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f7e2ea999e7d50cc0892312446a5ee87a0414482
paparazzi/conf/airframes/Poine/booz2_a7.xml
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Felix Ruess f7e2ea999e Merge pull request #127 from paparazzi/positive_control_gains 
Positive control gains
2012-02-14 04:38:02 -08:00

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XML
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<!-- this is an asctec frame equiped with Lisa/L#3 and asctec V2 controllers -->
<airframe name="booz2_a7">
<servos min="0" neutral="0" max="0xff">
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" min="0" neutral="0" max="255"/>
<servo name="LEFT" no="2" min="0" neutral="0" max="255"/>
<servo name="RIGHT" no="3" min="0" neutral="0" max="255"/>
</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>
<!-- for the sim -->
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<define name="NB" value="4"/>
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
</section>
<section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="3"/>
<define name="MAX_MOTOR" value="200"/>
<define name="TRIM_A" value="0"/>
<define name="TRIM_E" value="0"/>
<define name="TRIM_R" value="0"/>
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/>
<define name="ROLL_COEF" value="{ 0 , 0, 256, -256 }"/>
<define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/>
<define name="YAW_COEF" value="{ 256, 256, -256, -256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_NEUTRAL" value="32858"/>
<define name="GYRO_Q_NEUTRAL" value="33152"/>
<define name="GYRO_R_NEUTRAL" value="31779"/>
<define name="GYRO_P_SENS" value=" 1.101357422" integer="16"/>
<define name="GYRO_Q_SENS" value=" 1.122670898" integer="16"/>
<define name="GYRO_R_SENS" value=" 1.104890137" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="32899"/>
<define name="ACCEL_Y_NEUTRAL" value="33281"/>
<define name="ACCEL_Z_NEUTRAL" value="32569"/>
<define name="ACCEL_X_SENS" value="2.57702956051" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.57835230627" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.54311399868" integer="16"/>
<define name="MAG_X_NEUTRAL" value="58"/>
<define name="MAG_Y_NEUTRAL" value="92"/>
<define name="MAG_Z_NEUTRAL" value="-3"/>
<define name="MAG_X_SENS" value="4.70018395734" integer="16"/>
<define name="MAG_Y_SENS" value="4.884119848" integer="16"/>
<define name="MAG_Z_SENS" value="2.59926404993" integer="16"/>
<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"/>
</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"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</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="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</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="90." unit="deg/s"/>
<define name="DEADBAND_R" 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="300." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="300." 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="0.85"/>
<define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- gaui props
<define name="PHI_PGAIN" value="900"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="900"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="900"/>
<define name="PSI_DGAIN" value="200"/>
<define name="PSI_IGAIN" value="10"/>
<define name="PHI_DDGAIN" value=" 200"/>
<define name="THETA_DDGAIN" value=" 200"/>
<define name="PSI_DDGAIN" value=" 200"/>
-->
<!-- feedback -->
<define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="2000"/>
<define name="PSI_DGAIN" value="400"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
<define name="THETA_DDGAIN" value=" 300"/>
<define name="PSI_DDGAIN" value=" 300"/>
</section>
<section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value=" 0.51562740288882"/>
<define name="H_Y" value="-0.05707735220832"/>
<define name="H_Z" value=" 0.85490967783446"/>
</section>
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="10." integer="16"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/>
<!--
<define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="0"/>
-->
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!-- <define name="INV_M" value ="0.2"/> -->
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="15"/>
<define name="NGAIN" value="0"/>
</section>
<section name="MISC">
<define name="FACE_REINJ_1" value="1024"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
<!--
<modules main_freq="512">
<load name="vehicle_interface_overo_link.xml"/>
</modules>
-->
<firmware name="rotorcraft">
<!-- <define name="USE_PERSISTENT_SETTINGS"/> -->
<!-- <define name="USE_INS_NAV_INIT"/> -->
<define name="USE_ADAPT_HOVER"/>
<define name="FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R"/>
<target name="ap" board="lisa_l_1.0">
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="asctec"/>
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="b2_v1.1"/>
<subsystem name="gps" type="ublox">
<configure name="GPS_BAUD" value="B57600"/>
</subsystem>
<!--subsystem name="ahrs" type="int_cmpl_euler"/-->
<subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="hff"/>
</firmware>
<firmware name="lisa_test_progs">
<target name="test_led" board="lisa_l_1.0"/>
<target name="test_uart" board="lisa_l_1.0"/>
<target name="test_servos" board="lisa_l_1.0"/>
<target name="test_telemetry" board="lisa_l_1.0"/>
<target name="test_baro" board="lisa_l_1.0"/>
<target name="test_imu_b2" board="lisa_l_1.0"/>
<target name="test_imu_b2_2" board="lisa_l_1.0"/>
<target name="test_imu_aspirin" board="lisa_l_1.0"/>
<target name="test_rc_spektrum" board="lisa_l_1.0"/>
<target name="test_rc_ppm" board="lisa_l_1.0"/>
<target name="test_adc" board="lisa_l_1.0"/>
<target name="test_hmc5843" board="lisa_l_1.0"/>
<target name="test_itg3200" board="lisa_l_1.0"/>
<target name="test_adxl345" board="lisa_l_1.0"/>
<target name="test_esc_mkk_simple" board="lisa_l_1.0"/>
<target name="test_esc_asctecv1_simple" board="lisa_l_1.0"/>
<target name="test_actuators_mkk" board="lisa_l_1.0"/>
<target name="test_actuators_asctecv1" board="lisa_l_1.0"/>
<target name="tunnel_sw" board="lisa_l_1.0"/>
<target name="tunnel_hw" board="lisa_l_1.0"/>
</firmware>
<firmware name="lisa_passthrough">
<target name="overo_test_passthrough" board="lisa_l_1.0" >
<configure name="HOST" value="A7"/>
<configure name="USER" value=""/>
<configure name="TARGET_DIR" value="~"/>
<configure name="PERIODIC_FREQ" value="512"/>
</target>
<target name="stm_passthrough" board="lisa_l_1.0">
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="imu" type="b2_v1.1"/>
</target>
</firmware>
</airframe>
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