mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-24 13:55:51 +08:00
Gautier Hattenberger
194 lines
7.4 KiB
XML
194 lines
7.4 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!-- this is a quadrotor frame in X-configuration equiped with
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* Autopilot: Elle0 1.2 with STM32F4 http://wiki.paparazziuav.org/wiki/Elle0
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* IMU: MPU9250 & MS5611 http://wiki.paparazziuav.org/wiki/Elle0#IMU
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* Actuators: PWM motor controllers http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
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* GPS: Ublox http://wiki.paparazziuav.org/wiki/Subsystem/gps
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* RC: two Spektrum sats http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
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-->
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<airframe name="Quadrotor Elle0 pwm">
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<firmware name="rotorcraft">
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<target name="ap" board="elle0_1.2">
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</target>
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<target name="nps" board="pc">
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<module name="fdm" type="jsbsim"/>
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</target>
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<module name="radio_control" type="spektrum">
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<define name="RADIO_MODE" value="RADIO_FLAP"/>
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<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
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<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
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</module>
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<module name="motor_mixing"/>
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<module name="actuators" type="pwm">
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<define name="SERVO_HZ" value="400"/>
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</module>
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<module name="telemetry" type="transparent"/>
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<module name="imu" type="elle0"/>
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<module name="gps" type="ublox"/>
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<module name="stabilization" type="int_quat"/>
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<module name="ahrs" type="float_mlkf">
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<!-- Uncomment to enable all axis update from the Magnetometer. Do
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it only if you have a very well calibrated and tested
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magnetometer otherwise your attitude will drift. -->
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<!--define name="AHRS_MAG_UPDATE_ALL_AXES" value="1"/-->
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</module>
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<module name="ins" type="hff"/>
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<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
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</firmware>
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<modules>
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<module name="gps" type="ubx_ucenter"/>
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<module name="geo_mag"/>
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<module name="air_data"/>
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</modules>
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<servos driver="Pwm">
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<servo name="FR" no="0" min="1000" neutral="1100" max="2000"/>
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<servo name="BR" no="1" min="1000" neutral="1100" max="2000"/>
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<servo name="BL" no="2" min="1000" neutral="1100" max="2000"/>
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<servo name="FL" no="3" min="1000" neutral="1100" max="2000"/>
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</servos>
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<commands>
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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="THRUST" failsafe_value="0"/>
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</commands>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
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<define name="TYPE" value="QUAD_X"/>
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</section>
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<command_laws>
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<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
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<set servo="FR" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
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<set servo="BR" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
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<set servo="BL" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
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<set servo="FL" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
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</command_laws>
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<section name="IMU" prefix="IMU_">
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<!-- replace this with your own calibration -->
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<define name="MAG_X_NEUTRAL" value="30"/>
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<define name="MAG_Y_NEUTRAL" value="127"/>
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<define name="MAG_Z_NEUTRAL" value="140"/>
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<define name="MAG_X_SENS" value="7.11726808648" integer="16"/>
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<define name="MAG_Y_SENS" value="7.09366475279" integer="16"/>
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<define name="MAG_Z_SENS" value="6.84467824688" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="-52"/>
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<define name="ACCEL_Y_NEUTRAL" value="-4"/>
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<define name="ACCEL_Z_NEUTRAL" value="-7"/>
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<define name="ACCEL_X_SENS" value="2.45056441681" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.44991708802" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.44199722843" integer="16"/>
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<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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</section>
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<section name="AHRS" prefix="AHRS_">
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<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
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<define name="H_X" value="0.3770441"/>
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<define name="H_Y" value="0.0193986"/>
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<define name="H_Z" value="0.9259921"/>
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</section>
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<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoints -->
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<define name="SP_MAX_PHI" value="45." unit="deg"/>
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<define name="SP_MAX_THETA" value="45." unit="deg"/>
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<define name="SP_MAX_R" value="90." unit="deg/s"/>
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<define name="DEADBAND_A" value="0"/>
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<define name="DEADBAND_E" value="0"/>
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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="400" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.85"/>
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<define name="REF_MAX_P" value="400." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_Q" value="400" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.85"/>
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<define name="REF_MAX_Q" value="400." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_R" value="250" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.85"/>
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<define name="REF_MAX_R" value="180." unit="deg/s"/>
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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="1000"/>
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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="1000"/>
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<define name="THETA_DGAIN" value="400"/>
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<define name="THETA_IGAIN" value="200"/>
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<define name="PSI_PGAIN" value="500"/>
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<define name="PSI_DGAIN" value="300"/>
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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="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="HOVER_KP" value="150"/>
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<define name="HOVER_KD" value="80"/>
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<define name="HOVER_KI" value="20"/>
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<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
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<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="MAX_BANK" value="20" unit="deg"/>
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<define name="USE_SPEED_REF" value="TRUE"/>
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<define name="PGAIN" value="50"/>
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<define name="DGAIN" value="100"/>
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<define name="AGAIN" value="70"/>
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<define name="IGAIN" value="20"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
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<define name="JSBSIM_MODEL" value="simple_x_quad" type="string"/>
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<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
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<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
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<define name="JS_AXIS_MODE" value="4"/>
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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_HOVER_Z_HOLD"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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</section>
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<section name="BAT">
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
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</section>
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</airframe>
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