mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Felix Ruess
173 lines
6.7 KiB
XML
173 lines
6.7 KiB
XML
<!DOCTYPE airframe SYSTEM "airframe.dtd">
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<!--
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Multiplex EasyStar, using rudder
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TWOG v1 board
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Tilted infrared sensor
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XBee 2.4GHz modem in transparent mode
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-->
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<airframe name="EasyStar TWOGv1">
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<firmware name="fixedwing">
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<target name="ap" board="twog_1.0">
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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="sim" board="pc">
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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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<subsystem name="telemetry" type="transparent"/>
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<subsystem name="control"/>
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<subsystem name="attitude" type="infrared"/>
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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="twog_1.0"/>
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<target name="setup_actuators" board="twog_1.0"/>
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</firmware>
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<!-- commands section -->
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<servos>
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<servo name="THROTTLE" no="7" min="1120" neutral="1120" max="1920"/>
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<servo name="ELEVATOR" no="3" min="1100" neutral="1515" max="1900"/>
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<servo name="RUDDER" no="4" min="2050" neutral="1440" max="950"/>
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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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</commands>
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<rc_commands>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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<set command="THROTTLE" value="@THROTTLE"/>
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</rc_commands>
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<command_laws>
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<set servo="THROTTLE" value="@THROTTLE"/>
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<set servo="RUDDER" value="@ROLL"/>
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<set servo="ELEVATOR" value="@PITCH"/>
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="RadOfDeg(50)"/>
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<define name="MAX_PITCH" value="RadOfDeg(40)"/>
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</section>
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<section name="INFRARED" prefix="IR_">
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<define name="ADC_IR1_NEUTRAL" value="512"/>
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<define name="ADC_IR2_NEUTRAL" value="510"/>
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<define name="ADC_TOP_NEUTRAL" value="500"/>
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<define name="LATERAL_CORRECTION" value="0.7"/>
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<define name="LONGITUDINAL_CORRECTION" value="0.7"/>
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<define name="VERTICAL_CORRECTION" value="1."/>
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<define name="HORIZ_SENSOR_TILTED" value="1"/>
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<define name="IR1_SIGN" 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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<define name="ROLL_NEUTRAL_DEFAULT" value="-5.3" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="-3" unit="deg"/>
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<define name="CORRECTION_UP" value="1."/>
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<define name="CORRECTION_DOWN" value="1."/>
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<define name="CORRECTION_LEFT" value="1."/>
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<define name="CORRECTION_RIGHT" value="1."/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000" unit="mA"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="8.0" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="8.5" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="9.5" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="12.5" unit="V"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
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<define name="CARROT" value="4." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(2.0*MAX_DIST_FROM_HOME)"/>
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<define name="CONTROL_RATE" value="60" unit="Hz"/>
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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="100."/>
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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="11.0" unit="volt"/>
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<!-- outer loop -->
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<define name="ALTITUDE_PGAIN" value="-0.075" unit="(m/s)/m"/>
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<define name="ALTITUDE_MAX_CLIMB" value="4." unit="m/s"/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5" unit="%"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.4" unit="%"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.8" unit="%"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" unit="pprz_t"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000" unit="pprz_t"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="-0.02" unit="%/(m/s)"/>
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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" unit="rad/(m/s)"/>
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<define name="AUTO_PITCH_PGAIN" value="-0.125"/>
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<define name="AUTO_PITCH_IGAIN" value="0.025"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-25)"/>
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<define name="THROTTLE_SLEW" value="1.0"/>
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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="-0.7"/>
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<define name="ROLL_MAX_SETPOINT" value="RadOfDeg(35)" unit="radians"/>
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<define name="PITCH_MAX_SETPOINT" value="RadOfDeg(25)" unit="radians"/>
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<define name="PITCH_MIN_SETPOINT" value="RadOfDeg(-25)" unit="radians"/>
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<define name="PITCH_PGAIN" value="-20000."/>
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<define name="PITCH_DGAIN" value="1.5"/>
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<define name="ELEVATOR_OF_ROLL" value="2500"/>
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<define name="ROLL_ATTITUDE_GAIN" value="-7400"/>
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<define name="ROLL_RATE_GAIN" value="-200"/>
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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="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="0.9"/><!-- Gaz for Aggressive Climb -->
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<define name="CLIMB_PITCH" value="RadOfDeg(18)"/><!-- 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="RadOfDeg(-20)"/><!-- 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="3" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.4" unit="%"/>
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<define name="DEFAULT_ROLL" value="RadOfDeg(15)" unit="rad"/>
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<define name="DEFAULT_PITCH" value="RadOfDeg(0)" unit="rad"/>
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<define name="HOME_RADIUS" value="90" unit="m"/>
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</section>
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<section name="DATALINK" prefix="DATALINK_">
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<define name="DEVICE_TYPE" value="PPRZ"/>
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<define name="DEVICE_ADDRESS" value="...."/>
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</section>
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</airframe>
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