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flixr_discovery.xml
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flixr_discovery.xml
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<!DOCTYPE airframe SYSTEM "airframe.dtd">
<!-- ST Model Discovery (http://www.sheng-teng.com/)
TWOG1 (http://paparazzi.enac.fr/wiki/index.php/)
* uBlox LEA5H and Sarantel helix GPS antenna
READ this first
http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
-->
<airframe name="Discovery">
<firmware name="fixedwing">
<target name="ap" board="twog_1.0">
<configure name="PERIODIC_FREQUENCY" value="960"/> <!-- IMU FREQ -->
<configure name="AHRS_PROPAGATE_FREQUENCY" value="120"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="60"/>
<configure name="AHRS_ALIGNER_LED" value="1"/>
<configure name="CPU_LED" value="2"/>
<!--define name="IMU_B2_VERSION_1_0"/-->
<define name="USE_I2C0"/>
<define name="I2C0_VIC_SLOT" value="12"/>
</target>
<target name="sim" board="pc"/>
<define name="LOITER_TRIM"/>
<define name="USE_PITCH_TRIM"/> <!-- basically same as loiter trim, but for adaptive-->
<define name="USE_GYRO_PITCH_RATE"/>
<define name="WIND_INFO"/>
<define name="ALT_KALMAN"/>
<!-- Communication -->
<subsystem name="telemetry" type="transparent"/>
<subsystem name="radio_control" type="ppm"/>
<!--subsystem name="settings" type="rc"/-->
<!-- Control -->
<subsystem name="control" type="new"/>
<subsystem name="navigation" type="extra"/>
<subsystem name="ahrs" type="float_dcm"/>
<!-- Sensors -->
<subsystem name="imu" type="booz"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="current_sensor">
<configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
</subsystem>
</firmware>
<firmware name="setup">
<target name="tunnel" board="twog_1.0" />
<target name="usb_tunnel_0" board="twog_1.0" />
<target name="setup_actuators" board="twog_1.0" />
</firmware>
<!-- ******************* MODULES ********************************** -->
<modules main_freq="60">
<load name="servo_switch.xml">
<define name="SERVO_SWITCH_ON_VALUE" value="1100"/>
<define name="SERVO_SWITCH_OFF_VALUE" value="1900"/>
<define name="SERVO_SWITCH_SERVO" value="SERVO_HATCH"/>
</load>
<load name="sys_mon.xml"/>
<load name="adc_generic.xml">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_4"/> <!-- voltage sensor -->
</load>
<load name="airspeed_ets.xml">
<define name="SENSOR_SYNC_SEND"/>
<!--define name="USE_AIRSPEED"/-->
</load>
</modules>
<!-- Define here to which CONNECTOR NUMBER the servo is connected to, on the autopilot cicuit board -->
<servos>
<servo name="MOTOR" no="0" min="1100" neutral="1100" max="1900"/>
<servo name="ELEVATOR" no="2" min="1100" neutral="1500" max="1900"/>
<servo name="AILERON_RIGHT" no="3" min="2000" neutral="1500" max="1000"/>
<servo name="AILERON_LEFT" no="4" min="2000" neutral="1500" max="1000"/>
<servo name="RUDDER" no="6" min="1000" neutral="1500" max="2000"/>
<servo name="HATCH" no="7" min="1100" neutral="1100" max="1900"/>
</servos>
<!-- commands section -->
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="2000"/>
<axis name="HATCH" failsafe_value="-9599"/>
<!-- maybe set to open position so we can insert the payload -->
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="YAW" value="@YAW"/>
</rc_commands>
<auto_rc_commands>
<!-- To still be able to use rudder, which is needed with sidewind landing in auto1 stabilization mode only YAW -->
<set command="YAW" value="@YAW"/>
</auto_rc_commands>
<!--For mixed controlflaps -->
<section name="MIXER">
<define name="AILERON_DIFF" value="0.7"/>
<define name="COMBI_SWITCH" value="0.3"/>
</section>
<command_laws>
<set servo="MOTOR" value="@THROTTLE"/>
