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paparazzi/conf/airframes/examples/quadshot_178_pylons.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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<!-- this is a quadshot vehicle equiped with Lisa/m2.0 and an aspirin 2.1
More information on the Quadshot can be found at transition-robotics.com -->
<airframe name="quadshot 178 pylons">
<servos driver="Pwm">
<servo name="A1" no="0" min="1000" neutral="1100" max="2000"/>
<servo name="A2" no="1" min="1000" neutral="1100" max="2000"/>
<servo name="B1" no="2" min="1000" neutral="1100" max="2000"/>
<servo name="B2" no="3" min="1000" neutral="1100" max="2000"/>
<!-- <servo name="A1" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="A2" no="1" min="1000" neutral="1000" max="2000"/>
<servo name="B1" no="2" min="1000" neutral="1000" max="2000"/>
<servo name="B2" no="3" min="1000" neutral="1000" max="2000"/>-->
<!-- <servo name="ELEVON_LEFT" no="4" min="1150" neutral="1500" max="1850"/>
<servo name="ELEVON_RIGHT" no="5" min="1150" neutral="1500" max="1850"/>-->
<servo name="ELEVON_LEFT" no="4" min="1300" neutral="1500" max="1700"/>
<servo name="ELEVON_RIGHT" no="5" min="1300" neutral="1500" max="1700"/>
</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>
<command_laws>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="A1" value="motor_mixing.commands[0]"/>
<set servo="A2" value="motor_mixing.commands[1]"/>
<set servo="B1" value="motor_mixing.commands[2]"/>
<set servo="B2" value="motor_mixing.commands[3]"/>
<!-- Mode dependent actuator laws for the elevons. The elevons act different in rc attitude flight mode-->
<!-- First the correct feedback is stored in variables -->
<let var="aileron_feedback_left" value="-@YAW"/>
<let var="aileron_feedback_right" value="-@YAW"/>
<let var="elevator_feedback_left" value="-@PITCH"/>
<let var="elevator_feedback_right" value="+@PITCH"/>
<!-- Here the gains are defined for the two feedback cases, hover and forward-->
<let var="hover_left" value="15*$aileron_feedback_left"/>
<let var="hover_right" value="15*$aileron_feedback_right"/>
<!-- if using INDI -->
<!-- <let var="forward_left" value="aileron_gain*$aileron_feedback_left+elevator_gain*$elevator_feedback_left"/>
<let var="forward_right" value="aileron_gain*$aileron_feedback_right+elevator_gain*$elevator_feedback_right"/>-->
<!-- if using PID with gain scheduling -->
<let var="forward_left" value="15*$aileron_feedback_left + 0*$elevator_feedback_left"/>
<let var="forward_right" value="15*$aileron_feedback_right + 0*$elevator_feedback_right"/>
<!-- This statement tells the autopilot to use the hover feedback if in mode attitude direct and to use the forward feedback in all other cases-->
<set servo="ELEVON_LEFT" value="AP_MODE == AP_MODE_ATTITUDE_DIRECT ? $hover_left : $forward_left" />
<set servo="ELEVON_RIGHT" value="AP_MODE == AP_MODE_ATTITUDE_DIRECT ? $hover_right : $forward_right" />
<!-- <set servo="ELEVON_RIGHT" value="AP_MODE == AP_MODE_ATTITUDE_DIRECT ? 9000 : -9000" /> -->
</command_laws>
<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="PITCH_COEF" value="{-256, -256, 256, 256 }"/>
<define name="ROLL_COEF" value="{ 256, -256, 109, -109 }"/>
<define name="YAW_COEF" value="{ 256, -256, -109, 109 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
<!-- <define name="PITCH_COEF" value="{ 0, 0, 0, 0 }"/>
<define name="ROLL_COEF" value="{ 0, 0, 0, 0 }"/>
<define name="YAW_COEF" value="{ 0, 0, 0, 0 }"/>
<define name="THRUST_COEF" value="{ 0, 0, 0, 0 }"/>-->
</section>
<!-- If you got a caliberation XML document from your IMU supplier, import this in the IMU section -->
<!-- Note that is better to have *no* caliberation file at all, than a one with incorrect caliberation values.
