paparazzi/conf/airframes/ENAC/fixed-wing/spocIII-1.xml

<!DOCTYPE airframe SYSTEM "../../airframe.dtd">

<!-- SPirit Of Corsica III
     Ailerons, elevator, NO rudder
     Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
     arduIMU i2c
     XBee modem (transparent)
     Current sensor
-->

<airframe name="Spoc III Tiny 2.1">

  <modules>
    <load name="ins_arduimu_basic.xml"/>
  </modules>

  <firmware name="fixedwing">
    <define name="ALT_KALMAN"/>
    <define name="LOITER_TRIM"/>

    <target name="sim" board="pc"/>
    <target name="ap" board="tiny_2.11">
      <configure name="FLASH_MODE" value="IAP"/>
      <define name="USE_I2C0"/>
    </target>


    <subsystem name="radio_control" type="datalink"/>

    <!-- Communication -->
    <subsystem name="telemetry" type="xbee_api"/>

    <!-- Actuators are automatically chosen according to board-->
    <subsystem name="control"/>
    <!-- Sensors -->
    <subsystem name="gps" type="ublox"/>

    <!--subsystem name="current_sensor">
      <configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
    </subsystem-->

    <subsystem name="navigation"/>
  </firmware>


  <firmware name="setup">
    <target name="tunnel" board="tiny_2.11"/>
    <target name="setup_actuators" board="tiny_2.11"/>
  </firmware>



<!-- commands section -->
  <servos>
    <servo name="MOTOR" no="7" min="1000" neutral="1000" max="2000"/>
    <servo name="ELEVATOR" no="0" min="1900" neutral="1500" max="1100"/>
    <!-- Wing 1 -->
    <servo name="AILERON_LEFT" no="2" min="1900" neutral="1526" max="1100"/>
    <servo name="AILERON_RIGHT" no="6" min="1900" neutral="1537" max="1100"/>
  </servos>

  <commands>
    <axis name="THROTTLE" failsafe_value="0"/>
    <axis name="ROLL" failsafe_value="0"/>
    <axis name="PITCH" failsafe_value="0"/>
  </commands>

  <rc_commands>
    <set command="THROTTLE" value="@THROTTLE"/>
    <set command="ROLL" value="@ROLL"/>
    <set command="PITCH" value="@PITCH"/>
  </rc_commands>

  <section name="MIXER">
    <define name="AILERON_DIFF" value="0.66"/>
  </section>

  <command_laws>
    <set servo="MOTOR" value="@THROTTLE"/>
    <set servo="ELEVATOR" value="@PITCH"/>
    <let var="roll" value="@ROLL"/>
    <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
    <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
  </command_laws>

  <section name="AUTO1" prefix="AUTO1_">
    <define name="MAX_ROLL" value="0.85"/>
    <define name="MAX_PITCH" value="0.6"/>
  </section>

  <section name="INS" prefix="INS_">
    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="rad" />
    <define name="PITCH_NEUTRAL_DEFAULT" value="-0.26" unit="rad" />
  </section>

  <section name="BAT">
    <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
    <define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
  </section>

  <section name="MISC">
    <define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
    <define name="MAXIMUM_AIRSPEED" value="25." unit="m/s"/>
    <define name="CARROT" value="5." unit="s"/>
    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
    <define name="CONTROL_RATE" value="60" unit="Hz"/>
    <!-- define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/ -->
    <!-- define name="NO_XBEE_API_INIT" value="TRUE"/ -->
    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>

    <define name="TRIGGER_DELAY" value="1."/>
    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>

    <define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
  </section>

  <section name="VERTICAL CONTROL" prefix="V_CTL_">

    <!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
    <!-- outer loop proportional gain -->
    <define name="ALTITUDE_PGAIN" value="0.04"/>
    <!-- outer loop saturation -->
    <define name="ALTITUDE_MAX_CLIMB" value="2."/>

    <!-- auto throttle inner loop -->
    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_PGAIN" value="0.02"/>
    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>

    <!-- auto pitch inner loop -->
    <define name="AUTO_PITCH_PGAIN" value="0.05"/>
    <define name="AUTO_PITCH_IGAIN" value="0.075"/>
    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>

   <define name="THROTTLE_SLEW" value="0.5"/>

  </section>

  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
    <define name="COURSE_PGAIN" value="1.20599997044"/>

    <define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="rad"/>
    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>

    <define name="PITCH_PGAIN" value="8200"/>
    <define name="PITCH_DGAIN" value="1.5"/>

    <define name="ELEVATOR_OF_ROLL" value="2500"/>

    <define name="ROLL_ATTITUDE_GAIN" value="8500"/>
    <define name="ROLL_RATE_GAIN" value="2700"/>

    <define name="ROLL_KFF" value="-500"/>
    <define name="ROLL_IGAIN" value="500"/>
    <define name="PITCH_IGAIN" value="500"/>
  </section>

  <section name="NAV">
    <define name="NAV_PITCH" value="0."/>
    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
  </section>

  <section name="FAILSAFE" prefix="FAILSAFE_">
    <define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
    <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
    <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
    <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
    <define name="HOME_RADIUS" value="100" unit="m"/>
  </section>

  <section name="SIMU">
    <define name="JSBSIM_MODEL" value="&quot;Corsica&quot;"/>
    <define name="JSBSIM_IR_ROLL_NEUTRAL" value="0." unit="deg"/>
    <define name="JSBSIM_IR_PITCH_NEUTRAL" value="0." unit="deg"/>
  </section>

</airframe>