mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-25 23:46:04 +08:00
Felix Ruess
49d5c2b222
most people want it to start at flightplan location anyway... If someone wants to explicitly set the initial conditions, they can add whatever xml file they want...
235 lines
8.3 KiB
XML
235 lines
8.3 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
|
|
|
<airframe name="Miniquad CHNI">
|
|
|
|
<firmware name="rotorcraft">
|
|
<define name="USE_INS_NAV_INIT"/>
|
|
<!--define name="GUIDANCE_H_USE_REF"/-->
|
|
|
|
<target name="ap" board="hbmini_1.0">
|
|
<define name="FAILSAFE_GROUND_DETECT"/>
|
|
<define name="USE_GPS_ACC4R"/>
|
|
<define name="ACTUATORS_START_DELAY" value="3"/>
|
|
</target>
|
|
<target name="nps" board="pc">
|
|
<subsystem name="fdm" type="jsbsim"/>
|
|
</target>
|
|
|
|
<subsystem name="radio_control" type="ppm"/>
|
|
<subsystem name="telemetry" type="transparent"/>
|
|
<subsystem name="actuators" type="mkk">
|
|
<define name="MKK_I2C_SCL_TIME" value="25"/>
|
|
</subsystem>
|
|
<subsystem name="motor_mixing"/>
|
|
<subsystem name="imu" type="hbmini"/>
|
|
<subsystem name="gps" type="ublox"/>
|
|
<subsystem name="stabilization" type="int_euler"/>
|
|
<subsystem name="ahrs" type="float_cmpl_rmat"/>
|
|
<subsystem name="ins" type="hff"/>
|
|
</firmware>
|
|
|
|
<modules main_freq="512">
|
|
<load name="gps_ubx_ucenter.xml"/>
|
|
</modules>
|
|
|
|
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
|
|
<define name="NB" value="4"/>
|
|
<!-- NW, SE, NE, SW -->
|
|
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
|
|
</section>
|
|
|
|
<servos driver="Mkk">
|
|
<servo name="NW" no="0" min="0" neutral="10" max="100"/>
|
|
<servo name="SE" no="1" min="0" neutral="10" max="100"/>
|
|
<servo name="NE" no="2" min="0" neutral="10" max="100"/>
|
|
<servo name="SW" no="3" min="0" neutral="10" max="100"/>
|
|
</servos>
|
|
|
|
<commands>
|
|
<axis name="PITCH" failsafe_value="0"/>
|
|
<axis name="ROLL" failsafe_value="0"/>
|
|
<axis name="YAW" failsafe_value="0"/>
|
|
<axis name="THRUST" failsafe_value="0"/>
|
|
</commands>
|
|
|
|
<section name="MIXING" prefix="MOTOR_MIXING_">
|
|
<define name="TRIM_ROLL" value="135"/>
|
|
<define name="TRIM_PITCH" value="-200"/>
|
|
<define name="TRIM_YAW" value="-300"/>
|
|
<define name="NB_MOTOR" value="4"/>
|
|
<define name="SCALE" value="256"/>
|
|
<define name="ROLL_COEF" value="{ 256, -256, -256, 256}"/>
|
|
<define name="PITCH_COEF" value="{ 256, -256, 256, -256}"/>
|
|
<define name="YAW_COEF" value="{ 256, 256, -256, -256}"/>
|
|
<define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
|
|
</section>
|
|
|
|
<command_laws>
|
|
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
|
|
<set servo="NW" value="motor_mixing.commands[0]"/>
|
|
<set servo="SE" value="motor_mixing.commands[1]"/>
|
|
<set servo="NE" value="motor_mixing.commands[2]"/>
|
|
<set servo="SW" value="motor_mixing.commands[3]"/>
|
|
</command_laws>
|
|
|
|
|
|
<section name="IMU" prefix="IMU_">
|
|
|
|
<define name="GYRO_P_NEUTRAL" value="21460"/>
|
|
<define name="GYRO_Q_NEUTRAL" value="21490"/>
|
|
<define name="GYRO_R_NEUTRAL" value="21830"/>
|
|
|
|
<define name="GYRO_P_SENS" value="5.79" integer="16"/>
|
|
<define name="GYRO_Q_SENS" value="5.89" integer="16"/>
|
|
<define name="GYRO_R_SENS" value="4.56" integer="16"/>
|
|
|
|
|
|
<define name="ACCEL_X_NEUTRAL" value="26480"/>
|
|
<define name="ACCEL_Y_NEUTRAL" value="26380"/>
|
|
<define name="ACCEL_Z_NEUTRAL" value="25836"/>
|
|
<define name="ACCEL_X_SENS" value="1.94" integer="16"/>
|
|
<define name="ACCEL_Y_SENS" value="1.94" integer="16"/>
|
|
<define name="ACCEL_Z_SENS" value="1.99" integer="16"/>
|
|
|
|
|
|
<define name="MAG_X_NEUTRAL" value="-108"/>
|
|
<define name="MAG_Y_NEUTRAL" value="57"/>
|
|
<define name="MAG_Z_NEUTRAL" value="-95"/>
|
|
<define name="MAG_X_SENS" value="3.6472944636" integer="16"/>
|
|
<define name="MAG_Y_SENS" value="3.09086502241" integer="16"/>
|
|
<define name="MAG_Z_SENS" value="3.74963511486" integer="16"/>
|
|
|
|
<define name="BODY_TO_IMU_PHI" value="-2.5" unit="deg"/>
|
|
<define name="BODY_TO_IMU_THETA" value="-2.0" unit="deg"/>
|
|
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
|
|
|
|
</section>
|
|
|
|
<section name="AHRS" prefix="AHRS_">
|
|
<define name="H_X" value="0.366765"/>
|
|
<define name="H_Y" value="0.013312"/>
|
|
<define name="H_Z" value="0.930219"/>
|
|
