mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Felix Ruess
229 lines
8.6 KiB
XML
229 lines
8.6 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="Microjet CDW Tiny 1.1">
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<!-- commands section -->
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<servos>
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<servo name="THROTTLE" no="0" min="1050" neutral="1050" max="1900"/>
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<servo name="AILEVON_RIGHT" no="1" min="1850" neutral="1480" max="1100"/> <!-- 400 - 380 -->
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<servo name="AILEVON_LEFT" no="2" min="1250" neutral="1580" max="1980"/> <!-- 300 - 400 -->
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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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</commands>
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<rc_commands>
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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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</rc_commands>
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<section name="MIXER">
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<define name="AILEVON_AILERON_RATE" value="0.75"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.9"/>
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</section>
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<command_laws>
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<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
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<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
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<set servo="THROTTLE" value="@THROTTLE"/>
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<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
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<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="0.8"/>
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<define name="MAX_PITCH" value="0.7"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<!-- MAX1168 ADC CHANNELS -->
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<define name="GYRO_P_CHAN" value="0"/>
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<define name="GYRO_Q_CHAN" value="1"/>
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<define name="GYRO_R_CHAN" value="2"/>
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<define name="ACCEL_X_CHAN" value="4"/>
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<define name="ACCEL_Y_CHAN" value="3"/>
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<define name="ACCEL_Z_CHAN" value="5"/>
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<!-- Calibration Neutral -->
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<define name="GYRO_P_NEUTRAL" value="21480"/>
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<define name="GYRO_Q_NEUTRAL" value="21410"/>
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<define name="GYRO_R_NEUTRAL" value="21940"/>
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<!-- SENS = 2mV/deg/sec * 57.6 deg/rad = 114.59 mV/rad/sec * 16 LSB/mV = 1833.465 LSB/rad/sec / 12bit FRAC -->
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<define name="GYRO_P_SENS" value="2.234" integer="16"/>
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<define name="GYRO_Q_SENS" value="2.234" integer="16"/>
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<define name="GYRO_R_SENS" value="2.234" integer="16"/>
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<define name="GYRO_P_Q" value="0."/>
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<define name="GYRO_P_R" value="(1.0f/75.0f)"/>
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<define name="GYRO_Q_P" value="0."/>
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<define name="GYRO_Q_R" value="0."/>
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<define name="GYRO_R_P" value="0."/>
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<define name="GYRO_R_Q" value="0."/>
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<define name="GYRO_P_SIGN" value="1"/>
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<define name="GYRO_Q_SIGN" value="-1"/>
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<define name="GYRO_R_SIGN" value="-1"/>
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<define name="ACCEL_X_NEUTRAL" value="26584"/>
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<define name="ACCEL_Y_NEUTRAL" value="26660"/>
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<define name="ACCEL_Z_NEUTRAL" value="26732"/>
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<!-- 3.5G: SENS = 330mV/g / 9.81 ms2/g = 33.63 mV/ms2 * 16 LSB/mV = 538.22 LSB/ms2 / 10bit FRAC -->
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<!-- 2G: SENS = 660mV/g / 9.81 ms2/g = 67.27 mV/ms2 * 16 LSB/mV = 1076 LSB/ms2 / 10bit FRAC -> 0.9372-->
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<!-- 6G: SENS = 220mV/g / 9.81 ms2/g = 67.27 mV/ms2 * 16 LSB/mV = 358.8 LSB/ms2 / 10bit FRAC -> 2.853818182-->
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<define name="ACCEL_X_SENS" value="2.85382" integer="10"/>
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<define name="ACCEL_Y_SENS" value="2.85382" integer="10"/>
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<define name="ACCEL_Z_SENS" value="2.85382" integer="10"/>
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<define name="ACCEL_X_SIGN" value="1"/>
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<define name="ACCEL_Y_SIGN" value="-1"/>
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<define name="ACCEL_Z_SIGN" value="-1"/>
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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="MAG_45_HACK" value="1"/> -->
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<define name="BODY_TO_IMU_PHI" value="0"/>
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<define name="BODY_TO_IMU_THETA" value="0"/>
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<define name="BODY_TO_IMU_PSI" value="0"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="0."/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="-0.0570000000298"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
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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="MISC">
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<define name="NOMINAL_AIRSPEED" value="14.5" unit="m/s"/>
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<define name="CARROT" value="5." 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_RATE" value="60" unit="Hz"/>
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<define name="XBEE_INIT" value=""ATPL2\rATRN5\rATTT80\r""/>
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<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
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<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
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</section>
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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="-0.01"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="4."/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.33"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.60"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
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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_PGAIN" value="0."/>
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<define name="AUTO_THROTTLE_IGAIN" value="0."/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
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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="-1.39999997616"/>
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<define name="ROLL_MAX_SETPOINT" value="0.703999996185" unit="rad"/>
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<define name="PITCH_MAX_SETPOINT" value="0.4" unit="rad"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.4" unit="rad"/>
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<define name="PITCH_PGAIN" value="-6000."/>
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<define name="PITCH_DGAIN" value="0."/>
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<define name="ELEVATOR_OF_ROLL" value="1200."/>
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<define name="ROLL_ATTITUDE_GAIN" value="-6000."/>
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<define name="ROLL_RATE_GAIN" value="-600."/>
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<define name="ROLL_SLEW" value="0.02"/> <!-- Maximal roll angle change per 1/60 of second: 0.02 rad/loop * 180/pi * 60 loop/sec = 60 deg/sec -->
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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="1.00"/><!-- Gaz for Aggressive Climb -->
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<define name="CLIMB_PITCH" value="0.6"/><!-- Pitch for Aggressive Climb -->
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<define name="DESCENT_THROTTLE" value="0.0"/><!-- Gaz for Aggressive Decent -->
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<define name="DESCENT_PITCH" value="-0.35"/><!-- 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="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
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</section>
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<firmware name="fixedwing">
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<target name="ap" board="tiny_1.1">
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<configure name="PERIODIC_FREQUENCY" value="960"/> <!-- IMU FREQ -->
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<configure name="AHRS_PROPAGATE_FREQUENCY" value="120"/>
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<configure name="AHRS_CORRECT_FREQUENCY" value="60"/>
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<configure name="AHRS_ALIGNER_LED" value="1"/>
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<configure name="CPU_LED" value="2"/>
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</target>
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<target name="sim" board="pc"/>
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<define name="AGR_CLIMB"/>
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<define name="LOITER_TRIM"/>
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<define name="ALT_KALMAN"/>
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<subsystem name="radio_control" type="ppm"/>
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<!-- Communication -->
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<subsystem name="telemetry" type="xbee_api">
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<configure name="MODEM_BAUD" value="B57600"/>
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</subsystem>
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<subsystem name="control"/>
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<!-- Sensors -->
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<subsystem name="imu" type="booz"/>
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<subsystem name="ahrs" type="float_dcm"/>
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<subsystem name="gps" type="ublox_utm"/>
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<subsystem name="navigation"/>
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</firmware>
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<firmware name="setup">
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<target name="tunnel" board="tiny_1.1"/>
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</firmware>
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<modules>
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<load name="light.xml">
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<define name="LIGHT_LED_STROBE" value="2"/>
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<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
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</load>
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</modules>
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</airframe>
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