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A1000_NOVA.xml
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A1000_NOVA.xml
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<airframe name="A1000 NOVA">
<!-- BOOZ2_NoVa
BOOZ2_MAIN_002 main board
BOOZ2_IMU_002 IMU
BOOZ2_GPS_002 LEA-5H GPS
Datamodems configured for 57600 baud
ZEF100 Speed Controllers
-->
<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="RIGHT" no="2" min="0" neutral="0" max="255"/>
<servo name="LEFT" 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>
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_CHAN" value="1"/>
<define name="GYRO_Q_CHAN" value="0"/>
<define name="GYRO_R_CHAN" value="2"/>
<define name="GYRO_P_NEUTRAL" value="31675"/>
<define name="GYRO_Q_NEUTRAL" value="31650"/>
<define name="GYRO_R_NEUTRAL" value="31475"/>
<define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
<define name="GYRO_Q_SENS" value=" 1.01" integer="16"/>
<define name="GYRO_R_SENS" value=" 1.01" integer="16"/>
<define name="ACCEL_X_CHAN" value="5"/>
<define name="ACCEL_Y_CHAN" value="3"/>
<define name="ACCEL_Z_CHAN" value="4"/>
<define name="ACCEL_X_SENS" value=" 2.57091959" integer="16"/>
<define name="ACCEL_Y_SENS" value=" 2.55833628" integer="16"/>
<define name="ACCEL_Z_SENS" value=" 2.57095664" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="32875"/>
<define name="ACCEL_Y_NEUTRAL" value="32516"/>
<define name="ACCEL_Z_NEUTRAL" value="32398"/>
<define name="MAG_X_CHAN" value="0"/>
<define name="MAG_Y_CHAN" value="1"/>
<define name="MAG_Z_CHAN" value="2"/>
<define name="MAG_X_NEUTRAL" value="-22"/>
<define name="MAG_Y_NEUTRAL" value="-14"/>
<define name="MAG_Z_NEUTRAL" value="16"/>
<define name="MAG_X_SENS" value="4.79355327494" integer="16"/>
<define name="MAG_Y_SENS" value=" 5.04941795802" integer="16"/>
<define name="MAG_Z_SENS" value=" 2.98000294999" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)"/>
<define name="BODY_TO_IMU_PSI" value="RadOfDeg(-90.)"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="10000" />
<define name="SP_MAX_Q" value="10000" />
<define name="SP_MAX_R" value="10000" />
<define name="DEADBAND_P" value="0" />
<define name="DEADBAND_Q" value="0" />
<define name="DEADBAND_R" value="200" />
<define name="REF_TAU" value="4" />
<!-- 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" />
<!-- feedforward -->
<define name="DDGAIN_P" value="300" />
<define name="DDGAIN_Q" value="300" />
<define name="DDGAIN_R" value="300" />
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
<define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
<define name="SP_MAX_R" value="RadOfDeg(180.)"/><!-- Maximum speed in deg/s-->
<define name="DEADBAND_R" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="RadOfDeg(300.)"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="RadOfDeg(180.)"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<!--
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
-->
<define name="PHI_PGAIN" value="-1000"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="-1000"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/>
<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="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="2" />
<define name="MAX_MOTOR" value="210" />
<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="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<define name="NB" value="4" />
<define name="ADDR" value="{ 0x52, 0x58, 0x54, 0x56 }" />
</section>
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="14.9" 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="REF_MIN_ZDD" value="-1.5*9.81"/>
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="-150"/>
<define name="HOVER_KD" value="-80"/>
<define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!-- <define name="INV_M" value="0.118"/> -->
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-50"/>
<define name="DGAIN" value="-60"/>
<define name="IGAIN" value="-15"/>
<define name="NGAIN" value="-0"/>
<define name="AGAIN" value="-0"/>
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.0" unit="V"/>
<define name="BATTERY_SENS" value="0.18" integer="16"/>
<!-- <define name="BATTERY_SENS" value="1" integer="16"/>-->
</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_NAV"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{"front_motor", "back_motor", "right_motor", "left_motor"}"/>
<define name="INITIAL_CONDITITONS" value=""reset00""/>
<define name="SENSORS_PARAMS" value=""nps_sensors_params_booz2_a1.h""/>
</section>
<section name="MISC">
<define name="FACE_REINJ_1" value="1024"/>
</section>
<firmware name="rotorcraft">
<target name="ap" board="booz_1.0">
<configure name="FLASH_MODE" value="IAP"/> <!-- default for the board but putting it here as example-->
<define name="RADIO_KILL_SWITCH" value="RADIO_CONTROL_SWITCH1"/>
<define name="MODEM_BAUD" value = "B57600"/>
<define name="BOOZ_START_DELAY" value = "3"/>
<define name="GPS_LAG" value = "0.8"/>
<!-- <define name="KILL_MOTORS"/> -->
<define name="FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R" />
<define name="GPS_USE_LATLONG"/>
<define name="USE_ADAPT_HOVER"/>
<define name="USE_INS_NAV_INIT"/>
</target>
<target name="sim" board="pc"/>
<subsystem name="fdm" type="nps"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="mkk"/>
<subsystem name="imu" type="b2_v1.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/>
<subsystem name="ins" type="hff"/>
</firmware>
<firmware name="booz_test_progs">
<target name="test_telemetry" board="booz_1.0"/>
<target name="test_baro" board="booz_1.0"/>
<target name="test_spektrum" board="booz_1.0"/>
</firmware>
<!-- old makefile version
<makefile>
ARCH=lpc21
FLASH_MODE=IAP
BOARD_CFG = \"boards/booz2_v1_0.h\"
# prevents motors from ever starting
ap.CFLAGS += -DKILL_MOTORS
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile
ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
# radio killswitch
ap.CFLAGS += -DRADIO_KILL_SWITCH=RADIO_CONTROL_SWITCH1
ap.CFLAGS += -DMODEM_BAUD=B57600
include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
include $(CFG_BOOZ)/subsystems/booz_gps_ublox.makefile
include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
include $(CFG_BOOZ)/subsystems/ins_hff.makefile
#set USE_GPS lag for horizontal filter
ap.CFLAGS += -DGPS_LAG=0.8
#-DUSE_GPS_ACC4R
ap.CFLAGS += -DGPS_USE_LATLONG
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
</makefile>
-->
</airframe>