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paparazzi/conf/airframes/tudelft/ladybird_lisa_mxs.xml
T
Kirk Scheper e84ff368c2 Add rangesensor module (#2158) 
* added rangesensors to gazebo model and NPS
* added module to handle the range sensors
* added sender IDS and added to abi messages
* added abi message to flight plan guided
2017-11-06 17:16:13 +01:00

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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
The motor and rotor configuration is the following:
Front
^
|
Motor3(NW) Motor0(NE)
CW CCW
\ /
,___,
| |
| |
|___|
/ \
CCW CW
Motor2(SW) Motor1(SE)
-->
<airframe name="quadrotor_lisa_mxs">
<description>LadyBird quadrotor frame equiped with Lisa/MXS 1.0 with four brushed motors in an X configuration.
</description>
<firmware name="rotorcraft">
<target name="ap" board="lisa_mxs_1.0">
<define name="REMAP_UART3" value="TRUE" />
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
</target>
<target name="nps" board="pc">
<module name="fdm" type="gazebo"/>
</target>
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors.
-->
<!-- Setting the PWM timer base frequency to 36MHz -->
<define name="PWM_BASE_FREQ" value="36000000"/>
<!-- Setting the PWM interval to 36KHz -->
<define name="SERVO_HZ" value="36000"/>
</module>
<module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="UART3"/>
<configure name="MODEM_BAUD" value="B115200"/>
</module>
<module name="radio_control" type="datalink"/>
<module name="imu" type="lisa_mx_v2.1"/>
<module name="gps" type="ublox">
<configure name="GPS_PORT" value="UART2"/>
<configure name="GPS_BAUD" value="B38400"/>
</module>
<module name="gps" type="ubx_ucenter"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins"/>
<module name="air_data">
<define name="AIR_DATA_CALC_AMSL_BARO" value="TRUE"/>
</module>
<module name="send_imu_mag_current"/>
</firmware>
<servos driver="Pwm">
<servo name="NE" no="0" min="0" neutral="50" max="1000"/>
<servo name="SE" no="5" min="0" neutral="50" max="1000"/>
<servo name="SW" no="4" min="0" neutral="50" max="1000"/>
<servo name="NW" no="1" min="0" neutral="50" max="1000"/>
</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="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<define name="TYPE" value="QUAD_X"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="NE" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="SE" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
<set servo="SW" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
<set servo="NW" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
</command_laws>
<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="135." unit="deg"/>
<define name="ACCEL_X_NEUTRAL" value="0"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="0"/>
<!-- MAGNETO CALIBRATION DELFT -->
<define name="MAG_X_NEUTRAL" value="286"/>
<define name="MAG_Y_NEUTRAL" value="-72"/>
<define name="MAG_Z_NEUTRAL" value="97"/>
<define name="MAG_X_SENS" value="3.94431833863" integer="16"/>
<define name="MAG_Y_SENS" value="4.14629702271" integer="16"/>
<define name="MAG_Z_SENS" value="4.54518768636" integer="16"/>
<!-- MAGNETO CURRENT CALIBRATION -->
<define name="MAG_X_CURRENT_COEF" value="0.0103422023767"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0084568317783"/>
<define name="MAG_Z_CURRENT_COEF" value="-0.01935617335"/>
</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_PSI" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="SP_MAX_P" value="90." unit="deg/s"/>
<define name="DEADBAND_R" value="250"/>
<define name="DEADBAND_A" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="400." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="90." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="500"/>
<define name="PSI_DGAIN" value="300"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value="0"/>
<define name="THETA_DDGAIN" value="0"/>
<define name="PSI_DDGAIN" value=" 300"/>
<define name="PHI_AGAIN" value="0"/>
<define name="THETA_AGAIN" value="0"/>
<define name="PSI_AGAIN" value="0"/>
</section>
<section name="INS" prefix="INS_">
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="276"/>
<define name="HOVER_KD" value="455"/>
<define name="HOVER_KI" value="100"/>
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.5"/>
</section>
<section name="AHRS" prefix="AHRS_">
<define name="H_X" value=" 0.47577"/>
<define name="H_Y" value=" 0.11811"/>
<define name="H_Z" value=" 0.87161"/>
<define name="PROPAGATE_FREQUENCY" value="500"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="39"/>
<define name="DGAIN" value="50"/>
<define name="IGAIN" value="19"/>
</section>
<section name="MISC">
<define name="VoltageOfAdc(adc)" value="(adc)*0.00162f" />
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<define name="GAZEBO_AC_NAME" value="simple_x_quad" type="string"/>
<define name="ACTUATOR_THRUSTS" value="1.55, 1.55, 1.55, 1.55" type="float[]"/>
<define name="ACTUATOR_TORQUES" value="0.155, 0.155, 0.155, 0.155" type="float[]"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="14000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="3.3" unit="V"/>
<define name="LOW_BAT_LEVEL" value="3.5" unit="V"/>
<define name="MAX_BAT_LEVEL" value="4.1" unit="V"/>
</section>
</airframe>
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