The default factory values are most of the time perfectly acceptable, so by default we will not use the caliberation file -->
<section name="IMU" prefix="IMU_">
<!-- Use default driver values for gyro -->
<!-- IMU calibration, make sure to calibrate the IMU properly before flight, see the wiki for more info-->
<define name="ACCEL_X_NEUTRAL" value="0"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="0"/>
<define name="ACCEL_X_SENS" value="4.86487566223" integer="16"/>
<define name="ACCEL_Y_SENS" value="4.89957269597" integer="16"/>
<define name="ACCEL_Z_SENS" value="4.82616398266" integer="16"/>
<define name="MAG_X_NEUTRAL" value="104"/>
<define name="MAG_Y_NEUTRAL" value="9"/>
<define name="MAG_Z_NEUTRAL" value="15"/>
<define name="MAG_X_SENS" value="3.57880347067" integer="16"/>
<define name="MAG_Y_SENS" value="3.54049742843" integer="16"/>
<define name="MAG_Z_SENS" value="4.0620533034" integer="16"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="90." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_FORWARD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
<!-- <define name="USE_YAW_FOR_MOTOR_ARMING" value="TRUE"/> -->
</section>
<section name="BAT">
<define name="MIN_BAT_LEVEL" value="10.4" units="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="350"/>
<define name="GAIN_Q" value="250"/>
<define name="GAIN_R" value="350"/>
<define name="IGAIN_P" value="200"/>
<define name="IGAIN_Q" value="200"/>
<define name="IGAIN_R" value="200"/>
</section>
<!-- These gains are used when the gain scheduling module is enabled (by loading it in the modules section)-->
<section name ="GAIN_SETS">
<define name="NUMBER_OF_GAINSETS" value="2"/>
<define name="SCHEDULING_VARIABLE" value="guidance_hybrid_norm_ref_airspeed"/>
<define name="SCHEDULING_POINTS" value="{4, 10}"/>
<define name="SCHEDULING_VARIABLE_FRAC" value="8"/>
<define name="PHI_P" value="{150, 150}"/>
<define name="PHI_D" value="{150, 150}"/>
<define name="PHI_I" value="{30, 30}"/>
<define name="PHI_DD" value="{0, 0}"/>
<define name="THETA_P" value="{100, 100}"/>
<define name="THETA_D" value="{100, 100}"/>
<define name="THETA_I" value="{40, 40}"/>
<define name="THETA_DD" value="{0, 0}"/>
<define name="PSI_P" value="{300, 300}"/>
<define name="PSI_D" value="{150, 150}"/>
<define name="PSI_I" value="{0, 0}"/>
<define name="PSI_DD" value="{0, 0}"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="60." unit="deg"/>
<define name="SP_MAX_THETA" value="60." unit="deg"/>
<define name="SP_MAX_R" value="180." unit="deg/s"/>
<define name="DEADBAND_R" value="250"/>
<define name="DEADBAND_A" value="250"/>
<define name="SP_PSI_DELTA_LIMIT" value="90" unit="deg"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="1500" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="300." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_Q" value="1500" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="300." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_R" value="1500" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="300." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(7000.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="150"/>
<define name="PHI_DGAIN" value="150"/>
<define name="PHI_IGAIN" value="30"/>
<define name="THETA_PGAIN" value="100"/>
<define name="THETA_DGAIN" value="100"/>
<define name="THETA_IGAIN" value="40"/>
<define name="PSI_PGAIN" value="300"/>
<define name="PSI_DGAIN" value="150"/>
<define name="PSI_IGAIN" value="0"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 0"/>
<define name="THETA_DDGAIN" value=" 0"/>
<define name="PSI_DDGAIN" value=" 0"/>
</section>
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="60." unit="deg"/>
<define name="SP_MAX_THETA" value="60." unit="deg"/>
<define name="SP_MAX_R" value="180." unit="deg/s"/>
<define name="DEADBAND_R" value="250"/>
<define name="DEADBAND_A" value="250"/>
<define name="SP_PSI_DELTA_LIMIT" value="90" unit="deg"/>
<!-- control effectiveness -->
<define name="CONTROL_EFFECTIVENESS_P" value="40.0"/>
<define name="CONTROL_EFFECTIVENESS_Q" value="9.0"/>
<define name="CONTROL_EFFECTIVENESS_R" value="170.0"/>
<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="70.0"/>
<define name="REF_ERR_Q" value="90.0"/>
<define name="REF_ERR_R" value="70.0"/>
