mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 23:49:00 +08:00
Gautier Hattenberger
250 lines
8.7 KiB
XML
250 lines
8.7 KiB
XML
<airframe name="Blender">
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<modules main_freq="512">
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<load name="booz_drop.xml"/>
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<load name="booz_cam.xml"/>
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<!--load name="sonar_maxbotix_booz.xml"/-->
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</modules>
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<firmware name="rotorcraft">
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<target name="ap" board="booz_1.0">
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<define name="BOOZ_FAILSAFE_GROUND_DETECT"/>
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<define name="USE_GPS_ACC4R"/>
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</target>
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<target name="sim" board="pc">
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<subsystem name="fdm" type="nps"/>
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</target>
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="actuators" type="asctec"/>
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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="ahrs" type="cmpl"/>
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<subsystem name="ins" type="hff"/>
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</firmware>
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<firmware name="booz_test_progs">
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<target name="test_telemetry" board="booz_1.0"/>
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<target name="test_baro" board="booz_1.0"/>
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<target name="test_rc_spektrum" board="booz_1.0"/>
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<target name="test_rc_ppm" board="booz_1.0"/>
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</firmware>
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<servos min="0" neutral="0" max="0xff">
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<servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
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<servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
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<servo name="YAW" no="2" min="0" neutral="0" max="255"/>
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<servo name="THRUST" no="3" min="0" neutral="0" max="255"/>
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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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<section name="IMU" prefix="IMU_">
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<define name="GYRO_P_CHAN" value="1"/>
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<define name="GYRO_Q_CHAN" value="0"/>
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<define name="GYRO_R_CHAN" value="2"/>
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<define name="GYRO_P_NEUTRAL" value="33100"/>
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<define name="GYRO_Q_NEUTRAL" value="32440"/>
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<define name="GYRO_R_NEUTRAL" value="33033"/>
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<define name="GYRO_P_SENS" value="1.00" integer="16"/>
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<define name="GYRO_Q_SENS" value="1.00" integer="16"/>
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<define name="GYRO_R_SENS" value="1.00" integer="16"/>
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<define name="ACCEL_X_CHAN" value="5"/>
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<define name="ACCEL_Y_CHAN" value="3"/>
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<define name="ACCEL_Z_CHAN" value="4"/>
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<define name="ACCEL_X_NEUTRAL" value="32932"/>
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<define name="ACCEL_Y_NEUTRAL" value="32251"/>
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<define name="ACCEL_Z_NEUTRAL" value="32463"/>
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<define name="ACCEL_X_SENS" value="2.59502439625" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.57636806334" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.59680479039" integer="16"/>
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<define name="MAG_X_CHAN" value="0"/>
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<define name="MAG_Y_CHAN" value="1"/>
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<define name="MAG_Z_CHAN" value="2"/>
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<define name="MAG_X_NEUTRAL" value="-75"/>
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<define name="MAG_Y_NEUTRAL" value="17"/>
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<define name="MAG_Z_NEUTRAL" value="7"/>
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<define name="MAG_X_SENS" value="5.50726991669" integer="16"/>
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<define name="MAG_Y_SENS" value="5.43740121157" integer="16"/>
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<define name="MAG_Z_SENS" value="2.60492836649" integer="16"/>
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<define name="BODY_TO_IMU_PHI" value="RadOfDeg(-1.5)"/>
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<define name="BODY_TO_IMU_THETA" value="RadOfDeg(-1.5)"/>
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<define name="BODY_TO_IMU_PSI" value="RadOfDeg(-45)"/> <!-- -13 -->
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</section>
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<section name="STABILIZATION_RATE" prefix="BOOZ_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="BOOZ_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_R" value="RadOfDeg(90.)"/>
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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(800)"/>
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<define name="REF_ZETA_P" value="0.85"/>
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<define name="REF_MAX_P" value="RadOfDeg(300.)"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
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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(300.)"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
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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(90.)"/>
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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="-1500"/>
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<define name="PHI_DGAIN" value="-350"/>
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<define name="PHI_IGAIN" value="-50"/>
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<define name="THETA_PGAIN" value="-1500"/>
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<define name="THETA_DGAIN" value="-350"/>
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<define name="THETA_IGAIN" value="-50"/>
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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="-10"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value=" 350"/>
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<define name="THETA_DDGAIN" value=" 350"/>
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<define name="PSI_DDGAIN" value=" 300"/>
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</section>
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<section name="SUPERVISION" prefix="SUPERVISION_">
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<define name="TRIM_A" value="0"/>
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<define name="TRIM_E" value="0"/>
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<define name="TRIM_R" value="0"/>
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<define name="HACK_45" value="1"/>
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</section>
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<section name="INS" prefix="BOOZ_INS_">
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<define name="BARO_SENS" value="16.5" integer="16"/>
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</section>
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<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
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<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
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<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
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<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
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<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
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<define name="MAX_SUM_ERR" value="2000000"/>
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<define name="REF_MIN_ZDD" value="-1.2*9.81"/>
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<define name="REF_MAX_ZDD" value=" 0.8*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="-500"/>
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<define name="HOVER_KD" value="-250"/>
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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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<define name="RC_CLIMB_COEF" value ="163"/>
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<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
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<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
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</section>
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<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
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<define name="PGAIN" value="-140"/>
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<define name="DGAIN" value="-90"/>
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<define name="IGAIN" value="-30"/>
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<define name="NGAIN" value="-0"/>
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<!-- feedforward -->
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<define name="AGAIN" value="100"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="BATTERY_SENS" value="0.25" integer="16"/>
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</section>
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<section name="AUTOPILOT">
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<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
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<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
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<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_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="BOOZ_CAM_">
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<define name="TILT_NEUTRAL" value="1500"/>
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<define name="TILT_MIN" value="1060"/>
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<define name="TILT_MAX" value="2250"/>
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<define name="TILT_ANGLE_MIN" value="RadOfDeg(-90.)" unit="rad"/>
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<define name="TILT_ANGLE_MAX" value="RadOfDeg( 0.)" unit="rad"/>
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<define name="PAN_NEUTRAL" value="0"/>
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<define name="PAN_MIN" value="0"/>
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<define name="PAN_MAX" value="25736"/> <!-- 360 deg (2^12) -->
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<define name="DEFAULT_MODE" value="BOOZ_CAM_MODE_MANUAL"/>
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<!--define name="SetPwm(_v)" value="Booz2SetPwm1Value(_v)"/-->
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</section>
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<section name="MISC">
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<define name="BOOZ_ANALOG_BARO_THRESHOLD" value="800"/>
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<define name="BOOZ2_FACE_REINJ_1" value="1024"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
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<define name="BoozDropPwm(_v)" value="Booz2SetPwm1Value(_v)"/>
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<define name="IMU_MAG_OFFSET" value="-9."/>
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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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</section>
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<makefile location="after">
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ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
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ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3 -DUSE_PWM1
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ap.CFLAGS += -DBOOZ_ACTUATORS_MAX_THRUST=160 -DBOOZ_THRUST_LOWPASS=17
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ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
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sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
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sim.CFLAGS += -DNPS_NO_SUPERVISION
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sim.CFLAGS += -DB2_GUIDANCE_H_USE_REF
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sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
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sim.srcs += $(SRC_BOOZ_SIM)/booz2_pwm_hw.c
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</makefile>
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</airframe>
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