mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-13 11:29:12 +08:00
Christophe De Wagter
56a2eb21e0
* [FBW_GPS] Run GPS driver in FBW, e.g. for geofencing * [FBW_GPS] convert all GPS modules to run in FBW
315 lines
11 KiB
XML
315 lines
11 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!--
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Lisa + Aspirin v2 using SPI only
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-->
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<airframe name="LisaAspirin2">
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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="AILEVON_LEFT" no="1" min="1200" neutral="1500" max="1800"/>
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<servo name="ELEVATOR" no="2" min="2000" neutral="1500" max="1000"/>
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<servo name="RUDDER" no="3" min="1100" neutral="1500" max="1900"/>
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<servo name="AILEVON_RIGHT" no="4" min="1800" neutral="1500" max="1200"/>
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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="FORCECRASH" failsafe_value="0"/>
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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="PITCH" value="@PITCH"/>
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<set command="YAW" value="@YAW"/>
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<!-- <set command="FORCECRASH" value="@FLAPS"/> -->
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</rc_commands>
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<command_laws>
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<set servo="AILEVON_LEFT" value="@ROLL"/>
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<set servo="AILEVON_RIGHT" value="-@ROLL"/>
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<set servo="THROTTLE" value="@THROTTLE"/>
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<set servo="ELEVATOR" value="@PITCH"/>
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<set servo="RUDDER" value="@YAW"/>
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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="IMU" prefix="IMU_">
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<!-- Calibration Neutral -->
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<define name="GYRO_P_NEUTRAL" value="0"/>
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<define name="GYRO_Q_NEUTRAL" value="0"/>
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<define name="GYRO_R_NEUTRAL" value="0"/>
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<!-- SENS = 16.4 LSB/(deg/sec) * 57.6 deg/rad = 939.650 LSB/rad/sec / 12bit FRAC: 4096 / 939.65 -->
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<define name="GYRO_P_SENS" value="4.359" integer="16"/>
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<define name="GYRO_Q_SENS" value="4.359" integer="16"/>
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<define name="GYRO_R_SENS" value="4.359" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="0"/>
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<define name="ACCEL_Y_NEUTRAL" value="0"/>
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<define name="ACCEL_Z_NEUTRAL" value="0"/>
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<!-- SENS = 2048 LSB/g / 9.81 ms2/g = 208.766564729 LSB/ms2 / 10bit FRAC: 1024 / 208.7665 -->
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<define name="ACCEL_X_SENS" value="9.81" integer="16"/>
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<define name="ACCEL_Y_SENS" value="9.81" integer="16"/>
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<define name="ACCEL_Z_SENS" value="9.81" integer="16"/>
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<define name="MAG_X_NEUTRAL" value="0"/>
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<define name="MAG_Y_NEUTRAL" value="0"/>
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<define name="MAG_Z_NEUTRAL" value="0"/>
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<define name="MAG_X_SENS" value="1" integer="16"/>
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<define name="MAG_Y_SENS" value="1" integer="16"/>
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<define name="MAG_Z_SENS" value="1" integer="16"/>
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<define name="BODY_TO_IMU_PHI" value="0"/>
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<define name="BODY_TO_IMU_THETA" value="0"/>
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<define name="BODY_TO_IMU_PSI" value="0"/>
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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="0.103000000119" unit="rad"/>
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</section>
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<section name="TRIM" prefix="COMMAND_">
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<define name="ROLL_TRIM" value="0"/>
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<define name="PITCH_TRIM" value="788."/>
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</section>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="0.8"/>
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<define name="MAX_PITCH" value="0.8"/>
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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="MISC">
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<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
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<define name="NAV_GLIDE_PITCH_TRIM" value="0."/>
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</section>
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<section name="CATAPULT" prefix="NAV_CATAPULT_" >
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<define name="MOTOR_DELAY" value="0.75" unit="seconds"/>
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<define name="HEADING_DELAY" value="3.0" unit="seconds"/>
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<define name="ACCELERATION_THRESHOLD" value="1.75"/>
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<define name="INITIAL_PITCH" value="15" unit="deg"/>
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<define name="INITIAL_THROTTLE" value="1.0" />
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</section>
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<section name="GLS_APPROACH" prefix="APP_" >
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<define name="ANGLE" value="5" unit="deg"/>
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<define name="INTERCEPT_AF_SD" value="10" unit="m"/>
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<define name="TARGET_SPEED" value="13" unit="m/s"/>
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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="0.104999996722"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="3."/>
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<define name="ALTITUDE_PRE_CLIMB_CORRECTION" value="0.0960000008345"/>
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<!--
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<define name="AUTO_PITCH_PGAIN" value="-0.00"/>
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<define name="AUTO_PITCH_IGAIN" value="-0.00"/>
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-->
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.36700001359"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.626999974251"/>
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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="0.518000006676" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="0.00"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0."/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.307000011206"/>
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<define name="THROTTLE_SLEW_LIMITER" value="1" 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="1.16600000858"/>
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<define name="COURSE_DGAIN" value="0.324999988079"/>
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<define name="COURSE_PRE_BANK_CORRECTION" value="0.889999985695"/>
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<define name="ROLL_MAX_SETPOINT" value="0.586000025272" unit="radians"/>
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<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
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<define name="PITCH_PGAIN" value="12587.4130859"/>
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<define name="PITCH_DGAIN" value="1.5"/>
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<define name="ELEVATOR_OF_ROLL" value="1273.88500977"/>
