mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Felix Ruess
240 lines
8.9 KiB
XML
240 lines
8.9 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!--
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YAPA + XSens + XBee
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-->
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<airframe name="Yapa v1">
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<servos>
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<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
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<servo name="AILERON_LEFT" no="2" min="900" neutral="1500" max="2100"/>
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<servo name="AILERON_RIGHT" no="6" min="900" neutral="1500" max="2100"/>
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<servo name="ELEVATOR" no="7" min="1900" neutral="1500" max="1100"/>
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<servo name="RUDDER" no="3" min="1100" neutral="1500" max="1900"/>
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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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<axis name="YAW" failsafe_value="0"/>
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<axis name="BRAKE" failsafe_value="9600"/> <!-- both elerons up as butterfly brake ? -->
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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="YAW" value="@YAW"/>
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<set command="PITCH" value="@PITCH"/>
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<set command="BRAKE" value="@FLAPS"/>
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</rc_commands>
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<section name="SERVO_MIXER_GAINS">
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<define name="AILERON_NEUTRAL" value="0.3f"/>
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<define name="AILERON_RATE_UP" value="1.0f"/>
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<define name="AILERON_RATE_DOWN" value="0.5f"/>
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<define name="AILERON_RATE_UP_BRAKE" value="1.0f"/>
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<define name="AILERON_RATE_DOWN_BRAKE" value="1.0f"/>
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<define name="PITCH_GAIN" value="0.9f"/>
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<define name="BRAKE_AILEVON" value="-0.7f"/>
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<define name="BRAKE_PITCH" value="0.1f"/>
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<define name="MAX_BRAKE_RATE" value="130"/>
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<define name="RUDDER_OF_AILERON" value="0.3"/>
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<define name="LIMIT(X,XL,XH)" value="( ((X)>(XH)) ? (XH) : ( ((X)>(XL)) ? (X) : (XL) ) )"/>
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</section>
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<command_laws>
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<!-- Brake Rate Limiter -->
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<let var="brake_value_nofilt" value="LIMIT(-@BRAKE, 0, MAX_PPRZ)"/>
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<let var="test; \
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static int16_t _var_brake_value = 0; \
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_var_brake_value += LIMIT(_var_brake_value_nofilt - _var_brake_value,-MAX_BRAKE_RATE,MAX_BRAKE_RATE); \
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int verwaarloos_deze_warning_CDW" value="0"/>
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<!-- Differential Aileron Depending on Brake Value -->
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<let var="aileron_up_rate" value="(AILERON_RATE_UP * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_UP_BRAKE * $brake_value)"/>
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<let var="aileron_down_rate" value="(AILERON_RATE_DOWN * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_DOWN_BRAKE * $brake_value)"/>
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<let var="aileron_up" value="(@ROLL * (((float)$aileron_up_rate) / ((float)MAX_PPRZ)))"/>
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<let var="aileron_down" value="(@ROLL * (((float)$aileron_down_rate) / ((float)MAX_PPRZ)))"/>
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<let var="leftturn" value="(@ROLL >= 0? 1 : 0)"/>
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<let var="rightturn" value="(1 - $leftturn)"/>
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<set servo="AILERON_LEFT" value="($aileron_up * $leftturn) + ($aileron_down * $rightturn) - $brake_value*(BRAKE_AILEVON) - (MAX_PPRZ * AILERON_NEUTRAL)"/>
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<set servo="AILERON_RIGHT" value="($aileron_up * $rightturn) + ($aileron_down * $leftturn) + $brake_value*(BRAKE_AILEVON) + (MAX_PPRZ *AILERON_NEUTRAL)"/>
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<set servo="RUDDER" value="@YAW + @ROLL * RUDDER_OF_AILERON"/>
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<set servo="THROTTLE" value="@THROTTLE"/>
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<!-- Pitch with Brake-Trim Function -->
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<set servo="ELEVATOR" value="@PITCH * PITCH_GAIN - BRAKE_PITCH * $brake_value"/>
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</command_laws>
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<!-- Local magnetic field -->
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<section name="AHRS" prefix="AHRS_">
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<define name="H_X" value="0.51562740288882"/>
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<define name="H_Y" value="-0.05707735220832"/>
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<define name="H_Z" value="0.85490967783446"/>
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</section>
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<section name="XSENS">
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<define name="GPS_IMU_LEVER_ARM_X" value="-0.285f"/>
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<define name="GPS_IMU_LEVER_ARM_Y" value="0.0f"/>
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<define name="GPS_IMU_LEVER_ARM_Z" value="0.0f"/>
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</section>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="75" unit="deg"/>
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<define name="MAX_PITCH" value="45" unit="deg"/>
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</section>
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<section name="BAT">
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<!-- <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/> -->
