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flash_esc_firmware.xml
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flash_esc_firmware.xml
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<?xml version="1.0" encoding="UTF-8"?>
<!--
/****************************************************************************
* Copyright (c) 2017 Michael Shomin. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name ATLFlight nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
-->
<!-- This file is intended to flash ESC firmware.
It is not intended to be a flyable configuration -->
<SnavParameters>
<!-- These are the parameters for flashing ESC firmware -->
<esc_firmware_params>
<param name="firmware_file_name" value="snav_esc_firmware_v12.bin"/>
<param name="config_file_name" value="snav_esc_params_3s_mn1804x2400_gf5040.eep"/>
<param name="force_firmware_update" value="1"/>
<param name="force_config_update" value="1"/>
<param name="config_bit_rate" value="57600"/>
</esc_firmware_params>
<!-- ====================================================================== -->
<!-- All the following paramters are required by snav.
The do not matter for ESC flashing and are not intended to be flyable.
After flashing esc firmware, use a different snav configuration xml file -->
<!-- ====================================================================== -->
<orientation_params>
<param name="imu_R00" value="1.0"/>
<param name="imu_R01" value="0.0"/>
<param name="imu_R02" value="0.0"/>
<param name="imu_R10" value="0.0"/>
<param name="imu_R11" value="-1.0"/>
<param name="imu_R12" value="0.0"/>
<param name="imu_R20" value="0.0"/>
<param name="imu_R21" value="0.0"/>
<param name="imu_R22" value="-1.0"/>
<param name="mag_R00" value="-1.0"/>
<param name="mag_R01" value="0.0"/>
<param name="mag_R02" value="0.0"/>
<param name="mag_R10" value="0.0"/>
<param name="mag_R11" value="1.0"/>
<param name="mag_R12" value="0.0"/>
<param name="mag_R20" value="0.0"/>
<param name="mag_R21" value="0.0"/>
<param name="mag_R22" value="-1.0"/>
</orientation_params>
<device_drivers_params>
<param name="rc0_driver_file_name" value="librc0_spektrum_driver.so"/>
<param name="baro0_driver_file_name" value="libbaro0_bmp280_vsense0_ltc2946_driver.so"/>
<param name="vsense0_driver_file_name" value="libbaro0_bmp280_vsense0_ltc2946_driver.so"/>
<param name="isense0_driver_file_name" value="libbaro0_bmp280_vsense0_ltc2946_driver.so"/>
<param name="mag0_driver_file_name" value="libmag0_hmc5883l_driver.so"/>
<param name="sonar0_driver_file_name" value="libsonar0_maxbotix_driver.so"/>
<param name="gnss0_driver_file_name" value="libgnss0_ublox_driver.so"/>
<param name="imu0_driver_file_name" value="libimu_mpu_driver.so"/>
<param name="imu0_update_rate_hz" value="500"/>
<param name="imu0_hw_accel_lpf_hz" value="184"/>
<param name="imu0_hw_gyro_lpf_hz" value="184"/>
<param name="imu0_sw_accel_lpf_hz" value="0"/>
<param name="imu0_sw_gyro_lpf_hz" value="0"/>
</device_drivers_params>
<device_drivers_params>
<param name="imu0_device_path" value="/dev/null"/>
<!-- This is the wrong address for imu0. It is intended to make this param file not
suitable for flight. This file is only intended for flash ESC firmware and params -->
<param name="rc0_device_path" value="/dev/tty-1"/>
<param name="esc0_device_path" value="/dev/tty-2"/>
<param name="gnss0_device_path" value="/dev/tty-3"/>
<param name="sonar0_device_path" value="/dev/tty-4"/>
<param name="baro0_device_path" value="/dev/iic-3"/>
<param name="vsense0_device_path" value="/dev/iic-3"/>
<param name="isense0_device_path" value="/dev/iic-3"/>
<param name="mag0_device_path" value="/dev/iic-8"/>
</device_drivers_params>
<orientation_params>
<param name="vehicle_center_to_imu_x" value="0.0700"/>
<param name="vehicle_center_to_imu_y" value="0.01638"/>
<param name="vehicle_center_to_imu_z" value="-0.01650"/>
</orientation_params>
<position_control_params>
<param name="basethrust" value="410"/>
</position_control_params>
<optic_flow_estimator_params>
<param name="camera_offset_x" value="0.055"/>
<param name="camera_offset_y" value="0.0"/>
</optic_flow_estimator_params>
<voltage_monitor_params>
<param name="voltage_warn_threshold" value="10.8"/>
<param name="voltage_warn_critical" value="10.57"/>
<param name="voltage_force_landing" value="10.57"/>
<param name="voltage_no_start" value="10"/>
<param name="voltage_warn_threshold_external" value="10.8"/>
<param name="voltage_warn_critical_external" value="10.57"/>
<param name="voltage_force_landing_external" value="10.57"/>
<param name="voltage_no_start_external" value="10"/>
<param name="voltage_landing_reset_threshold" value="11.5"/>
<param name="low_voltage_thrust_slope" value="1000"/>
</voltage_monitor_params>
<att_control_params>
<param name="kp_roll_moment" value="41.91" />
<param name="kp_pitch_moment" value="43.09" />
<param name="kpy" value="64.8"/>
<param name="kd_roll_moment" value="4.85" />
<param name="kd_pitch_moment" value="4.99" />
<param name="kdy" value="10.8"/>
<param name="prop_config_type" value="0" />
<param name="prop_config_Dx" value="0.066"/>
<param name="prop_config_Dy" value="0.091"/>
<param name="prop_config_beta" value="0"/>
<param name="prop_rpm_thrust_curve_a0" value="0.0909"/>
<param name="prop_rpm_thrust_curve_a1" value="0.00011184"/>
<param name="prop_rpm_thrust_curve_a2" value="1.0840e-06"/>
<param name="min_rpm" value="5000"/>
<param name="max_rpm" value="14200"/>
<param name="number_of_props" value="4"/>
</att_control_params>
<esc_interface_params>
<param name="esc_protocol" value="3" />
</esc_interface_params>
<rc_params>
<param name="min_thrust" value="105.0" />
<param name="max_thrust" value="900.0" />
</rc_params>
</SnavParameters>