mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-23 04:45:37 +08:00
Gautier Hattenberger
363dec8693
* [autopilot] refactor autopilot API for both firmwares With this, fixedwing and rotorcraft are mostly using the same interface for the autopilot. Some specific code and messages handling are still firmware dependent. A large part of the autopilot logic of the fixedwing is moved from main_ap to autopilot_static. More getter/setter functions are provided. * [autopilot] update the rest of the system and the conf for using the refactored autopilot API * [autopilot] fix some errors from CI servers * [actuators] use dummy actuators module to prevent autoloading * Rename Bart_heliDD_INDI.xml to tudelft_bs_helidd_indi.xml * Rename Bart_heliDD_pid.xml to tudelft_bs_helidd_pid.xml * Delete tudelft_course2016_bebop_colorfilter.xml * Delete tudelft_course2016_bebop_avoider.xml * [actuators] don't autoload actuators when set to 'none' * [gcs] autodetect firmware for strip mode button
180 lines
6.6 KiB
XML
180 lines
6.6 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!-- this is a custom hexa Lisa/L#3 and mikrokopter controllers -->
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<airframe name="booz2_a6">
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<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
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<define name="NB" value="6"/>
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<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58, 0x5A, 0X5C }"/>
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</section>
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<servos driver="Mkk">
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<servo name="BACK_RIGHT" no="0" min="0" neutral="2" max="210"/>
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<servo name="BACK_LEFT" no="1" min="0" neutral="2" max="210"/>
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<servo name="CENTER_RIGHT" no="2" min="0" neutral="2" max="210"/>
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<servo name="CENTER_LEFT" no="3" min="0" neutral="2" max="210"/>
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<servo name="FRONT_RIGHT" no="4" min="0" neutral="2" max="210"/>
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<servo name="FRONT_LEFT" no="5" min="0" neutral="2" max="210"/>
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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="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="6"/>
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<define name="SCALE" value="256"/>
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<define name="ROLL_COEF" value="{ -69, 69, -256, 256, -186, 186 }"/>
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<define name="PITCH_COEF" value="{ -256, -256, 0, 0, 256, 256 }"/>
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<define name="YAW_COEF" value="{ -153, 153, 256, -256, -115, 115 }"/>
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<define name="THRUST_COEF" value="{ 256, 256, 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_get_motors_on(),FALSE,values)"/>
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<set servo="BACK_RIGHT" value="motor_mixing.commands[0]"/>
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<set servo="BACK_LEFT" value="motor_mixing.commands[1]"/>
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<set servo="CENTER_RIGHT" value="motor_mixing.commands[2]"/>
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<set servo="CENTER_LEFT" value="motor_mixing.commands[3]"/>
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<set servo="FRONT_RIGHT" value="motor_mixing.commands[4]"/>
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<set servo="FRONT_LEFT" value="motor_mixing.commands[5]"/>
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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="31948"/>
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<define name="GYRO_Q_NEUTRAL" value="31834"/>
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<define name="GYRO_R_NEUTRAL" value="32687"/>
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<define name="GYRO_P_SENS" value=" 1.101357422" integer="16"/>
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<define name="GYRO_Q_SENS" value=" 1.122670898" integer="16"/>
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<define name="GYRO_R_SENS" value=" 1.104890137" integer="16"/>
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<define name="ACCEL_X_SENS" value=" 2.58273701242" integer="16"/>
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<define name="ACCEL_Y_SENS" value=" 2.54076215332" integer="16"/>
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<define name="ACCEL_Z_SENS" value=" 2.57633620646" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="32857"/>
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<define name="ACCEL_Y_NEUTRAL" value="32429"/>
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<define name="ACCEL_Z_NEUTRAL" value="32593"/>
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<define name="MAG_X_SENS" value=" 5.32718104135" integer="16"/>
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<define name="MAG_Y_SENS" value=" 4.87857821202" integer="16"/>
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<define name="MAG_Z_SENS" value=" 3.11986612709" integer="16"/>
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<define name="MAG_X_NEUTRAL" value="-43"/>
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<define name="MAG_Y_NEUTRAL" value=" 49"/>
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<define name="MAG_Z_NEUTRAL" value="-66"/>
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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="90." 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_DIRECT"/>
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<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_DIRECT"/>
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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_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="400"/>
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<define name="PHI_DGAIN" value="300"/>
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<define name="PHI_IGAIN" value="100"/>
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<define name="THETA_PGAIN" value="400"/>
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<define name="THETA_DGAIN" value="300"/>
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<define name="THETA_IGAIN" value="100"/>
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<define name="PSI_PGAIN" value="380"/>
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<define name="PSI_DGAIN" value="320"/>
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<define name="PSI_IGAIN" value="75"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value=" 300"/>
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<define name="THETA_DDGAIN" value=" 300"/>
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<define name="PSI_DDGAIN" value=" 300"/>
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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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</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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<firmware name="rotorcraft">
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<target name="ap" board="lisa_l_1.0">
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<!-- <define name="ACTUATORS_START_DELAY" value="1"/> -->
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<module name="radio_control" type="spektrum"/>
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<module name="motor_mixing"/>
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<module name="actuators" type="mkk"/>
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</target>
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<module name="telemetry" type="transparent"/>
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<!-- <module name="imu" type="b2_v1.1"/> -->
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<module name="imu" type="aspirin_v1.0"/>
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<module name="gps" type="ublox"/>
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<module name="stabilization" type="int_euler"/>
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<module name="ahrs" type="int_cmpl_euler"/>
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<module name="ins"/>
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</firmware>
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<firmware name="test_progs">
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<target name="test_telemetry" board="lisa_l_1.0"/>
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<target name="test_baro_board" board="lisa_l_1.0"/>
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<target name="test_adc" board="lisa_l_1.0"/>
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</firmware>
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</airframe>
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