mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-12 01:50:11 +08:00
Felix Ruess
7e68b0f306
find conf/airframes -name "*.xml" -exec sed -i 's/subsystem/module/g' {} +
this change should be fully backwards compatible
175 lines
6.5 KiB
XML
175 lines
6.5 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!--
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Example airframe
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Umarim Lite
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-->
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<airframe name="Weasel">
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<firmware name="fixedwing">
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<define name="USE_I2C0"/>
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<define name="USE_I2C1"/>
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<define name="AGR_CLIMB" />
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<target name="sim" board="pc"/>
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<target name="ap" board="umarim_lite_2.0"/>
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<module name="radio_control" type="ppm"/>
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<!-- Communication -->
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<module name="telemetry" type="transparent"/>
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<!-- Actuators are automatically chosen according to board-->
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<module name="imu" type="umarim"/>
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<module name="ahrs" type="float_dcm"/>
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<module name="control"/>
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<module name="navigation"/>
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<!-- Sensors -->
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<module name="gps" type="ublox"/>
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<module name="ins" type="alt_float"/>
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</firmware>
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<!-- commands section -->
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<servos>
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<servo name="MOTOR" no="7" min="1040" neutral="1040" max="2000"/>
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<servo name="AILEVON_LEFT" no="6" min="1900" neutral="1543" max="1100"/>
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<servo name="AILEVON_RIGHT" no="3" min="1100" neutral="1561" max="1900"/>
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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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</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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</rc_commands>
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<section name="MIXER">
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<define name="AILEVON_AILERON_RATE" value="0.75"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
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</section>
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<command_laws>
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<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
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<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
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<set servo="MOTOR" value="@THROTTLE"/>
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<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
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<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="0.85"/>
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<define name="MAX_PITCH" value="0.6"/>
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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="-15"/>
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<define name="GYRO_Q_NEUTRAL" value="94"/>
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<define name="GYRO_R_NEUTRAL" value="-7"/>
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<!-- SENS ITG3200 1/14.375 (deg/s)/LSB, rate frac 12bit => 1/14.375 * pi / 180 * 2^12 -->
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<define name="GYRO_P_SENS" value="4.97312" integer="16"/>
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<define name="GYRO_Q_SENS" value="4.97312" integer="16"/>
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<define name="GYRO_R_SENS" value="4.97312" 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 ADXL345 16G 31.2 mg/LSB, accel frac 10bit => 31.2 * 2^10 / 1000 -->
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<define name="ACCEL_X_SENS" value="31.9488" integer="10"/>
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<define name="ACCEL_Y_SENS" value="31.9488" integer="10"/>
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<define name="ACCEL_Z_SENS" value="31.9488" integer="10"/>
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<!-- Just to compile -->
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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="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="0.048" unit="rad"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="rad"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
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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="MISC">
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<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
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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="0.03"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="2."/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
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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="0.15" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
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<define name="THROTTLE_SLEW_LIMITER" value="2" 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="1.0"/>
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<define name="COURSE_DGAIN" value="0.3"/>
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<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
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<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
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<define name="PITCH_PGAIN" value="12000."/>
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<define name="PITCH_DGAIN" value="1.5"/>
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<define name="ELEVATOR_OF_ROLL" value="1250"/>
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<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
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<define name="ROLL_RATE_GAIN" value="1500"/>
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</section>
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<section name="AGGRESSIVE" prefix="AGR_">
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<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
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<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
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<define name="CLIMB_THROTTLE" value="1.00"/><!-- Gaz for Aggressive Climb -->
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<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
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<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
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<define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
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<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
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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="DELAY_WITHOUT_GPS" value="2" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
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<define name="HOME_RADIUS" value="100" unit="m"/>
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</section>
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</airframe>
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