mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-12 10:19:11 +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
194 lines
6.9 KiB
XML
194 lines
6.9 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
|
|
|
<airframe name="BOOZ2_a1">
|
|
|
|
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
|
|
<define name="NB" value="4"/>
|
|
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
|
|
</section>
|
|
|
|
<servos driver="Mkk">
|
|
<servo name="FRONT" no="0" min="0" neutral="2" max="210"/>
|
|
<servo name="BACK" no="1" min="0" neutral="2" max="210"/>
|
|
<servo name="RIGHT" no="2" min="0" neutral="2" max="210"/>
|
|
<servo name="LEFT" no="3" min="0" neutral="2" max="210"/>
|
|
</servos>
|
|
|
|
<commands>
|
|
<axis name="PITCH" failsafe_value="0"/>
|
|
<axis name="ROLL" failsafe_value="0"/>
|
|
<axis name="YAW" failsafe_value="0"/>
|
|
<axis name="THRUST" failsafe_value="0"/>
|
|
</commands>
|
|
|
|
<section name="MIXING" prefix="MOTOR_MIXING_">
|
|
<define name="TRIM_ROLL" value="0"/>
|
|
<define name="TRIM_PITCH" value="0"/>
|
|
<define name="TRIM_YAW" value="0"/>
|
|
<define name="NB_MOTOR" value="4"/>
|
|
<define name="SCALE" value="256"/>
|
|
<define name="ROLL_COEF" value="{ 0, 0, -256, 256}"/>
|
|
<define name="PITCH_COEF" value="{ 256, -256, 0, 0}"/>
|
|
<define name="YAW_COEF" value="{ -256, -256, 256, 256}"/>
|
|
<define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
|
|
</section>
|
|
|
|
<command_laws>
|
|
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
|
|
<set servo="FRONT" value="motor_mixing.commands[0]"/>
|
|
<set servo="BACK" value="motor_mixing.commands[1]"/>
|
|
<set servo="RIGHT" value="motor_mixing.commands[2]"/>
|
|
<set servo="LEFT" value="motor_mixing.commands[3]"/>
|
|
</command_laws>
|
|
|
|
<section name="IMU" prefix="IMU_">
|
|
|
|
<define name="GYRO_P_NEUTRAL" value="33924"/>
|
|
<define name="GYRO_Q_NEUTRAL" value="33417"/>
|
|
<define name="GYRO_R_NEUTRAL" value="32809"/>
|
|
<define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
|
|
<define name="GYRO_Q_SENS" value=" 1.01" integer="16"/>
|
|
<define name="GYRO_R_SENS" value=" 1.01" integer="16"/>
|
|
|
|
<define name="ACCEL_X_NEUTRAL" value="32081"/>
|
|
<define name="ACCEL_Y_NEUTRAL" value="33738"/>
|
|
<define name="ACCEL_Z_NEUTRAL" value="32441"/>
|
|
<define name="ACCEL_X_SENS" value="2.50411474" integer="16"/>
|
|
<define name="ACCEL_Y_SENS" value="2.48126183" integer="16"/>
|
|
<define name="ACCEL_Z_SENS" value="2.51396167" integer="16"/>
|
|
|
|
|
|
<define name="MAG_X_CHAN" value="4"/>
|
|
<define name="MAG_Y_CHAN" value="0"/>
|
|
<define name="MAG_Z_CHAN" value="2"/>
|
|
|
|
<define name="MAG_X_NEUTRAL" value="2358"/>
|
|
<define name="MAG_Y_NEUTRAL" value="2362"/>
|
|
<define name="MAG_Z_NEUTRAL" value="2119"/>
|
|
|
|
<!-- <define name="MAG_X_SENS" value="-4.94075530" integer="16"/>-->
|
|
<!-- <define name="MAG_Y_SENS" value=" 5.10207664" integer="16"/>-->
|
|
<define name="MAG_X_SIGN" value="-1"/>
|
|
<define name="MAG_Y_SIGN" value=" 1"/>
|
|
<define name="MAG_Z_SIGN" value="-1"/>
|
|
|
|
<define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
|
|
<define name="MAG_45_HACK" value="1"/>
|
|
<!-- <define name="MAG_X_SENS" value="-4.94075530 * sqrt(2)/2" integer="16"/> -->
|
|
<!-- <define name="MAG_Y_SENS" value=" 5.10207664 * sqrt(2)/2" integer="16"/> -->
|
|
<define name="MAG_X_SENS" value=" 3.4936416" integer="16"/>
|
|
<define name="MAG_Y_SENS" value=" 3.607713" integer="16"/>
|
|
|
|
<define name="BODY_TO_IMU_PHI" value="4." unit="deg"/>
|
|
<define name="BODY_TO_IMU_THETA" value="3." unit="deg"/>
|
|