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<define name="ROLL_SLEW" value="1."/>
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<define name="ROLL_ATTITUDE_GAIN" value="7972.02783203"/>
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<define name="ROLL_RATE_GAIN" value="500."/>
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</section>
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<section name="AGGRESSIVE" prefix="AGR_">
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<define name="BLEND_START" value="70"/>
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<define name="BLEND_END" value="60"/>
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<define name="CLIMB_THROTTLE" value="0.949999988079"/>
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<define name="CLIMB_PITCH" value="0.352999985218"/>
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<define name="DESCENT_THROTTLE" value="0."/>
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<define name="DESCENT_PITCH" value="-0.252000004053"/>
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<define name="CLIMB_NAV_RATIO" value="0.8"/>
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<define name="DESCENT_NAV_RATIO" value="1.0"/>
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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_PERIOD" value="1.5" unit="sec"/>
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<define name="AUTOSHOOT_DISTANCE_INTERVAL" value="50" unit="meter"/>
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</section>
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<modules>
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<!--
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<module name="adc_generic">
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<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1" />
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<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2" />
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</module>
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-->
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<module name="light">
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<define name="LIGHT_LED_STROBE" value="2"/>
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<define name="LIGHT_LED_NAV" value="3"/>
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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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</module>
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<!-- <module name="digital_cam_i2c"/> -->
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<module name="digital_cam">
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<define name="DC_SHUTTER_GPIO" value="GPIOC,GPIO12"/>
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</module>
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<module name="nav" type="catapult"/>
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<module name="nav" type="line"/>
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<module name="air_data"/>
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</modules>
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<firmware name="fixedwing">
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<target name="ap" board="lisa_m_2.0">
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<define name="LISA_M_LONGITUDINAL_X"/>
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<configure name="SEPARATE_FBW" value="1"/>
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<configure name="PERIODIC_FREQUENCY" value="120"/>
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<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
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<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
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<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
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<configure name="AHRS_ALIGNER_LED" value="1"/>
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<configure name="CPU_LED" value="1"/>
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<define name="LINK_MCU_LED" value="4"/>
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<!-- split of ap/fbw specific modules for ap -->
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<module name="actuators" type="dummy"/>
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<module name="intermcu" type="uart">
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<configure name="INTERMCU_PORT" value="UART5"/>
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</module>
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<module name="gps" type="ublox">
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<configure name="GPS_PORT" value="UART1"/>
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</module>
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<module name="gps" type="ubx_ucenter"/>
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<module name="control"/>
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<module name="navigation"/>
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</target>
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<target name="fbw" board="lisa_m_2.0">
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<configure name="SEPARATE_FBW" value="1"/>
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<configure name="SYS_TIME_LED" value="2"/>
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<define name="RADIO_CONTROL_LED" value="4"/>
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<define name="LINK_MCU_LED" value="3"/>
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<define name="OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP" value="1"/>
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<define name="OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_AP_CAN_FORCE_FAILSAFE" value="1"/>
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<!-- split of ap/fbw specific modules for fbw -->
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<module name="actuators" type="pwm"/>
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<module name="intermcu" type="uart">
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<configure name="INTERMCU_PORT" value="UART2"/>
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</module>
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</target>
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<target name="sim" board="pc">
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<module name="control"/>
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<module name="navigation"/>
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<module name="gps" type="ublox">
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<configure name="GPS_PORT" value="UART1"/>
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</module>
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</target>
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<configure name="FLASH_MODE" value="JTAG"/>
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<define name="AGR_CLIMB"/>
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<define name="LOITER_TRIM"/>
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<define name="TUNE_AGRESSIVE_CLIMB"/>
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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="RADIO_CONTROL_AUTO1"/>
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<module name="radio_control" type="spektrum">
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<define name="RADIO_CONTROL_NB_CHANNEL" value="8"/>
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</module>
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<!-- Communication -->
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<module name="telemetry" type="transparent">
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<configure name="MODEM_BAUD" value="B9600"/>
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<configure name="MODEM_PORT" value="UART2"/>
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</module>
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<!-- Sensors -->
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<module name="imu" type="aspirin_v2.1"/>
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<module name="ahrs" type="float_dcm"/>
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<module name="ins" type="alt_float"/>
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</firmware>
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</airframe>
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