</section>
|
|
|
|
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
|
|
|
|
<define name="SP_MAX_P" value="10000"/>
|
|
<define name="SP_MAX_Q" value="10000"/>
|
|
<define name="SP_MAX_R" value="10000"/>
|
|
|
|
<define name="GAIN_P" value="481"/>
|
|
<define name="GAIN_Q" value="485"/>
|
|
<define name="GAIN_R" value="465"/>
|
|
|
|
</section>
|
|
|
|
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
|
|
|
<!-- setpoints -->
|
|
<define name="SP_MAX_PHI" value="45." unit="deg"/>
|
|
<define name="SP_MAX_THETA" value="45." unit="deg"/>
|
|
<define name="SP_MAX_R" value="220." unit="deg/s"/>
|
|
<define name="DEADBAND_R" value="250"/>
|
|
|
|
<!-- reference -->
|
|
<define name="REF_OMEGA_P" value="400" unit="deg/s"/>
|
|
<define name="REF_ZETA_P" value="0.9"/>
|
|
<define name="REF_MAX_P" value="400." unit="deg/s"/>
|
|
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
|
|
|
|
<define name="REF_OMEGA_Q" value="400" unit="deg/s"/>
|
|
<define name="REF_ZETA_Q" value="0.9"/>
|
|
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
|
|
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
|
|
|
|
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
|
|
<define name="REF_ZETA_R" value="0.9"/>
|
|
<define name="REF_MAX_R" value="180." unit="deg/s"/>
|
|
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
|
|
|
|
<!-- feedback -->
|
|
<define name="PHI_PGAIN" value="880"/>
|
|
<define name="PHI_DGAIN" value="400"/>
|
|
<define name="PHI_IGAIN" value="300"/>
|
|
|
|
<define name="THETA_PGAIN" value="880"/>
|
|
<define name="THETA_DGAIN" value="400"/>
|
|
<define name="THETA_IGAIN" value="300"/>
|
|
|
|
<define name="PSI_PGAIN" value="600"/>
|
|
<define name="PSI_DGAIN" value="320"/>
|
|
<define name="PSI_IGAIN" value="150"/>
|
|
|
|
<!-- feedforward -->
|
|
<define name="PHI_DDGAIN" value="100"/>
|
|
<define name="THETA_DDGAIN" value="100"/>
|
|
<define name="PSI_DDGAIN" value="0"/>
|
|
|
|
<define name="PHI_AGAIN" value="0"/>
|
|
<define name="THETA_AGAIN" value="0"/>
|
|
<define name="PSI_AGAIN" value="0"/>
|
|
</section>
|
|
|
|
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
|
|
|
<define name="REF_MIN_ZDD" value="-0.5*9.81"/>
|
|
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
|
|
<define name="REF_MIN_ZD" value="-1.5"/>
|
|
<define name="REF_MAX_ZD" value=" 1.5"/>
|
|
<define name="HOVER_KP" value="70"/>
|
|
<define name="HOVER_KD" value="100"/>
|
|
<define name="HOVER_KI" value="9"/>
|
|
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
|
|
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
|
|
<define name="ADAPT_NOISE_FACTOR" value="1.5"/>
|
|
</section>
|
|
|
|
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
|
<define name="MAX_BANK" value="30" unit="deg"/>
|
|
<define name="PGAIN" value="80"/>
|
|
<define name="DGAIN" value="140"/>
|
|
<define name="IGAIN" value="10"/>
|
|
<define name="NGAIN" value="0"/>
|
|
<!-- feedforward -->
|
|
<define name="AGAIN" value="0"/>
|
|
</section>
|
|
|
|
<section name="BAT">
|
|
<define name="CATASTROPHIC_BAT_LEVEL" value="6.0" unit="V"/>
|
|
<define name="CRITIC_BAT_LEVEL" value="6.5" unit="V"/>
|
|
<define name="LOW_BAT_LEVEL" value="7.0" unit="V"/>
|
|
<define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
|
|
</section>
|
|
|
|
|
|
<section name="AUTOPILOT">
|
|
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
|
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
|
|
<!--define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/-->
|
|
<define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/>
|
|
</section>
|
|
|
|
<section name="FMS">
|
|
<define name="BOOZ_FMS_TIMEOUT" value="0"/>
|
|
</section>
|
|
|
|
<section name="MISC">
|
|
<define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
|
|
</section>
|
|
|
|
<section name="GCS">
|
|
<define name="ALT_SHIFT_PLUS_PLUS" value="5"/>
|
|
<define name="ALT_SHIFT_PLUS" value="1"/>
|
|
<define name="ALT_SHIFT_MINUS" value="-1"/>
|
|
</section>
|
|
|
|
<section name="SIMULATOR" prefix="NPS_">
|
|
<define name="ACTUATOR_NAMES" value="{"nw_motor", "se_motor", "ne_motor", "sw_motor"}"/>
|
|
<define name="JSBSIM_MODEL" value=""simple_x_quad""/>
|
|
<define name="SENSORS_PARAMS" value=""nps_sensors_params_hbmini.h""/>
|
|
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
|
|
<define name="JS_AXIS_MODE" value="4"/>
|
|
</section>
|
|
|
|
</airframe>
|