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
|
|
<!--
|
|
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
|
|
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
|
|
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
|
|
-->
|
|
|
|
</section>
|
|
|
|
|
|
|
|
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
|
|
|
<!-- setpoints -->
|
|
<define name="SP_MAX_PHI" value="45." unit="deg"/>
|
|
<define name="SP_MAX_THETA" value="45." unit="deg"/>
|
|
<define name="SP_MAX_R" value="90." unit="deg/s"/>
|
|
<define name="DEADBAND_R" value="250"/>
|
|
|
|
<!-- reference -->
|
|
<define name="REF_OMEGA_P" value="400" unit="deg/s"/>
|
|
<define name="REF_ZETA_P" value="0.9"/>
|
|
<define name="REF_MAX_P" value="300." unit="deg/s"/>
|
|
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
|
|
|
|
<define name="REF_OMEGA_Q" value="400" unit="deg/s"/>
|
|
<define name="REF_ZETA_Q" value="0.9"/>
|
|
<define name="REF_MAX_Q" value="300." unit="deg/s"/>
|
|
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
|
|
|
|
<define name="REF_OMEGA_R" value="250" unit="deg/s"/>
|
|
<define name="REF_ZETA_R" value="0.9"/>
|
|
<define name="REF_MAX_R" value="180." unit="deg/s"/>
|
|
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
|
|
|
|
<!-- feedback -->
|
|
<define name="PHI_PGAIN" value="400"/>
|
|
<define name="PHI_DGAIN" value="300"/>
|
|
<define name="PHI_IGAIN" value="100"/>
|
|
|
|
<define name="THETA_PGAIN" value="400"/>
|
|
<define name="THETA_DGAIN" value="300"/>
|
|
<define name="THETA_IGAIN" value="100"/>
|
|
|
|
<define name="PSI_PGAIN" value="380"/>
|
|
<define name="PSI_DGAIN" value="320"/>
|
|
<define name="PSI_IGAIN" value="75"/>
|
|
|
|
<!-- feedforward -->
|
|
<define name="PHI_DDGAIN" value=" 300"/>
|
|
<define name="THETA_DDGAIN" value=" 300"/>
|
|
<define name="PSI_DDGAIN" value=" 300"/>
|
|
|
|
</section>
|
|
|
|
<section name="INS" prefix="INS_">
|
|
</section>
|
|
|
|
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
|
<define name="HOVER_KP" value="500"/>
|
|
<define name="HOVER_KD" value="200"/>
|
|
<define name="HOVER_KI" value="100"/>
|
|
</section>
|
|
|
|
|
|
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
|
<define name="PGAIN" value="100"/>
|
|
<define name="DGAIN" value="100"/>
|
|
<define name="IGAIN" value="0"/>
|
|
</section>
|
|
|
|
<section name="BAT">
|
|
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
|
</section>
|
|
|
|
<section name="AUTOPILOT">
|
|
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
|
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_RC_CLIMB"/>
|
|
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
|
|
</section>
|
|
|
|
<section name="FMS">
|
|
|
|
</section>
|
|
|
|
<section name="SIMULATOR" prefix="NPS_">
|
|
<define name="ACTUATOR_NAMES" value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
|
|
<define name="JSBSIM_MODEL" value="simple_quad" type="string"/>
|
|
<define name="SENSORS_PARAMS" value="nps_sensors_params_booz2_a1.h" type="string"/>
|
|
</section>
|
|
|
|
|
|
<firmware name="rotorcraft">
|
|
<target name="ap" board="booz_1.0"/>
|
|
<target name="nps" board="pc">
|
|
<module name="fdm" type="jsbsim"/>
|
|
</target>
|
|
<module name="radio_control" type="ppm"/>
|
|
<module name="telemetry" type="transparent"/>
|
|
<module name="motor_mixing"/>
|
|
<module name="actuators" type="mkk"/>
|
|
<module name="imu" type="b2_v1.0"/>
|
|
<module name="gps" type="ublox"/>
|
|
<module name="stabilization" type="int_euler"/>
|
|
<module name="ahrs" type="int_cmpl_euler"/>
|
|
<module name="ins" type="hff"/>
|
|
</firmware>
|
|
|
|
|
|
</airframe>
|