mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-10 06:59:54 +08:00
Gautier Hattenberger
28ef30ed80
This is a complete rework of the navigation for rotorcraft with the key features: - all nav functions and interface in float - nav function are registered (decoupling between nav API and implementation of standard pattern) - submodes to specify if setpoint is a position (legacy), speed or accel (better integration of algorithms like GVF) - guidance (H and V) is reorganized with default function to implement (run_pos, run_speed, run_accel) - guidance control (the old default PID) is separated from the guidance logic --------- Co-authored-by: Freek van Tienen <freek.v.tienen@gmail.com>
146 lines
7.5 KiB
XML
146 lines
7.5 KiB
XML
<conf>
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<aircraft
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name="Bixler"
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ac_id="2"
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airframe="airframes/examples/bixler_lisa_m_2.xml"
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radio="radios/cockpitSX.xml"
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telemetry="telemetry/default_fixedwing_imu.xml"
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flight_plan="flight_plans/versatile.xml"
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settings="settings/fixedwing_basic.xml settings/nps.xml"
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settings_modules="modules/ahrs_float_dcm.xml modules/gps.xml modules/guidance_basic_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_attitude_fw.xml"
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gui_color="blue"
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/>
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<aircraft
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name="Bumblebee_Quad"
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ac_id="40"
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airframe="airframes/examples/bumblebee_quad.xml"
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radio="radios/dummy.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/rotorcraft_basic.xml"
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settings="settings/rotorcraft_basic.xml settings/nps.xml"
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settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml"
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gui_color="white"
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/>
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<aircraft
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name="LadyLisa"
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ac_id="6"
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airframe="airframes/examples/ladybird_lisa_s.xml"
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radio="radios/cockpitSX.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/rotorcraft_basic.xml"
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settings="settings/rotorcraft_basic.xml settings/superbitrf.xml settings/nps.xml"
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settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/radio_control_superbitrf_rc.xml modules/stabilization_int_quat.xml"
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gui_color="white"
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/>
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<aircraft
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name="MentorEnergy"
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ac_id="13"
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airframe="airframes/examples/MentorEnergy.xml"
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radio="radios/R6107SP_7ch.xml"
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telemetry="telemetry/default_fixedwing_imu_9k6.xml"
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flight_plan="flight_plans/versatile_airspeed.xml"
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settings="settings/fixedwing_basic.xml settings/estimation/ac_char.xml"
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settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/digital_cam.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_energy.xml modules/imu_common.xml modules/light.xml modules/nav_basic_fw.xml modules/stabilization_attitude_fw.xml"
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gui_color="#ffffffffffff"
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/>
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<aircraft
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name="Minion_Lia"
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ac_id="42"
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airframe="airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml"
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radio="radios/AGGIEAIR/aggieair_taranis.xml"
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telemetry="telemetry/default_fixedwing.xml"
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flight_plan="flight_plans/AGGIEAIR/BasicTuning_Launcher.xml"
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settings="settings/fixedwing_basic.xml settings/nps.xml"
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settings_modules="modules/battery_monitor.xml modules/gps.xml modules/guidance_basic_fw.xml modules/imu_common.xml modules/lidar_sf11.xml modules/nav_basic_fw.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/stabilization_attitude_fw.xml"
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gui_color="#00009e93ffff"
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/>
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<aircraft
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name="Quad_Elle0"
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ac_id="19"
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airframe="airframes/examples/quadrotor_elle0.xml"
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radio="radios/cockpitSX.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/rotorcraft_basic.xml"
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settings="settings/rotorcraft_basic.xml settings/nps.xml"
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settings_modules="modules/ahrs_float_mlkf.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml"
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gui_color="white"
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/>
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<aircraft
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name="Quad_LisaMX"
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ac_id="21"
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airframe="airframes/examples/quadrotor_lisa_mx.xml"
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radio="radios/dummy.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/rotorcraft_basic.xml"
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settings="settings/rotorcraft_basic.xml settings/nps.xml"
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settings_modules="modules/ahrs_float_mlkf.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/stabilization_rate.xml"
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gui_color="blue"
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/>
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<aircraft
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name="Quad_LisaM_2"
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ac_id="162"
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airframe="airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml"
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radio="radios/dummy.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/rotorcraft_basic.xml"
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settings="settings/rotorcraft_basic.xml settings/nps.xml"
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settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml"
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gui_color="white"
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/>
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<aircraft
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name="ardrone2"
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ac_id="31"
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airframe="airframes/examples/ardrone2.xml"
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radio="radios/dummy.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/rotorcraft_basic.xml"
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settings="settings/rotorcraft_basic.xml settings/nps.xml"
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settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/video_rtp_stream.xml"
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gui_color="red"
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/>
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<aircraft
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name="bebop2"
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ac_id="203"
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airframe="airframes/examples/bebop2_indi.xml"
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radio="radios/dummy.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/rotorcraft_basic.xml"
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settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
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settings_modules="modules/air_data.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
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gui_color="red"
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/>
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<aircraft
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name="bebop2_opticflow"
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ac_id="3"
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airframe="airframes/examples/bebop2_opticflow.xml"
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radio="radios/dummy.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/rotorcraft_optitrack.xml"
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settings="settings/rotorcraft_basic.xml"
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settings_modules="modules/ahrs_int_cmpl_quat.xml modules/bebop_cam.xml modules/cv_opticflow.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
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gui_color="blue"
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/>
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<aircraft
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name="Cyfoam"
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ac_id="37"
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airframe="airframes/tudelft/cyfoam.xml"
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radio="radios/T10CG_SBUS.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/competitions/IMAV2022_falcon.xml"
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settings="settings/rotorcraft_basic.xml"
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settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml"
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gui_color="#5eb6d9dd4484"
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/>
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<aircraft
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name="trashcan"
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ac_id="1"
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airframe="airframes/examples/trashcan.xml"
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radio="radios/FrSky_Taranis_X9Dplus_TAERMK.xml"
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telemetry="telemetry/default_rotorcraft_slow.xml"
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flight_plan="flight_plans/dummy.xml"
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settings="settings/rotorcraft_basic.xml"
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settings_modules="[modules/ahrs_float_cmpl_quat.xml] [modules/gps.xml] [modules/guidance_rotorcraft.xml] [modules/imu_common.xml] [modules/ins_extended.xml] [modules/nav_basic_rotorcraft.xml] modules/radio_control_cc2500_frsky.xml [modules/stabilization_int_quat.xml]"
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gui_color="blue"
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/>
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</conf>
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