<set servo="ELEVATOR" value="@PITCH"/>
<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
<let var="roll" value="@ROLL"/>
<set servo="AILERON_LEFT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
<set servo="AILERON_RIGHT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
<!--set servo="HATCH" value="@HATCH"/-->
</command_laws>
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_CHAN" value="1"/>
<define name="GYRO_Q_CHAN" value="2"/>
<define name="GYRO_R_CHAN" value="0"/>
<define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_Q_SIGN" value="1"/>
<define name="GYRO_R_SIGN" value="-1"/>
<define name="GYRO_P_NEUTRAL" value="32362"/>
<define name="GYRO_R_NEUTRAL" value="32080"/>
<define name="GYRO_Q_NEUTRAL" value="32096"/>
<define name="GYRO_P_SENS" value="1.1032765" integer="16"/>
<define name="GYRO_R_SENS" value="1.1360802599" integer="16"/>
<define name="GYRO_Q_SENS" value="1.1249874614" integer="16"/>
<define name="ACCEL_X_CHAN" value="3"/>
<define name="ACCEL_Y_CHAN" value="6"/>
<define name="ACCEL_Z_CHAN" value="5"/>
<define name="ACCEL_X_SIGN" value="-1"/>
<define name="ACCEL_Y_SIGN" value="1"/>
<define name="ACCEL_Z_SIGN" value="-1"/>
<define name="ACCEL_X_SENS" value="2.45932966" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.45106376" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.47825717" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="31886"/>
<define name="ACCEL_Z_NEUTRAL" value="32162"/>
<define name="ACCEL_Y_NEUTRAL" value="32941"/>
<define name="GYRO_P_Q" value="0."/>
<define name="GYRO_P_R" value="0."/>
<define name="GYRO_Q_P" value="0."/>
<define name="GYRO_Q_R" value="0."/>
<define name="GYRO_R_P" value="0."/>
<define name="GYRO_R_Q" value="0."/>
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="1" integer="16"/>
<define name="MAG_Y_SENS" value="1" integer="16"/>
<define name="MAG_Z_SENS" value="1" integer="16"/>
<!-- <define name="MAG_45_HACK" value="1"/> -->
<define name="BODY_TO_IMU_PHI" value="0"/>
<define name="BODY_TO_IMU_THETA" value="0"/>
<define name="BODY_TO_IMU_PSI" value="0"/>
</section>
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0."/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0."/>
</section>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="RadOfDeg(55)"/>
<define name="MAX_PITCH" value="RadOfDeg(35)"/>
</section>
<section name="BAT">
<define name="MilliAmpereOfAdc(adc)" value="(adc*88)"/>
<!-- <define name="ADC_CHANNEL_VOLTAGE" value="ADC_4" /> -->
<!-- The real multiplier is unknown we take 2 as test example -->
<!-- <define name="VoltageOfAdc(adc)" value ="(adc*2)"/> -->
<!-- If NO current-volts sensor installed uncomment below -->
<!--define name="MILLIAMP_AT_FULL_THROTTLE" value="17000" unit="mA"/-->
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/> <!-- 3S lipo 3.1*3=9.3 -->
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/> <!-- 3S lipo 4.2*3=12.6 -->
</section>
<section name="MISC">
<define name="MINIMUM_AIRSPEED" value="9.0" unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="14.0" unit="m/s"/>
<define name="MAXIMUM_AIRSPEED" value="22.0" unit="m/s"/>
<define name="CARROT" value="5.0" unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<!--UNLOCKED_HOME_MODE if set to TRUE means that HOME mode does not get stuck.
If not set before when you would enter home mode you had to flip a bit via the GCS to get out. -->
<!--define name="UNLOCKED_HOME_MODE" value="TRUE"/-->
<!-- RC_LOST_MODE means that if your RC Transmitter signal is not received anymore in the autopilot, e.g. you switch it off
or fly a long range mission you define the wanted mode behaviour here.
