mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 22:17:01 +08:00
Felix Ruess
274 lines
9.5 KiB
XML
274 lines
9.5 KiB
XML
<!--DOCTYPE airframe SYSTEM "../../airframe.dtd"-->
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<airframe name="Booz Mkk1 Enac">
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<firmware name="rotorcraft">
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<!--target name="ap" board="booz_1.0"-->
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<target name="ap" board="lisa_l_1.0">
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<define name="BOOZ_FAILSAFE_GROUND_DETECT"/>
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<define name="USE_GPS_ACC4R"/>
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</target>
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<target name="sim" board="pc">
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<subsystem name="fdm" type="nps"/>
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</target>
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="telemetry" type="transparent"/>
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<subsystem name="actuators" type="mkk"/>
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<subsystem name="imu" type="b2_v1.1"/>
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<subsystem name="gps" type="ublox"/>
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<subsystem name="stabilization" type="euler"/>
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<subsystem name="ahrs" type="int_cmpl_euler"/>
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<subsystem name="ins" type="hff"/>
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</firmware>
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<firmware name="lisa_l_test_progs">
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<target name="test_imu_b2" board="lisa_l_1.0"/>
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<target name="test_telemetry" board="lisa_l_1.0"/>
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<target name="test_baro" board="lisa_l_1.0"/>
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<target name="test_rc_spektrum" board="lisa_l_1.0"/>
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<target name="test_rc_ppm" board="lisa_l_1.0"/>
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<target name="test_actuators_mkk" board="lisa_l_1.0"/>
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</firmware>
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<!--firmware name="booz_test_progs">
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<target name="test_telemetry" board="booz_1.0"/>
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<target name="test_baro" board="booz_1.0"/>
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<target name="test_rc_spektrum" board="booz_1.0"/>
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<target name="test_rc_ppm" board="booz_1.0"/>
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<target name="test_actuators_mkk" board="booz_1.0"/>
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</firmware-->
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<servos min="0" neutral="0" max="0xff">
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<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
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<servo name="BACK" no="1" min="0" neutral="0" max="255"/>
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<servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
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<servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
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</servos>
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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="0"/>
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</commands>
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<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
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<define name="NB" value="4"/>
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<define name="ADDR" value="{ 0x58, 0x56, 0x54, 0x52 }"/>
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</section>
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<section name="SUPERVISION" prefix="SUPERVISION_">
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<define name="MIN_MOTOR" value="2"/>
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<define name="MAX_MOTOR" value="210"/>
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<define name="TRIM_A" value="0"/>
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<define name="TRIM_E" value="0"/>
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<define name="TRIM_R" value="0"/>
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<define name="NB_MOTOR" value="4"/>
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<define name="SCALE" value="256"/>
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<define name="ROLL_COEF" value="{ 0, 0, -256, 256}"/>
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<define name="PITCH_COEF" value="{ 256, -256, 0, 0}"/>
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<define name="YAW_COEF" value="{ -256, -256, 256, 256}"/>
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<define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<define name="GYRO_P_CHAN" value="1"/>
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<define name="GYRO_Q_CHAN" value="0"/>
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<define name="GYRO_R_CHAN" value="2"/>
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<define name="GYRO_P_NEUTRAL" value="30907"/>
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<define name="GYRO_Q_NEUTRAL" value="33253"/>
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<define name="GYRO_R_NEUTRAL" value="32329"/>
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<define name="GYRO_P_SENS" value="1.00" integer="16"/>
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<define name="GYRO_Q_SENS" value="1.00" integer="16"/>
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<define name="GYRO_R_SENS" value="1.00" integer="16"/>
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<define name="ACCEL_X_CHAN" value="5"/>
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<define name="ACCEL_Y_CHAN" value="3"/>
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<define name="ACCEL_Z_CHAN" value="4"/>
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<define name="ACCEL_X_NEUTRAL" value="32913"/>
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<define name="ACCEL_Y_NEUTRAL" value="33032"/>
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<define name="ACCEL_Z_NEUTRAL" value="32843"/>
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<define name="ACCEL_X_SENS" value="2.5749914646" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.56940516083" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.56940374188" integer="16"/>
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<define name="MAG_X_CHAN" value="0"/>
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<define name="MAG_Y_CHAN" value="1"/>
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<define name="MAG_Z_CHAN" value="2"/>
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<define name="MAG_X_NEUTRAL" value="-62"/>
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<define name="MAG_Y_NEUTRAL" value="-13"/>
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<define name="MAG_Z_NEUTRAL" value="-95"/>
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<define name="MAG_X_SENS" value="6.42348671436" integer="16"/>
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<define name="MAG_Y_SENS" value="6.95371185551" integer="16"/>
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<define name="MAG_Z_SENS" value="3.12322557454" integer="16"/>
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<!--define name="MAG_X_NEUTRAL" value="-12"/>
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<define name="MAG_Y_NEUTRAL" value="-10"/>
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<define name="MAG_Z_NEUTRAL" value="-11"/>
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<define name="MAG_X_SENS" value="22.008352" integer="16"/>
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<define name="MAG_Y_SENS" value="-21.79885" integer="16"/>
