mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-21 11:55:41 +08:00
Gautier Hattenberger
183 lines
6.7 KiB
XML
183 lines
6.7 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="Yapa v2">
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<firmware name="fixedwing">
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<target name="ap" board="twog_1.0">
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<module name="spi_slave_hs"/>
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</target>
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<target name="sim" board="pc">
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<module name="ahrs" type="int_cmpl_quat"/>
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</target>
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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="LOITER_TRIM"/>
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<module name="radio_control" type="ppm"/>
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<module name="gps" type="ublox" />
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<module name="telemetry" type="xbee_api">
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<configure name="MODEM_BAUD" value="B9600"/>
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</module>
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<module name="control"/>
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<module name="navigation"/>
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<module name="ins" type="alt_float"/>
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</firmware>
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<modules>
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<module name="ahrs_chimu_spi" >
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<define name="CHIMU_BIG_ENDIAN" />
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</module>
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<module name="nav" type="line"/>
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</modules>
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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="AILERON_LEFT" no="1" min="1000" neutral="1500" max="2000"/>
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<servo name="AILERON_RIGHT" no="2" min="2000" neutral="1500" max="1000"/>
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<servo name="ELEVATOR" no="3" min="2000" neutral="1500" max="1000"/>
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<servo name="RUDDER" no="4" min="1100" neutral="1500" 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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<axis name="BRAKE" failsafe_value="0"/> <!-- both elerons up as butterfly brake ? -->
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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="BRAKE" value="@YAW"/>
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</rc_commands>
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<section name="SERVO_MIXER_GAINS">
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<define name="AILERON_RATE_UP" value="0.50f"/>
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<define name="AILERON_RATE_DOWN" value="0.25f"/>
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<define name="AILERON_RATE_UP_BRAKE" value="0.5f"/>
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<define name="AILERON_RATE_DOWN_BRAKE" value="0.9f"/>
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<define name="PITCH_GAIN" value="0.9f"/>
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<define name="YAW_THRUST" value="0.0f"/>
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<define name="BRAKE_AILEVON" value="-0.68f"/>
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<define name="BRAKE_PITCH" value="0.0f"/>
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<define name="MAX_BRAKE_RATE" value="150"/>
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<define name="LIMIT(X,XL,XH)" value="( ((X)>(XH)) ? (XH) : ( ((X)>(XL)) ? (X) : (XL) ) )"/>
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</section>
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<command_laws>
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<!-- Differential Aileron Depending on Brake Value -->
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<set servo="AILERON_LEFT" value="@ROLL"/>
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<set servo="AILERON_RIGHT" value="@ROLL"/>
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<!-- Differential Thurst -->
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<set servo="THROTTLE" value="@THROTTLE"/>
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<!-- Pitch with Brake-Trim Function -->
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<set servo="ELEVATOR" value="@PITCH"/>
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</command_laws>
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<section name="INS" prefix="INS_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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</section>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="0.7"/>
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<define name="MAX_PITCH" value="0.7"/>
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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="CONTROL_FREQUENCY" value="60" unit="Hz"/>
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<define name="XBEE_INIT" value="ATPL2\rATRN5\rATTT80\r" type="string"/>
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<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
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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="1.20000004768"/>
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<define name="COURSE_DGAIN" value="0.3"/>
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<define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
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<define name="ROLL_MAX_SETPOINT" value="0.9" 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="0"/>
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<define name="ELEVATOR_OF_ROLL" value="1000."/>
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<define name="ROLL_ATTITUDE_GAIN" value="11500"/>
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<define name="ROLL_RATE_GAIN" value="600."/>
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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="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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</airframe>
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