define name="MAG_X_NEUTRAL" value="-179"/>
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<define name="MAG_Y_NEUTRAL" value="-21"/>
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<define name="MAG_Z_NEUTRAL" value="79"/>
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<define name="MAG_X_SENS" value="4.17334785618" integer="16"/>
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<define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
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<define name="MAG_Z_SENS" value="4.40442339014" integer="16"/>
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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="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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<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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</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="45." unit="deg"/>
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<define name="SP_MAX_THETA" value="45." unit="deg"/>
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<define name="SP_MAX_R" value="90." unit="deg/s"/>
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<define name="DEADBAND_A" value="0"/>
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<define name="DEADBAND_E" value="0"/>
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<define name="DEADBAND_R" value="250"/>
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<!-- reference -->
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<define name="REF_OMEGA_P" value="{RadOfDeg(400)}"/>
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<define name="REF_ZETA_P" value="{0.85}"/>
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<define name="REF_MAX_P" value="400." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_Q" value="{RadOfDeg(400)}"/>
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<define name="REF_ZETA_Q" value="{0.85}"/>
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<define name="REF_MAX_Q" value="400." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_R" value="{RadOfDeg(250)}"/>
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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="{1000}"/>
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<define name="PHI_DGAIN" value="{1000}"/>
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<define name="PHI_IGAIN" value="{200}"/>
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<define name="THETA_PGAIN" value="{1000}"/>
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<define name="THETA_DGAIN" value="{1000}"/>
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<define name="THETA_IGAIN" value="{200}"/>
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<define name="PSI_PGAIN" value="{500}"/>
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<define name="PSI_DGAIN" value="{500}"/>
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<define name="PSI_IGAIN" value="{10}"/>
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<!-- feedback angular acceleration error -->
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<define name="PHI_DGAIN_D" value="{100}"/>
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<define name="THETA_DGAIN_D" value="{100}"/>
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<define name="PSI_DGAIN_D" value="{100}"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value="{300}"/>
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<define name="THETA_DDGAIN" value="{300}"/>
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<define name="PSI_DDGAIN" value="{300}"/>
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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="150"/>
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<define name="HOVER_KD" value="80"/>
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<define name="HOVER_KI" value="20"/>
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<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
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<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="MAX_BANK" value="20" unit="deg"/>
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<define name="PGAIN" value="50"/>
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<define name="DGAIN" value="100"/>
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<define name="AGAIN" value="70"/>
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<define name="IGAIN" value="20"/>
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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="JSBSIM_MODEL" value="simple_quad" type="string"/>
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<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
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<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
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<define name="JS_AXIS_MODE" value="4"/>
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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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<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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</airframe>
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