<define name="REF_RATE_P" value="12.0"/>
<define name="REF_RATE_Q" value="12.0"/>
<define name="REF_RATE_R" value="12.0"/>
<!-- second order filter parameters -->
<define name="FILT_CUTOFF" value="8.0"/>
<define name="FILT_CUTOFF_R" value="6.4"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.03"/>
<define name="ACT_DYN_Q" value="0.03"/>
<define name="ACT_DYN_R" value="0.03"/>
</section>
<!-- Gains for vertical navigation -->
<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="200"/>
<define name="HOVER_KD" value="175"/>
<define name="HOVER_KI" value="100"/>
<define name="NOMINAL_HOVER_THROTTLE" value ="0.2"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
</section>
<section name="AHRS" prefix="AHRS_">
<!-- Delft magnetic field -->
<define name="H_X" value="0.39049610"/>
<define name="H_Y" value="0.00278894"/>
<define name="H_Z" value="0.92060036"/>
</section>
<!-- Gains for horizontal navigation-->
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="50"/>
<define name="IGAIN" value="65"/>
<define name="MAX_BANK" value="RadOfDeg(55)"/>
<define name="FORWARD_MAX_BANK" value="RadOfDeg(35)"/>
<define name="USE_REF" value="FALSE"/>
</section>
<section name="NAV">
<define name="ARRIVED_AT_WAYPOINT" value="5" unit="m"/>
</section>
<section name="MISC">
<!--The Quadshot uses a slightly different axis system for the setpoint, to make both hovering and flying forward intuitive-->
<define name="USE_EARTH_BOUND_RC_SETPOINT" value="TRUE"/>
<!-- This is the pitch angle that the Quadshot will have in forward flight, where 0 degrees is hover-->
<define name="TRANSITION_MAX_OFFSET" value="-85.0" unit="deg"/>
<define name="RC_LOST_MODE" value="MODE_AUTO2"/>
<define name="SWITCH_STICKS_FOR_RATE_CONTROL" value="TRUE"/>
<define name="AIRSPEED_ETS_I2C_DEV" value="i2c2"/>
<define name="AHRS_MAG_UPDATE_ALL_AXES" value="FALSE"/>
<define name="THRESHOLD_GROUND_DETECT" value="25.0"/>
<define name="KILL_ON_GROUND_DETECT" value="TRUE"/>
<define name="FAILSAFE_GROUND_DETECT" value="TRUE"/>
<define name="HYBRID_NAVIGATION" value="TRUE"/>
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
<define name="ADAPTIVE_INDI" value="TRUE"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
<modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/>
<!-- The the led_safety_status module will make the Quadshot LEDs blink in certain patterns when there are safety violations-->
<load name="led_safety_status.xml">
<define name="USE_LED_BODY" value="1"/>
<define name="SAFETY_WARNING_LED" value="BODY"/>
</load>
<!--Use an airspeed sensor and get the measured airspeed in the messages-->
<!-- <load name="airspeed_ets.xml">
<define name="AIRSPEED_ETS_SYNC_SEND"/>
</load>-->
<!-- <load name="high_speed_logger_spi_link.xml"/> -->
<!-- <load name="AOA_adc.xml">
<configure name="ADC_AOA" value="ADC_2"/>
<define name="AOA_OFFSET" value="0"/>
<define name="AOA_FILTER" value="0"/>
<define name="USE_AOA"/>
<define name="AOA_SENS" value="2.0*M_PI/1024/4"/>
</load>-->
<!-- Load this module to use multiple gain sets, which have to be specified in the gain sets section -->
<!-- <load name="gain_scheduling.xml"/> -->
</modules>
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0">
<module name="radio_control" type="spektrum">
<define name="RADIO_KILL_SWITCH" value="6"/>
<!-- Put the mode on channel AUX1-->
<!-- <define name="RADIO_MODE" value="RADIO_AUX1"/>-->
<!-- <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/> -->
</module>
<!-- ONLY if flashing via JTAG cable -->
<configure name="FLASH_MODE" value="JTAG"/>
<configure name="BMP_PORT" value="/dev/ttyACM0" />
<!-- To use an airspeed sensor on I2C, enable I2C2-->
<!-- <define name="USE_I2C2"/> -->
<!-- If using aspirin 2.2, make sure to uncomment the following barometer configuration: -->
<!-- <configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/> -->
</target>
<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="xbee_api"/>
<!-- <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="stabilization" type="indi_simple"/>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="1"/>
<define name="AHRS_USE_GPS_HEADING" value="0"/>
</module>
<module name="ins"/>
</firmware>
</airframe>
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