mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 15:30:08 +08:00
Felix Ruess
197 lines
6.7 KiB
XML
197 lines
6.7 KiB
XML
<!-- this is a variable pitch quadrotor -->
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<airframe name="lisa_asctec">
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<servos min="0" neutral="0" max="0xff">
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<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
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<servo name="BACK" no="1" min="0" neutral="0" max="255"/>
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<servo name="LEFT" no="2" min="0" neutral="0" max="255"/>
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<servo name="RIGHT" no="3" min="0" neutral="0" max="255"/>
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</servos>
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<commands>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="0"/>
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</commands>
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<section name="SUPERVISION" prefix="SUPERVISION_">
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<define name="MIN_MOTOR" value="3"/>
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<define name="MAX_MOTOR" value="200"/>
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<define name="TRIM_A" value="0"/>
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<define name="TRIM_E" value="0"/>
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<define name="TRIM_R" value="0"/>
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<define name="NB_MOTOR" value="4"/>
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<define name="SCALE" value="256"/>
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<define name="ROLL_COEF" value="{ 0 , 0, 256, -256 }"/>
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<define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/>
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<define name="YAW_COEF" value="{ -256, -256, 256, 256 }"/>
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<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<define name="GYRO_P_NEUTRAL" value="32685"/>
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<define name="GYRO_Q_NEUTRAL" value="33261"/>
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<define name="GYRO_R_NEUTRAL" value="32707"/>
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<define name="GYRO_P_SENS" value="1.096691894" integer="16"/>
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<define name="GYRO_Q_SENS" value="1.066804199" integer="16"/>
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<define name="GYRO_R_SENS" value="1.117463379" integer="16"/>
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<define name="ACCEL_X_SENS" value="2.58358915626" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.58164052066" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.59655739465" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="32731"/>
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<define name="ACCEL_Y_NEUTRAL" value="32101"/>
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<define name="ACCEL_Z_NEUTRAL" value="32660"/>
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<define name="MAG_X_SENS" value="5.32718104135" integer="16"/>
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<define name="MAG_Y_SENS" value="4.87857821202" integer="16"/>
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<define name="MAG_Z_SENS" value="3.11986612709" integer="16"/>
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<define name="MAG_X_NEUTRAL" value="-43"/>
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<define name="MAG_Y_NEUTRAL" value=" 49"/>
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<define name="MAG_Z_NEUTRAL" value="-66"/>
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<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0.)"/>
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<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0.)"/>
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<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 45.)"/>
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</section>
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<section name="AUTOPILOT">
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<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_DIRECT"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="BATTERY_SENS" value="0.48" integer="16"/>
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</section>
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<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
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<define name="SP_MAX_P" value="10000"/>
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<define name="SP_MAX_Q" value="10000"/>
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<define name="SP_MAX_R" value="10000"/>
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<define name="GAIN_P" value="-400"/>
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<define name="GAIN_Q" value="-400"/>
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<define name="GAIN_R" value="-350"/>
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</section>
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<section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
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<!-- setpoints -->
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<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
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<define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
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<define name="SP_MAX_R" value="RadOfDeg(90.)"/>
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<define name="DEADBAND_R" value="250"/>
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<!-- reference -->
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<define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
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<define name="REF_ZETA_P" value="0.85"/>
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<define name="REF_MAX_P" value="RadOfDeg(300.)"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
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<define name="REF_ZETA_Q" value="0.85"/>
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<define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
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<define name="REF_ZETA_R" value="0.85"/>
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<define name="REF_MAX_R" value="RadOfDeg(180.)"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
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<!-- feedback -->
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<define name="PHI_PGAIN" value="-2000"/>
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<define name="PHI_DGAIN" value="-400"/>
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<define name="PHI_IGAIN" value="-200"/>
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<define name="THETA_PGAIN" value="-2000"/>
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<define name="THETA_DGAIN" value="-400"/>
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<define name="THETA_IGAIN" value="-400"/>
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<define name="PSI_PGAIN" value="-1000"/>
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<define name="PSI_DGAIN" value="-350"/>
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<define name="PSI_IGAIN" value="-10"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value=" 300"/>
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<define name="THETA_DDGAIN" value=" 300"/>
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<define name="PSI_DDGAIN" value=" 300"/>
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</section>
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<section name="INS" prefix="BOOZ_INS_">
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<define name="BARO_SENS" value="15." integer="16"/>
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</section>
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<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
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<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
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<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
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<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
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<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
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<define name="MAX_SUM_ERR" value="2000000"/>
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<define name="HOVER_KP" value="-500"/>
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<define name="HOVER_KD" value="-200"/>
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<define name="HOVER_KI" value="-100"/>
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<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
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<define name="RC_CLIMB_COEF" value ="163"/>
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<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
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<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
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<define name="INV_M" value ="0.2"/>
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</section>
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<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
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<define name="PGAIN" value="-100"/>
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<define name="DGAIN" value="-100"/>
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<define name="IGAIN" value="-0"/>
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</section>
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<section name="MISC">
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<define name="FACE_REINJ_1" value="1024"/>
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</section>
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<makefile>
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ARCH=stm32
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BOARD_CFG=\"boards/lisa_0.99.h\"
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FLASH_MODE = JTAG
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ap.CFLAGS += -DMODEM_BAUD=B57600
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ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"radio_control/booz_radio_control_spektrum_dx7eu.h\"
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ap.CFLAGS += -DGPS_USE_LATLONG
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ap.CFLAGS += -DGPS_PORT_ID=GPS_PORT_UART1
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include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
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include $(CFG_BOOZ)/booz2_autopilot.makefile
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include $(CFG_BOOZ)/subsystems/booz2_radio_control_spektrum.makefile
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include $(CFG_BOOZ)/subsystems/booz2_actuators_asctec_v2.makefile
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include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
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include $(CFG_BOOZ)/subsystems/booz_gps_ublox.makefile
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include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
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include $(PAPARAZZI_SRC)/conf/autopilot/lisa_test_progs.makefile
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</makefile>
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</airframe>
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