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paparazzi/conf/airframes/examples/bumblebee_quad.xml
T
Gautier Hattenberger 363dec8693 Autopilot refactor (#2009) 
* [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
2017-02-19 11:45:57 +01:00

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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
This is the airframe file used for the Hak5 Drones 101 series.
If you have any questions about this airframe file feel free to join the discussion at:
http://forum.1bitsquared.com
https://gitter.im/1bitsquared/discuss
-->
<!-- this is a quadrotor frame equiped with
* Bumblebee quadrotor frame in CW X configuration
* Autopilot: Lisa/M 2.0 http://wiki.paparazziuav.org/wiki/Lisa/M_v20
* IMU: Aspirin 2.1 http://wiki.paparazziuav.org/wiki/AspirinIMU
* Actuators: PWM motor controllers http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM_Supervision
* GPS: Ublox http://wiki.paparazziuav.org/wiki/Subsystem/gps
* RC: two Spektrum sats http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
-->
<airframe name="Bumblebee Lisa/M 2.0">
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0">
<!-- MPU6000 is configured to output data at 2kHz, but polled at 512Hz PERIODIC_FREQUENCY -->
</target>
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
</target>
<module name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_FLAP"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</module>
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
<!--define name="USE_SERVOS_7AND8"/-->
</module>
<module name="telemetry" type="transparent"/>
<module name="imu" type="aspirin_v2.1"/>
<module name="gps" type="ublox"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat">
<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
</module>
<module name="ins"/>
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
</firmware>
<servos driver="Pwm">
<servo name="SE" no="0" min="1000" neutral="1150" max="1900"/>
<servo name="SW" no="1" min="1000" neutral="1150" max="1900"/>
<servo name="NW" no="2" min="1000" neutral="1150" max="1900"/>
<servo name="NE" no="3" min="1000" neutral="1150" max="1900"/>
</servos>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" 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"/>
<!-- sw/ne turning CW, se/nw CCW -->
<define name="ROLL_COEF" value="{ -256, 256, 256, -256 }"/>
<define name="PITCH_COEF" value="{ -256, -256, 256, 256 }"/>
<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="SE" value="motor_mixing.commands[0]"/>
<set servo="SW" value="motor_mixing.commands[1]"/>
<set servo="NW" value="motor_mixing.commands[2]"/>
<set servo="NE" value="motor_mixing.commands[3]"/>
</command_laws>
<section name="IMU" prefix="IMU_">
<!-- place your ACCEL calibration here -->
<!--define name="ACCEL_X_NEUTRAL" value="27"/>
<define name="ACCEL_Y_NEUTRAL" value="-15"/>
<define name="ACCEL_Z_NEUTRAL" value="-19"/>
<define name="ACCEL_X_SENS" value="4.89979149827" integer="16"/>
<define name="ACCEL_Y_SENS" value="4.90081121568" integer="16"/>
<define name="ACCEL_Z_SENS" value="4.87353834472" integer="16"/-->
<!-- place your MAG calibration here -->
<!-- WARNING: Do not fly with the default values!!! -->
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="3.15" integer="16"/> <!-- DEFAULT DO NOT RELY ON THIS -->
<define name="MAG_Y_SENS" value="3.15" integer="16"/> <!-- DEFAULT DO NOT RELY ON THIS -->
<define name="MAG_Z_SENS" value="3.15" integer="16"/> <!-- DEFAULT DO NOT RELY ON THIS -->
<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>
<!-- Depending on your location you have to adjust tese values, unless you
use the geo_mag.xml module below.
http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field
-->
<section name="AHRS" prefix="AHRS_">
<define name="H_X" value="0.3770441"/>
<define name="H_Y" value="0.0193986"/>
<define name="H_Z" value="0.9259921"/>
</section>
<modules main_freq="512">
<!-- This will automatically configure your UBLOX GPS on startup. No need
for manual configuration.
-->
<module name="gps" type="ubx_ucenter"/>
<!-- Uncomment the following module if you want to update the normalized
magnetic field at startup using GPS fix.
-->
<!--module name="geo_mag"/-->
<!-- Uncomment the following line if you want to calculate the motor
current to magnetic field distortion curve.
http://wiki.paparazziuav.org/wiki/ImuCalibration#Calibrating_for_Current
-->
<!--module name="send_imu_mag_current"/-->
</modules>
<section name="INS" prefix="INS_">
</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_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="400" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="400." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="400" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="250" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="1000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="1000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="500"/>
<define name="PSI_DGAIN" value="300"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value="300"/>
<define name="THETA_DDGAIN" value="300"/>
<define name="PSI_DDGAIN" value="300"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="20" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="AGAIN" value="70"/>
<define name="IGAIN" value="20"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="se_motor, sw_motor, nw_motor, ne_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_AXIS_MODE" value="4"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
<define name="MILLIAMP_AT_FULL_THROTTLE" value="30000"/>
</section>
</airframe>
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