mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-21 03:43:26 +08:00
Felix Ruess
274 lines
9.8 KiB
XML
274 lines
9.8 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="Blender">
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<modules main_freq="512">
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<load name="servo_switch.xml"/>
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<load name="rotorcraft_cam.xml"/>
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<load name="digital_cam.xml">
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<!-- AUX1 -->
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<define name="DC_SHUTTER_GPIO" value="GPIOA,GPIO7"/>
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</load>
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</modules>
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<firmware name="rotorcraft">
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<define name="USE_INS_NAV_INIT"/>
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<!--define name="GUIDANCE_H_USE_REF"/-->
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<target name="ap" board="navgo_1.0">
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<define name="FAILSAFE_GROUND_DETECT"/>
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<define name="USE_GPS_ACC4R"/>
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<define name="ACTUATORS_START_DELAY" value="3"/>
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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="telemetry" type="transparent"/>
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<subsystem name="actuators" type="mkk">
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<define name="MKK_I2C_SCL_TIME" value="25"/>
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</subsystem>
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<subsystem name="motor_mixing"/>
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<subsystem name="actuators" type="pwm">
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<define name="USE_PWM0"/>
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</subsystem>
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<subsystem name="imu" type="navgo"/>
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<subsystem name="gps" type="ublox">
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<configure name="GPS_BAUD" value="B57600"/>
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</subsystem>
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<subsystem name="stabilization" type="int_euler"/>
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<subsystem name="ahrs" type="int_cmpl_quat"/>
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<subsystem name="ins" type="hff"/>
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<configure name="AHRS_PROPAGATE_FREQUENCY" value="512"/>
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</firmware>
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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 CW, RIGHT CCW, BACK CW, LEFT CCW -->
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<define name="ROLL_COEF" value="{ 0, -256, 0, 256}"/>
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<define name="PITCH_COEF" value="{ 256, 0, -256, 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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<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
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<define name="NB" value="4"/>
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<!-- FRONT CW, RIGHT CCW, BACK CW, LEFT CCW -->
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<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
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</section>
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<servos driver="Mkk">
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<servo name="FRONT" no="0" min="0" neutral="2" max="255"/>
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<servo name="RIGHT" no="1" min="0" neutral="2" max="255"/>
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<servo name="BACK" no="2" min="0" neutral="2" max="255"/>
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<servo name="LEFT" no="3" min="0" neutral="2" max="255"/>
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</servos>
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<servos driver="Pwm">
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<servo name="DROP" no="0" min="1000" neutral="1500" max="2000"/>
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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" 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="10"/>
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<define name="GYRO_Q_NEUTRAL" value="-32"/>
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<define name="GYRO_R_NEUTRAL" value="11"/>
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<!-- SENS ITG3200 1/14.375 (deg/s)/LSB, rate frac 12bit => 1/14.375 * pi / 180 * 2^12 -->
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<define name="GYRO_P_SENS" value="4.97312" integer="16"/>
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<define name="GYRO_Q_SENS" value="4.97312" integer="16"/>
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<define name="GYRO_R_SENS" value="4.97312" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="9"/>
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<define name="ACCEL_Y_NEUTRAL" value="14"/>
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<define name="ACCEL_Z_NEUTRAL" value="-16"/>
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<!-- SENS ADXL345 16G 31.2 mg/LSB, accel frac 10bit => 31.2 * 2^10 / 1000 = 31.9488-->
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<define name="ACCEL_X_SENS" value="38.5866088465" integer="16"/>
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<define name="ACCEL_Y_SENS" value="38.7212932023" integer="16"/>
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<define name="ACCEL_Z_SENS" value="39.403098907" integer="16"/>
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<define name="MAG_X_NEUTRAL" value="80"/>
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<define name="MAG_Y_NEUTRAL" value="-271"/>
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<define name="MAG_Z_NEUTRAL" value="112"/>
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<define name="MAG_X_SENS" value="4.44131219218" integer="16"/>
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<define name="MAG_Y_SENS" value="4.56234629213" integer="16"/>
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<define name="MAG_Z_SENS" value="5.298653926" 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="0." unit="deg"/>
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</section>
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<!-- Magnetic field for Toulouse (declination -16°) -->
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<section name="AHRS" prefix="AHRS_">
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<define name="PROPAGATE_LOW_PASS_RATES" value="1"/>
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<define name="H_X" value=" 0.513081"/>
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<define name="H_Y" value="-0.00242783"/>
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<define name="H_Z" value=" 0.858336"/>
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</section>
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<section name="INS" prefix="INS_">
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<!-- datasheet 1.4 mm/LSB : 0.0014*2^8 = 0.3584 -->
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<!-- calibration SENS = 1.156 :( -->
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<define name="SONAR_SENS" value="0.0128633" integer="16"/>
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<define name="SONAR_OFFSET" value="7"/>
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<define name="SONAR_MAX_RANGE" value="4.0"/>
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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="150" 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="90." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
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<!-- feedback -->
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<define name="PHI_PGAIN" value="1800"/>
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<define name="PHI_DGAIN" value="240"/>
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<define name="PHI_IGAIN" value="200"/>
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<define name="THETA_PGAIN" value="1800"/>
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<define name="THETA_DGAIN" value="240"/>
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<define name="THETA_IGAIN" value="200"/>
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<define name="PSI_PGAIN" value="1000"/>
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<define name="PSI_DGAIN" value="350"/>
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<define name="PSI_IGAIN" value="20"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value="170"/>
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<define name="THETA_DDGAIN" value="170"/>
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<define name="PSI_DDGAIN" value="170"/>
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<define name="PHI_AGAIN" value="0"/>
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<define name="THETA_AGAIN" value="0"/>
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<define name="PSI_AGAIN" value="0"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="REF_MIN_ZDD" value="-0.5*9.81"/>
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<define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
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<define name="REF_MIN_ZD" value="-1.5"/>
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<define name="REF_MAX_ZD" value=" 1.5"/>
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<define name="HOVER_KP" value="130"/>
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<define name="HOVER_KD" value="80"/>
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<define name="HOVER_KI" value="0"/>
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<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
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<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
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<define name="ADAPT_NOISE_FACTOR" value="1.5"/>
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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="30" unit="deg"/>
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<define name="PGAIN" value="50"/>
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<define name="DGAIN" value="80"/>
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<define name="IGAIN" value="20"/>
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<define name="NGAIN" value="0"/>
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<!-- feedforward -->
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<define name="AGAIN" value="0"/>
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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="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_ATTITUDE_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="FMS">
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<define name="BOOZ_FMS_TIMEOUT" value="0"/>
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</section>
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<section name="CAM" prefix="ROTORCRAFT_CAM_">
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<define name="DEFAULT_MODE" value="ROTORCRAFT_CAM_MODE_MANUAL"/>
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</section>
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<section name="DIGITAL_CAMERA" prefix="DC_">
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<define name="AUTOSHOOT_DISTANCE_INTERVAL" value="5" unit="meter"/>
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</section>
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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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<section name="MISC">
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<define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
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</section>
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<section name="GCS">
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<define name="ALT_SHIFT_PLUS_PLUS" value="5"/>
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<define name="ALT_SHIFT_PLUS" value="1"/>
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<define name="ALT_SHIFT_MINUS" value="-1"/>
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<define name="SPEECH_NAME" value="Quad NavGo"/>
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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", "right_motor", "back_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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</airframe>
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