mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-25 14:35:51 +08:00
Gautier Hattenberger
363dec8693
* [autopilot] refactor autopilot API for both firmwares With this, fixedwing and rotorcraft are mostly using the same interface for the autopilot. Some specific code and messages handling are still firmware dependent. A large part of the autopilot logic of the fixedwing is moved from main_ap to autopilot_static. More getter/setter functions are provided. * [autopilot] update the rest of the system and the conf for using the refactored autopilot API * [autopilot] fix some errors from CI servers * [actuators] use dummy actuators module to prevent autoloading * Rename Bart_heliDD_INDI.xml to tudelft_bs_helidd_indi.xml * Rename Bart_heliDD_pid.xml to tudelft_bs_helidd_pid.xml * Delete tudelft_course2016_bebop_colorfilter.xml * Delete tudelft_course2016_bebop_avoider.xml * [actuators] don't autoload actuators when set to 'none' * [gcs] autodetect firmware for strip mode button
221 lines
7.8 KiB
XML
221 lines
7.8 KiB
XML
<!-- this is a CJMCU quadrotor, it comes with four brushed motors in an X configuration. -->
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<!--
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The motor and rotor configuration is the following:
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Front
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^
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Motor0(NW) Motor1(NE)
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CW CCW
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\ /
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,___,
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|___|
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/ \
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CCW CW
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Motor3(SW) Motor2(SE)
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-->
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<!--
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Applicable configuration:
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airframe="airframes/examples/cjmcu.xml"
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radio="radios/mc24q.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/rotorcraft_basic.xml"
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settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
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-->
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<airframe name="cjmcu">
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<firmware name="rotorcraft">
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<define name="PPRZ_TRIG_INT_COMPR_FLASH"/>
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<define name="PPRZ_TRIG_INT_COMPR_HIGHEST"/>
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<target name="ap" board="cjmcu">
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<module name="radio_control" type="ppm"/>
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<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
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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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<module name="radio_control" type="ppm"/>
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</target>
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<module name="motor_mixing"/>
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<module name="actuators" type="pwm">
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<!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
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With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
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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.
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-->
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<!-- Setting the PWM timer base frequency to 36MHz -->
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<define name="PWM_BASE_FREQ" value="36000000"/>
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<!-- Setting the PWM interval to 36KHz -->
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<define name="SERVO_HZ" value="36000"/>
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<!--define name="USE_SERVOS_1AND2"/-->
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</module>
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<module name="telemetry" type="transparent"/>
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<module name="imu" type="mpu60x0_i2c">
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<configure name="IMU_MPU60X0_I2C_DEV" value="i2c1"/>
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<configure name="USE_MAGNETOMETER" value="FALSE"/>
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</module>
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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="int_cmpl_quat"/>
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<module name="ins"/>
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</firmware>
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<modules main_freq="512">
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<module name="gps" type="ubx_ucenter"/>
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<module name="send_imu_mag_current"/>
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</modules>
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<servos driver="Pwm">
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<servo name="NW" no="0" min="0" neutral="50" max="1000"/>
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<servo name="NE" no="1" min="0" neutral="50" max="1000"/>
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<servo name="SE" no="2" min="0" neutral="50" max="1000"/>
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<servo name="SW" no="3" min="0" neutral="50" max="1000"/>
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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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<command_laws>
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<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
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<set servo="NW" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
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<set servo="NE" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
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<set servo="SE" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
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<set servo="SW" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
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</command_laws>
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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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<section name="IMU" prefix="IMU_">
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<define name="BODY_TO_IMU_PHI" value="180." 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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<define name="ACCEL_X_NEUTRAL" value="0"/>
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<define name="ACCEL_Y_NEUTRAL" value="0"/>
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<define name="ACCEL_Z_NEUTRAL" value="0"/>
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<!-- MAGNETO CALIBRATION DELFT -->
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<define name="MAG_X_NEUTRAL" value="286"/>
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<define name="MAG_Y_NEUTRAL" value="-72"/>
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<define name="MAG_Z_NEUTRAL" value="97"/>
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<define name="MAG_X_SENS" value="3.94431833863" integer="16"/>
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<define name="MAG_Y_SENS" value="4.14629702271" integer="16"/>
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<define name="MAG_Z_SENS" value="4.54518768636" integer="16"/>
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<!-- MAGNETO CURRENT CALIBRATION -->
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<define name="MAG_X_CURRENT_COEF" value="0.0103422023767"/>
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<define name="MAG_Y_CURRENT_COEF" value="0.0084568317783"/>
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<define name="MAG_Z_CURRENT_COEF" value="-0.01935617335"/>
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</section>
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<section name="AUTOPILOT">
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<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
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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="MILLIAMP_AT_FULL_THROTTLE" value="14000"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="3.3" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="3.5" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="4.1" unit="V"/>
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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_PSI" value="45." unit="deg"/>
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<define name="SP_MAX_R" value="90." unit="deg/s"/>
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<define name="SP_MAX_P" value="90." unit="deg/s"/>
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<define name="DEADBAND_R" value="250"/>
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<define name="DEADBAND_A" value="250"/>
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<!-- reference -->
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<define name="REF_OMEGA_P" value="800" 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="800" 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="500" 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="90." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
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<!-- feedback -->
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<define name="PHI_PGAIN" value="400"/>
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<define name="PHI_DGAIN" value="200"/>
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<define name="PHI_IGAIN" value="100"/>
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<define name="THETA_PGAIN" value="400"/>
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<define name="THETA_DGAIN" value="200"/>
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<define name="THETA_IGAIN" value="100"/>
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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="0"/>
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<define name="THETA_DDGAIN" value="0"/>
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<define name="PSI_DDGAIN" value=" 300"/>
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<define name="PHI_AGAIN" value="0"/>
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<define name="THETA_AGAIN" value="0"/>
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<define name="PSI_AGAIN" value="0"/>
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</section>
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<section name="INS" prefix="INS_">
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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="276"/>
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<define name="HOVER_KD" value="455"/>
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<define name="HOVER_KI" value="100"/>
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<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.5"/>
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</section>
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<section name="AHRS" prefix="AHRS_">
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<define name="H_X" value=" 0.47577"/>
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<define name="H_Y" value=" 0.11811"/>
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<define name="H_Z" value=" 0.87161"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="PGAIN" value="39"/>
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<define name="DGAIN" value="50"/>
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<define name="IGAIN" value="19"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
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<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
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<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
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</section>
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</airframe>
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