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Bart_heliDD_INDI.xml
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Bart_heliDD_INDI.xml
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
/home/microuav/paparazzi/sw/tools/bluegiga_usb_dongle/bluegiga_usb_driver /dev/ttyACM2 00:07:80:2d:d6:d9 4242 4252
-->
<airframe name="GeniusDD">
<firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0">
<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="0"/>
<module name="radio_control" type="datalink">
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
</module>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
</target>
<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="0"/>
<module name="actuators" type="pwm">
<define name="TIM5_SERVO_HZ" value="300"/>
<define name="SERVO_HZ" value="300"/>
<define name="USE_SERVOS_1AND2"/>
</module>
<configure name="USE_MAGNETOMETER" value="1"/>
<module name="telemetry" type="bluegiga"/>
<module name="imu" type="lisa_s_v1.0"/>
<module name="gps" type="ublox"/>
<module name="stabilization" type="heli_indi"/> <!-- int_quat / heli_indi -->
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins"/>
<!-- <module name="rpm_sensor" type="eagletree"/>
<module name="stabilization" type="heli_indi"/>
<module name="rpm_sensor" type="eagletree"/>
<module name="ahrs" type="int_cmpl_quat_notch"/>-->
</firmware>
<modules main_freq="512">
<!--<load name="geo_mag.xml"/>-->
<load name="air_data.xml"/>
<load name="gps_ubx_ucenter.xml"/>
<load name="heli_swashplate_mixing.xml"/>
<load name="heli_throttle_curve.xml"/>
</modules>
<servos driver="Pwm">
<servo name="THROTTLE" no="1" min="1890" neutral="1890" max="1430"/>
<servo name="FRONT" no="5" min="1700" neutral="1300" max="1000"/>
<servo name="RIGHTBACK" no="4" min="1850" neutral="1450" max="1150"/>
<servo name="LEFTBACK" no="0" min="1900" neutral="1550" max="1200"/>
<servo name="TAIL" no="2" min="0" neutral="0" max="3500"/>
</servos>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
<axis name="FMODE" failsafe_value="-9600"/>
</commands>
<rc_commands>
<set command="THRUST" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="YAW" value="@YAW"/>
<set command="FMODE" value="-9600"/>
</rc_commands>
<section name="MIXING" prefix="SW_MIXING_">
<!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
<define name="TYPE" value="H120"/>
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_COLL" value="0"/>
</section>
<command_laws>
<call fun="throttle_curve_run(autopilot_motors_on, values)"/>
<call fun="swashplate_mixing_run(values)"/>
<set servo="THROTTLE" value="throttle_curve.throttle"/>
<set servo="FRONT" value="swashplate_mixing.commands[SW_FRONT]"/>
<set servo="RIGHTBACK" value="swashplate_mixing.commands[SW_RIGHTBACK]"/>
<set servo="LEFTBACK" value="swashplate_mixing.commands[SW_LEFTBACK]"/>
<set servo="TAIL" value="@YAW + throttle_curve.throttle*2800/7000"/>
</command_laws>
<heli_curves>
<curve throttle="0,4800,7200,8400,9600" collective="-5500,-3750,-1500,250,2000"/>
<!-- <curve throttle="0,4800,7200,8400,9600" collective="-1000,750,2500,4250,6000"/>-->
</heli_curves>
<section name="MISC">
<define name="NAV_CLIMB_VSPEED" value="2.5"/>
<define name="NAV_DESCEND_VSPEED" value="-1.0"/>
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="ACCEL_X_NEUTRAL" value="11"/>
<define name="ACCEL_Y_NEUTRAL" value="11"/>
<define name="ACCEL_Z_NEUTRAL" value="-25"/>
<!-- replace this with your own calibration -->
<define name="MAG_X_NEUTRAL" value="127"/>
<define name="MAG_Y_NEUTRAL" value="7"/>
<define name="MAG_Z_NEUTRAL" value="-96"/>
<define name="MAG_X_SENS" value="3.54947831816" integer="16"/>
<define name="MAG_Y_SENS" value="3.86771086071" integer="16"/>
<define name="MAG_Z_SENS" value="4.03381407698" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="90.0" unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="15.0" unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="90.0" unit="deg"/>
</section>
<section name="AHRS" prefix="AHRS_">
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
<define name="H_X" value="0.3770441"/>
<define name="H_Y" value="0.0193986"/>
<define name="H_Z" value="0.9259921"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" unit="deg/s" value="280"/>
<define name="SP_MAX_Q" unit="deg/s" value="280"/>
<define name="SP_MAX_R" unit="deg/s" value="140"/>
<define name="DEADBAND_P" value="20"/>
<define name="DEADBAND_Q" value="20"/>
<define name="DEADBAND_R" value="200"/>
<!-- feedback -->
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
<define name="IGAIN_P" value="75"/>
<define name="IGAIN_Q" value="75"/>
<define name="IGAIN_R" value="50"/>
</section>
<section name="STABILIZATION_ATTITUDE_HELI_INDI" prefix="STABILIZATION_ATTITUDE_HELI_INDI_">
<define name="ROLL_P" value="12"/><!--20 3052 -->
<define name="PITCH_P" value="8"/><!--20 3052 -->
<define name="YAW_P" value="10"/>
<define name="YAW_D" value="30"/>
<define name="USE_FAST_DYN_FILTERS" value="1" />
<define name="FAST_DYN_ROLL_BW" value="68" />
<define name="FAST_DYN_PITCH_BW" value="17" />
<define name="GINV_ROLL_TO_ROLL" value="12000" />
<define name="GINV_PITCH_TO_PITCH" value="13000" />
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="65." unit="deg"/>
<define name="SP_MAX_THETA" value="65." unit="deg"/>
<define name="SP_MAX_R" value="250." unit="deg/s"/>
<define name="DEADBAND_R" value="200"/>
<!-- 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.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="3003"/>
<define name="PHI_DGAIN" value="333"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="2172"/>
<define name="THETA_DGAIN" value="329"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="2074"/>
<define name="PSI_DGAIN" value="1479"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 200"/>
<define name="THETA_DDGAIN" value=" 200"/>
<define name="PSI_DDGAIN" value=" 200"/>
</section>
<section name="INS" prefix="INS_">
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="35" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="AGAIN" value="70"/>
<define name="IGAIN" value="20"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/>
<!--define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/-->
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="14000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="2.8" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="3.0" unit="V"/>
<define name="LOW_BAT_LEVEL" value="3.2" unit="V"/>
<define name="MAX_BAT_LEVEL" value="4.1" unit="V"/>
</section>
</airframe>