mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-12 01:50:11 +08:00
Gautier Hattenberger
363dec8693
* [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
208 lines
7.8 KiB
XML
208 lines
7.8 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="ardrone2_optitrack">
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<firmware name="rotorcraft">
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<target name="ap" board="ardrone2">
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<define name="FAILSAFE_DESCENT_SPEED" value="0.5"/>
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<define name="USE_SONAR" value="0"/>
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<configure name="USE_BARO_BOARD" value="FALSE"/>
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<configure name="USE_MAGNETOMETER" value="0"/>
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</target>
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<target name="nps" board="pc">
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<module name="fdm" type="jsbsim"/>
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</target>
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<!-- Subsystem section -->
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<module name="telemetry" type="transparent_udp"/>
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<module name="radio_control" type="datalink"/>
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<module name="motor_mixing"/>
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<module name="actuators" type="ardrone2"/>
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<module name="imu" type="ardrone2"/>
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<module name="gps" type="datalink"/>
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<module name="stabilization" type="indi_simple"/>
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<module name="ahrs" type="int_cmpl_quat"/>
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<module name="ins" type="extended"/>
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</firmware>
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<modules main_freq="512">
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<module name="bat_voltage_ardrone2"/>
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</modules>
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<commands>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="3000"/>
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</commands>
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<servos driver="Default">
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<servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
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<servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
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<servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
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<servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
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</servos>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<define name="TRIM_ROLL" value="0"/>
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<define name="TRIM_PITCH" value="0"/>
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<define name="TRIM_YAW" value="0"/>
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<!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
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<define name="TYPE" value="QUAD_X"/>
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</section>
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<command_laws>
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<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
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<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
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<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
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<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
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<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
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</command_laws>
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<section name="IMU" prefix="IMU_">
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<!-- Accelero -->
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<define name="ACCEL_X_NEUTRAL" value="2048"/>
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<define name="ACCEL_Y_NEUTRAL" value="2048"/>
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<define name="ACCEL_Z_NEUTRAL" value="2048"/>
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<!-- Magneto calibration -->
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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="-180"/>
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<define name="MAG_X_SENS" value="16." integer="16"/>
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<define name="MAG_Y_SENS" value="16." integer="16"/>
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<define name="MAG_Z_SENS" value="16." integer="16"/>
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<!-- Magneto current calibration -->
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<define name="MAG_X_CURRENT_COEF" value="0.0"/>
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<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
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<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
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<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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</section>
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<!-- local magnetic field -->
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<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
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<section name="AHRS" prefix="AHRS_">
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<!-- Delft -->
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<define name="H_X" value="0.3892503"/>
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<define name="H_Y" value="0.0017972"/>
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<define name="H_Z" value="0.9211303"/>
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<!-- Use GPS heading instead of magneto -->
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<define name="USE_GPS_HEADING" value="1"/>
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<define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
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</section>
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<section name="INS" prefix="INS_">
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<!-- Use GPS altitude measurments and set the R gain -->
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<define name="USE_GPS_ALT" value="1"/>
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<define name="VFF_R_GPS" value="0.01"/>
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</section>
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<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
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<!-- control effectiveness -->
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<define name="G1_P" value="0.028551973"/>
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<define name="G1_Q" value="0.023775417"/>
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<define name="G1_R" value="0.00173069"/>
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<define name="G2_R" value="0.086460732"/>
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<!-- reference acceleration for attitude control -->
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<define name="REF_ERR_P" value="380.0"/>
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<define name="REF_ERR_Q" value="380.0"/>
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<define name="REF_ERR_R" value="70.0"/>
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<define name="REF_RATE_P" value="21.6"/>
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<define name="REF_RATE_Q" value="21.6"/>
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<define name="REF_RATE_R" value="11.0"/>
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<!-- second order filter parameters -->
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<define name="FILT_CUTOFF" value="3.2"/>
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<define name="FILT_CUTOFF_R" value="3.2"/>
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<!-- first order actuator dynamics -->
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<define name="ACT_DYN_P" value="0.06"/>
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<define name="ACT_DYN_Q" value="0.06"/>
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<define name="ACT_DYN_R" value="0.06"/>
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<!-- Adaptive Learning Rate -->
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<define name="USE_ADAPTIVE" value="FALSE"/>
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<define name="ADAPTIVE_MU" value="0.0001"/>
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</section>
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<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoints -->
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<define name="SP_MAX_PHI" value="45" unit="deg"/>
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<define name="SP_MAX_THETA" value="45" unit="deg"/>
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<define name="SP_MAX_R" value="180" unit="deg/s"/>
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<define name="DEADBAND_A" value="0"/>
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<define name="DEADBAND_E" value="0"/>
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<define name="DEADBAND_R" value="250"/>
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<!-- reference -->
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<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.9"/>
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<define name="REF_MAX_P" value="600." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.9"/>
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<define name="REF_MAX_Q" value="600." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_R" value="450" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.9"/>
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<define name="REF_MAX_R" value="600." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="HOVER_KP" value="583"/>
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<define name="HOVER_KD" value="82"/>
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<define name="HOVER_KI" value="13"/>
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<define name="NOMINAL_HOVER_THROTTLE" value="0.645"/>
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<define name="ADAPT_THROTTLE_ENABLED" value="false"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<!-- Good weather -->
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<define name="MAX_BANK" value="20" unit="deg"/>
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<!-- Bad weather -->
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<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
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<define name="PGAIN" value="363"/>
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<define name="DGAIN" value="237"/>
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<define name="IGAIN" value="30"/>
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<define name="VGAIN" value="0"/>
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<define name="AGAIN" value="0"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
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<define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
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<define name="JSBSIM_INIT" value="reset00" type="string"/>
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<define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.h" type="string"/>
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</section>
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<section name="AUTOPILOT">
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<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
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<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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<define name="ARRIVED_AT_WAYPOINT" value="0.15"/>
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<define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="1500"/>
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<!-- <define name="NO_RC_THRUST_LIMIT" value="TRUE"/> -->
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="9.9" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
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</section>
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</airframe>
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