If you do not define it, it defaults to flying to the flightplan HOME -->
<!--define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/-->
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="50.0"/>
<!-- only for spiral -->
<define name="MIN_CIRCLE_RADIUS" value="35.0"/>
<!-- The Glide definitions are used for calculating the touch down point during auto landing -->
<!--
<define name="GLIDE_AIRSPEED" value="10."/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="10." unit="deg"/>
-->
</section>
<!-- ******************* VERTICAL CONTROL ********************************** -->
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.2" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04" unit="(m/s)/m"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2." unit="m/s"/>
<!-- Cruise throttle + limits -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.65" unit="%"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.40" unit="%"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.90" unit="%"/>
<define name="THROTTLE_SLEW_LIMITER" value="0.5" unit="s"/>
<define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
<define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-20)"/>
<!-- Climb loop (throttle) -->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.05" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.007" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_IGAIN" value="-0.001"/>
<define name="AUTO_THROTTLE_DGAIN" value="-0.0"/>
<!-- Climb loop (pitch) -->
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.20" unit="rad/(m/s)"/>
<!--define name="AUTO_PITCH_PGAIN" value="-0.0"/>
<define name="AUTO_PITCH_DGAIN" value="-0.0"/>
<define name="AUTO_PITCH_IGAIN" value="-0.0"/-->
<define name="AUTO_PITCH_PGAIN" value="-0.052"/>
<define name="AUTO_PITCH_DGAIN" value="-0.0"/>
<define name="AUTO_PITCH_IGAIN" value="-0.065"/>
<!-- airspeed control -->
<!--define name="AUTO_AIRSPEED_SETPOINT" value="12."/>
<define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
<define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
<define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
<define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
<define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
<define name="AIRSPEED_MAX" value="25"/>
<define name="AIRSPEED_MIN" value="8"/-->
<!-- groundspeed control -->
<!--define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
<define name="AUTO_GROUNDSPEED_IGAIN" value="0."/-->
<!-- Loiter and Dash trimming -->
<define name="AUTO_THROTTLE_LOITER_TRIM" value="0" unit="pprz_t"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="0" unit="pprz_t"/>
<define name="PITCH_LOITER_TRIM" value="0" unit="pprz_t"/>
<define name="PITCH_DASH_TRIM" value="0" unit="pprz_t"/>
</section>
<!-- ******************* HORIZONTAL CONTROL ******************************** -->
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.1"/>
<!-- <define name="COURSE_IGAIN" value="0.01"/> -->
<!-- <define name="COURSE_DGAIN" value="0.02"/> -->
<!-- <define name="COURSE_PRE_BANK_CORRECTION" value="0.5"/> -->
<!-- maybe handy to avoid over corner with lots of wind and small airframe -->
<!-- <define name="COURSE_SLEW_INCREMENT" value="RadOfDeg(4)"/> -->
<define name="ROLL_MAX_SETPOINT" value="RadOfDeg(50)" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="RadOfDeg(35)" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="RadOfDeg(-30)" unit="radians"/>
<define name="ROLL_ATTITUDE_GAIN" value="-7500."/>
<define name="ROLL_RATE_GAIN" value="-1500"/>
<!-- only for stabilization adaptive -->
<define name="ROLL_IGAIN" value="-500"/>
<define name="ROLL_KFFA" value="0."/>
<define name="ROLL_KFFD" value="0."/>
<!-- ** Maximal roll angle change per 1/60 of second ** -->
<!--define name="ROLL_SLEW" value="0.6"/--> <!-- was 0.05 -->
<define name="PITCH_PGAIN" value="-7000."/>
<!-- only for stabilization adaptive -->
<define name="PITCH_DGAIN" value="-1000."/>
<define name="PITCH_IGAIN" value="-500."/>
<define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_OF_ROLL" value="0.03"/>
</section>
<!-- ******************************** NAV ********************************** -->
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
<!-- ***************************** AGGRESIVE ******************************* -->
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="18"/> <!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="8"/> <!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_THROTTLE" value="0.99"/> <!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="RadOfDeg(45)"/> <!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.5"/> <!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="RadOfDeg(-30)"/> <!-- Pitch for Aggressive Decent -->
<define name="CLIMB_NAV_RATIO" value="0.8"/> <!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
<define name="DESCENT_NAV_RATIO" value="0.99"/>
</section>
<!-- ****************************** FAILSAFE ******************************* -->
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0" unit="%"/>
<define name="DEFAULT_ROLL" value="0.15" unit="rad"/>
<define name="DEFAULT_PITCH" value="-0.1" unit="rad"/>
<define name="HOME_RADIUS" value="60" unit="m"/>
</section>
<!-- ******************************** SIMU ********************************* -->
<section name="SIMU">
<define name="YAW_RESPONSE_FACTOR" value="0.5"/> <!-- a to low of a value gives bad simulation results -->
</section>
</airframe>