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<define name="MAG_Z_SENS" value="-14.675745" integer="16"/-->
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<define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)"/>
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<define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)"/>
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<define name="BODY_TO_IMU_PSI" value="RadOfDeg(0.)"/>
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</section>
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<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
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<define name="SP_MAX_P" value="10000"/>
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<define name="SP_MAX_Q" value="10000"/>
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<define name="SP_MAX_R" value="10000"/>
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<define name="GAIN_P" value="-400"/>
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<define name="GAIN_Q" value="-400"/>
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<define name="GAIN_R" value="-350"/>
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</section>
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<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
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<define name="SP_MAX_P" value="10000"/>
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<define name="SP_MAX_Q" value="10000"/>
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<define name="SP_MAX_R" value="10000"/>
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<define name="GAIN_P" value="-400"/>
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<define name="GAIN_Q" value="-400"/>
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<define name="GAIN_R" value="-350"/>
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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="RadOfDeg(45.)"/>
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<define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
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<define name="SP_MAX_R" value="RadOfDeg(90.)"/>
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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="RadOfDeg(800)"/>
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<define name="REF_ZETA_P" value="0.9"/>
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<define name="REF_MAX_P" value="RadOfDeg(300.)"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
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<define name="REF_ZETA_Q" value="0.9"/>
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<define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
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<define name="REF_ZETA_R" value="0.9"/>
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<define name="REF_MAX_R" value="RadOfDeg(90.)"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
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<!-- feedback -->
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<define name="PHI_PGAIN" value="-650"/>
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<define name="PHI_DGAIN" value="-200"/>
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<define name="PHI_IGAIN" value="-100"/>
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<define name="THETA_PGAIN" value="-650"/>
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<define name="THETA_DGAIN" value="-200"/>
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<define name="THETA_IGAIN" value="-100"/>
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<define name="PSI_PGAIN" value="-800"/>
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<define name="PSI_DGAIN" value="-320"/>
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<define name="PSI_IGAIN" value="-20"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value=" 300"/>
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<define name="THETA_DDGAIN" value=" 300"/>
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<define name="PSI_DDGAIN" value=" 300"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="BARO_SENS" value="15." integer="16"/>
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<define name="UNTILT_ACCEL" value="1"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
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<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
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<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
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<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
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<define name="MAX_SUM_ERR" value="2000000"/>
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<define name="REF_MIN_ZDD" value="-1.5*9.81"/>
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<define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
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<define name="REF_MIN_ZD" value="-1.5"/>
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<define name="REF_MAX_ZD" value=" 1.5"/>
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<define name="HOVER_KP" value="-200"/>
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<define name="HOVER_KD" value="-100"/>
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<define name="HOVER_KI" value="0"/>
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<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
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<define name="RC_CLIMB_COEF" value ="163"/>
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<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
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<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="PGAIN" value="-60"/>
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<define name="DGAIN" value="-120"/>
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<define name="IGAIN" value="-10"/>
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<define name="NGAIN" value="-0"/>
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<!-- feedforward -->
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<define name="AGAIN" value="100"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9." unit="V"/>
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<define name="BATTERY_SENS" value="0.183" integer="16"/>
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</section>
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<section name="AUTOPILOT">
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<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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</section>
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<section name="FMS">
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</section>
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<section name="MISC">
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<define name="FACE_REINJ_1" value="1024"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="{"front_motor", "back_motor", "right_motor", "left_motor"}"/>
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<define name="SENSORS_PARAMS" value=""nps_sensors_params_booz2_a1.h""/>
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</section>
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<makefile>
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# prevents motors from ever starting
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#ap.CFLAGS += -DKILL_MOTORS
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#set USE_GPS lag for horizontal filter
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#ap.CFLAGS += -DUSE_GPS_ACC4R
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#ap.CFLAGS += -DGUIDANCE_H_USE_REF
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ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT
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#sim.CFLAGS += -DGUIDANCE_H_USE_REF
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sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT
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</makefile>
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</airframe>
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