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<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="0.0" unit="rad"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="-0.075" unit="rad"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="14." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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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="80."/>
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<define name="COMMAND_ROLL_TRIM" value="-2300" />
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<define name="COMMAND_PITCH_TRIM" value="1800" />
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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="-0.108000002801"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="2."/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.312000006437"/>
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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="0.65"/>
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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="0.250999987125" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="-0.00700000021607"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.0309999994934"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.171000003815"/>
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<define name="THROTTLE_SLEW_LIMITER" value="2" 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="-1.16799998283"/>
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<define name="COURSE_DGAIN" value="0.280999988317"/>
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<define name="COURSE_PRE_BANK_CORRECTION" value="1.0039999485"/>
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<define name="ROLL_MAX_SETPOINT" value="0.851999998093" unit="rad"/>
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<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
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<define name="PITCH_PGAIN" value="-15429.6865234"/>
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<define name="PITCH_DGAIN" value="7.73400020599"/>
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<define name="ELEVATOR_OF_ROLL" value="3007.81298828"/>
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<define name="ROLL_SLEW" value="1."/>
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<define name="ROLL_ATTITUDE_GAIN" value="-11718.75"/>
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<define name="ROLL_RATE_GAIN" value="-820.312011719"/>
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</section>
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<section name="AGGRESSIVE" prefix="AGR_">
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<define name="BLEND_START" value="30"/>
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<define name="BLEND_END" value="15"/>
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<define name="CLIMB_THROTTLE" value="1."/>
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<define name="CLIMB_PITCH" value="0.40000000596"/>
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<define name="DESCENT_THROTTLE" value="0."/>
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<define name="DESCENT_PITCH" value="-0.10000000149"/>
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<define name="CLIMB_NAV_RATIO" value="0.800000011921"/>
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<define name="DESCENT_NAV_RATIO" value="0.834999978542"/>
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</section>
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
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<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
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<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
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<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
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</section>
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<section name="DIGITAL_CAMERA" prefix="DC_">
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<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
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<define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
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</section>
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<modules>
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<load name="light.xml">
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<define name="LIGHT_LED_STROBE" value="3"/>
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<define name="LIGHT_LED_NAV" value="2"/>
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<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
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<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
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</load>
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<!-- <load name="digital_cam_i2c.xml"/> -->
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<!-- <load name="ins_ppzuavimu.xml"/> -->
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<load name="digital_cam.xml">
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<define name="DC_SHUTTER_LED" value="2"/>
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</load>
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</modules>
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<firmware name="fixedwing">
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<target name="ap" board="tiny_2.11" />
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<target name="sim" board="pc"/>
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<define name="STRONG_WIND"/>
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<define name="WIND_INFO"/>
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<define name="WIND_INFO_RET"/>
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<define name="LOITER_TRIM"/>
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<define name="TUNE_AGRESSIVE_CLIMB"/>
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<define name="AGR_CLIMB"/>
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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="B9600"/>
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</subsystem>
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<!-- Actuators -->
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<subsystem name="control"/>
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<!-- Sensors -->
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<subsystem name="navigation"/>
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<subsystem name="ins" type="xsens">
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<configure name="XSENS_UART_NR" value="0" />
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</subsystem>
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</firmware>
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</airframe>
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