mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-23 13:24:03 +08:00
Gautier Hattenberger
236 lines
9.0 KiB
XML
236 lines
9.0 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="MiniMag Laas N3 Tiny 1.1">
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<firmware name="fixedwing">
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<target name="sim" board="pc">
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<define name="AGR_CLIMB" />
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<define name="LOITER_TRIM" />
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<define name="ALT_KALMAN" />
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</target>
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<target name="ap" board="tiny_1.1">
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<define name="AGR_CLIMB" />
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<define name="LOITER_TRIM" />
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<define name="ALT_KALMAN" />
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</target>
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<subsystem name="radio_control" type="ppm"/>
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<!-- Communication -->
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<subsystem name="telemetry" type="xbee_api">
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<param name="MODEM_BAUD" value="B57600"/>
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</subsystem>
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<subsystem name="control"/>
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<!-- Sensors -->
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<subsystem name="attitude" type="infrared">
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<param name="ADC_IR1" value="ADC_0"/>
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<param name="ADC_IR2" value="ADC_1"/>
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<param name="ADC_IR_TOP" value="ADC_2"/>
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</subsystem>
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<subsystem name="gps" type="ublox_lea4p"/>
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<subsystem name="navigation"/>
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</firmware>
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<firmware name="setup">
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<target name="tunnel" board="tiny_1.1" />
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<target name="setup_actuators" board="tiny_1.1" />
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</firmware>
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<modules>
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<load name="formation_flight.xml"/>
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<load name="tcas.xml"/>
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<!--load name="potential.xml"/-->
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</modules>
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<!-- commands section -->
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<servos>
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<servo name="THROTTLE" no="0" min="1200" neutral="1200" max="2000"/>
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<!-- max = valeur aileron vers le bas-->
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<!-- Aileron gauche (jaune) oppose de l'aileron droit (blanc) -->
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<!-- !!! pb d'inversion des sorties, roll < 0 à droite -->
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<servo name="AILERON_LEFT" no="1" min="1775" neutral="1525" max="1150"/>
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<servo name="AILERON_RIGHT" no="3" min="1775" neutral="1520" max="1200"/>
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<servo name="RUDDER" no="4" min="1850" neutral="1550" max="1150"/>
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<servo name="ELEVATOR" no="5" min="2000" neutral="1580" max="1150"/>
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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="YAW" failsafe_value="0"/>
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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="YAW" value="@YAW"/>
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</rc_commands>
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<section name="MIXER">
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<define name="AILERON_DIFF" value="0.66"/>
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<define name="COMBI_SWITCH" value="1.0"/>
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</section>
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<command_laws>
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<set servo="THROTTLE" value="@THROTTLE"/>
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<set servo="ELEVATOR" value="@PITCH"/>
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<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
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<let var="roll" value="@ROLL"/>
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<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
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<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="0.6"/>
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<define name="MAX_PITCH" value="0.6"/>
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</section>
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<section name="INFRARED" prefix="IR_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="3" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="9" unit="deg"/>
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<define name="HORIZ_SENSOR_TILTED" value="1"/>
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<define name="IR2_SIGN" value="-1"/>
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<define name="TOP_SIGN" value="1"/>
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<!--linear name="RollOfIrs" arity="2" coeff1="-0.7" coeff2="0.7"/>
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<linear name="PitchOfIrs" arity="2" coeff1="-0.7" coeff2="-0.7"/>
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<linear name="TopOfIr" arity="1" coeff1="1"/-->
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<define name="ADC_IR1_NEUTRAL" value="519"/>
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<define name="ADC_IR2_NEUTRAL" value="508"/>
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<define name="ADC_TOP_NEUTRAL" value="516"/>
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<define name="LATERAL_CORRECTION" value="1."/>
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<define name="LONGITUDINAL_CORRECTION" value="1."/>
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<define name="VERTICAL_CORRECTION" value="1.4"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
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<define name="MINIMUM_AIRSPEED" value="8." unit="m/s"/>
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<define name="MAXIMUM_AIRSPEED" value="16." unit="m/s"/>
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<define name="CARROT" value="3." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\rATBD6\rATWR\r\""/> -->
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<define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
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<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
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<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
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<define name="TRIGGER_DELAY" value="1."/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="60."/>
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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="-0.15"/>
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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="0.55"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.90"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/>
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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="-0.05"/>
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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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<!-- auto pitch inner loop -->
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<define name="AUTO_PITCH_PGAIN" value="-0.065"/>
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<define name="AUTO_PITCH_IGAIN" value="0.15"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
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<define name="THROTTLE_SLEW" value="0.05"/>
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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."/>
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<define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
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<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
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<define name="ROLL_ATTITUDE_GAIN" value="-10000"/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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<define name="PITCH_PGAIN" value="-12000."/>
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<define name="PITCH_DGAIN" value="1.5"/>
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<define name="ELEVATOR_OF_ROLL" value="1250"/>
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</section>
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<section name="NAV">
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<define name="NAV_PITCH" value="0."/>
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<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
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<define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/>
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<define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
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</section>
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<section name="FORMATION" prefix="FORM_">
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<define name="CARROT" value="3." unit="s"/> <!-- carrot distance for followers -->
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<define name="POS_PGAIN" value="0.02"/> <!-- coef on position error -->
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<define name="SPEED_PGAIN" value="0.4"/> <!-- coef on speed error -->
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<define name="COURSE_PGAIN" value="0.8"/> <!-- coef on course error (override course pgain for followers) -->
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<define name="ALTITUDE_PGAIN" value="0.1"/> <!-- coef on altitude error -->
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<define name="PROX" value="60." unit="m"/> <!-- proximity distance -->
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<define name="MODE" value="0"/> <!-- mode 0 = global, 1 = local -->
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</section>
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<section name="TCAS" prefix="TCAS_">
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<define name="TAU_TA" value="10." unit="s"/> <!-- traffic advisory -->
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<define name="TAU_RA" value="6." unit="s"/> <!-- resolution advisory -->
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<define name="ALIM" value="15." unit="m"/> <!-- altitude limitation -->
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<define name="DT_MAX" value="2000" unit="ms"/> <!-- lost comm or timeout -->
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</section>
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<section name="POTENTIAL">
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<define name="FORCE_POS_GAIN" value="50"/>
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<define name="FORCE_SPEED_GAIN" value="1"/>
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<define name="FORCE_CLIMB_GAIN" value="8"/>
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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="0.8"/><!-- 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="DELAY_WITHOUT_GPS" value="1" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
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<define name="HOME_RADIUS" value="100" unit="m"/>
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</section>
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<section name="SIMU">
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<define name="YAW_RESPONSE_FACTOR" value="1."/>
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</section>
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<makefile>
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# external module
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#ap.srcs += external.c
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</makefile>
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</airframe>
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