mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Felix Ruess
189 lines
6.9 KiB
XML
189 lines
6.9 KiB
XML
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
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<!-- Twinstar II, 2x Jeti 18 advance plus, AXI 2212/26
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Tiny 2.11
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ArduIMU
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XBee modem with API Mode
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LEA 5H GPS
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-->
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<airframe name="Twinstar">
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<modules>
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<load name="ins_arduimu_basic.xml">
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<define name="USE_HIGH_ACCEL_FLAG"/>
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</load>
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<load name="cam_point.xml">
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<define name="POINT_CAM_ROLL"/>
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</load>
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<!--load name="cam_segment.xml"/-->
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</modules>
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<firmware name="fixedwing">
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<target name="ap" board="tiny_2.11"/>
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<target name="sim" board="pc"/>
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<define name="LOITER_TRIM"/>
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<define name="ALT_KALMAN"/>
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<define name="AGR_CLIMB"/>
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<define name="USE_I2C0"/>
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<subsystem name="i2c"/>
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="telemetry" type="xbee_api"/>
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<subsystem name="control"/>
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<subsystem name="gps" type="ublox"/>
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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_2.11"/>
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<target name="setup_actuators" board="tiny_2.11"/>
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</firmware>
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<!-- commands section -->
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<servos>
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<servo name="MOTOR" no="2" min="1000" neutral="1000" max="2000"/>
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<servo name="AILERON_RIGHT" no="7" min="1000" neutral="1500" max="2000"/>
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<servo name="AILERON_LEFT" no="6" min="1000" neutral="1500" max="2000"/>
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<servo name="ELEVATOR" no="3" min="2000" neutral="1500" max="1000"/>
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<servo name="RUDDER" no="4" min="1000" neutral="1500" max="2000"/>
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<servo name="CAM_TILT" no="1" min="1000" neutral="1500" max="2000"/>
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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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<axis name="CAM_TILT" 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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<set command="CAM_TILT" value="@GAIN1"/>
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</rc_commands>
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<section name="MIXER">
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<define name="AILERON_DIFF" value="0.8"/>
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</section>
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<command_laws>
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<set servo="MOTOR" value="@THROTTLE"/>
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<set servo="ELEVATOR" value="@PITCH"/>
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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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<set servo="RUDDER" value="@YAW"/>
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<set servo="CAM_TILT" value="@CAM_TILT"/>
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="0.85"/>
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<define name="MAX_PITCH" value="0.6"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="rad"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="rad"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
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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="CAM" prefix="CAM_">
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<define name="TILT_MAX" value="45" unit="deg"/>
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<define name="TILT_NEUTRAL" value="0" unit="deg"/>
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<define name="TILT_MIN" value="-45" unit="deg"/>
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<define name="TILT0" value="0" unit="deg"/>
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</section>
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<section name="MISC">
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<define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
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<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
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<define name="MAXIMUM_AIRSPEED" value="18." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="CONTROL_RATE" value="60" unit="Hz"/>
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<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
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<define name="TRIGGER_DELAY" value="1."/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
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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="-0.06"/>
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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="0.45"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/>
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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="-0.06"/>
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<define name="AUTO_PITCH_IGAIN" value="0.0"/>
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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="0.1"/>
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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="-1.0"/>
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<define name="ROLL_MAX_SETPOINT" value="0.60" 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="-9000."/>
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<define name="ROLL_RATE_GAIN" value="-3000."/>
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<define name="PITCH_PGAIN" value="-9000."/>
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<define name="PITCH_DGAIN" value="0.4"/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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<define name="ELEVATOR_OF_ROLL" value="1500"/>
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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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</section>
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<section name="AGGRESSIVE" prefix="AGR_">
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<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
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<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
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<define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
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<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
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<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
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<define name="DESCENT_PITCH" value="-0.35"/><!-- 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="2" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
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<define name="HOME_RADIUS" value="100" unit="m"/>
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</section>
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</airframe>
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