mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-21 03:43:26 +08:00
Felix Ruess
49d5c2b222
most people want it to start at flightplan location anyway... If someone wants to explicitly set the initial conditions, they can add whatever xml file they want...
204 lines
7.5 KiB
XML
204 lines
7.5 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!-- this is an asctec frame equiped with Lisa/L#3 and asctec V2 controllers -->
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<airframe name="lisa_asctec">
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<servos driver="Asctec_v2">
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<servo name="FRONT" no="0" min="0" neutral="3" max="200"/>
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<servo name="BACK" no="1" min="0" neutral="3" max="200"/>
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<servo name="LEFT" no="2" min="0" neutral="3" max="200"/>
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<servo name="RIGHT" no="3" min="0" neutral="3" max="200"/>
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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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<!-- for the sim -->
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<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
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<define name="NB" value="4"/>
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<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
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</section>
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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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<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="GYRO_P_NEUTRAL" value="32276"/>
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<define name="GYRO_Q_NEUTRAL" value="33987"/>
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<define name="GYRO_R_NEUTRAL" value="32801"/>
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<define name="GYRO_P_SENS" value="0.92466" integer="16"/>
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<define name="GYRO_Q_SENS" value="0.93226" integer="16"/>
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<define name="GYRO_R_SENS" value="0.92943" integer="16"/>
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<define name="GYRO_PQ_SENS" value="0.0" integer="16"/>
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<define name="GYRO_PR_SENS" value="0.0" integer="16"/>
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<define name="GYRO_QR_SENS" value="0.0" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="25875"/>
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<define name="ACCEL_Y_NEUTRAL" value="26273"/>
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<define name="ACCEL_Z_NEUTRAL" value="26152"/>
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<define name="ACCEL_X_SENS" value="1.8788156268" integer="16"/>
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<define name="ACCEL_Y_SENS" value="1.88941543145" integer="16"/>
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<define name="ACCEL_Z_SENS" value="1.90349115464" integer="16"/>
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<define name="ACCEL_XY_SENS" value="0.0" integer="16"/>
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<define name="ACCEL_XZ_SENS" value="0.0" integer="16"/>
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<define name="ACCEL_YZ_SENS" value="0.0" integer="16"/>
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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="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="45." 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_ATTITUDE_Z_HOLD"/>
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<define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/>
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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_RATE" prefix="STABILIZATION_RATE_">
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<define name="SP_MAX_P" value="10000"/>
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<define name="SP_MAX_Q" value="10000"/>
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<define name="SP_MAX_R" value="10000"/>
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<define name="GAIN_P" value="400"/>
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<define name="GAIN_Q" value="400"/>
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<define name="GAIN_R" value="350"/>
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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_R" value="250"/>
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<!-- reference -->
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<define name="REF_OMEGA_P" value="400" 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="400" 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="250" 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="900"/>
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<define name="PHI_DGAIN" value="200"/>
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<define name="PHI_IGAIN" value="200"/>
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<define name="THETA_PGAIN" value="900"/>
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<define name="THETA_DGAIN" value="200"/>
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<define name="THETA_IGAIN" value="200"/>
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<define name="PSI_PGAIN" value="900"/>
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<define name="PSI_DGAIN" value="200"/>
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<define name="PSI_IGAIN" value="10"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value=" 200"/>
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<define name="THETA_DDGAIN" value=" 200"/>
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<define name="PSI_DDGAIN" value=" 200"/>
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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="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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<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
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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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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="{"front_motor", "back_motor", "right_motor", "left_motor"}"/>
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<define name="JSBSIM_MODEL" value=""simple_quad""/>
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<define name="SENSORS_PARAMS" value=""nps_sensors_params_default.h""/>
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</section>
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<modules main_freq="512">
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</modules>
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<firmware name="rotorcraft">
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<target name="ap" board="lisa_l_1.1">
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<!-- <define name="ACTUATORS_START_DELAY" value="1"/> -->
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<subsystem name="motor_mixing"/>
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<subsystem name="actuators" type="asctec_v2"/>
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<subsystem name="telemetry" type="transparent"/>
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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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<subsystem name="fdm" type="jsbsim"/>
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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="mkk"/>
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</target>
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<subsystem name="radio_control" type="spektrum">
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<define name="RADIO_MODE" value="RADIO_AUX2"/>
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<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
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<define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/>
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</subsystem>
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<subsystem name="imu" type="b2_v1.1"/>
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<subsystem name="gps" type="ublox"/>
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<subsystem name="stabilization" type="int_euler"/>
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<subsystem name="ahrs" type="int_cmpl_euler"/>
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<subsystem name="ins"/>
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</firmware>
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</airframe>
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