/
aggieair_minion_rp3_lia.xml
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/
aggieair_minion_rp3_lia.xml
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
AggieAir RP3 Minion
-->
<airframe name="Minion PR3">
<firmware name="fixedwing">
<target name="ap" board="lisa_mx_2.1">
<module name="radio_control" type="sbus">
<configure name="SBUS_PORT" value="UART5"/>
</module>
<configure name="HAS_LUFTBOOT" value="0"/>
<configure name="FLASH_MODE" value="JTAG"/>
</target>
<!-- NOTE: if you want to use extra_dl module for HITL
you have to set TELEMETRY_FREQUENCY to CONTROL_FREQUENCY -->
<configure name="PERIODIC_FREQUENCY" value="100"/>
<define name="CONTROL_FREQUENCY" value="100"/>
<configure name="TELEMETRY_FREQUENCY" value="100"/>
<define name="SERVO_HZ" value="100"/>
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="spektrum"/>
</target>
<target name="hitl" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="spektrum"/>
<configure name="INS_DEV" value="/dev/ttyUSB1"/>
<configure name="INS_BAUD" value="B921600"/>
<configure name="AP_DEV" value="/dev/ttyUSB2"/>
<configure name="AP_BAUD" value="B921600"/>
</target>
<module name="control"/>
<module name="navigation"/>
<module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="UART3"/>
<configure name="MODEM_BAUD" value="B57600"/>
</module>
<module name="ins" type="vectornav">
<configure name="VN_PORT" value="UART2"/>
<configure name="VN_BAUD" value="B921600"/>
</module>
<define name="AGR_CLIMB" />
<define name="POLY_OSAM_HALF_SWEEP_ENABLED" value="FALSE"/>
<define name="GEOFENCE_DATALINK_LOST_TIME" value="45"/>
</firmware>
<modules>
<module name="nav" type="line"/>
<module name="nav" type="flower"/>
<module name="nav" type="survey_poly_osam"/>
<module name="nav" type="launcher"/>
<module name="nav" type="skid_landing"/>
<module name="rng"/>
<module name="haclc"/>
<module name="sys_mon"/>
<module name="copilot"/>
<module name="extra_dl">
<!-- in order to use uart1 without chibios we need to remap the peripheral-->
<define name="REMAP_UART1" value="TRUE"/>
<configure name="EXTRA_DL_PORT" value="UART1"/>
<configure name="EXTRA_DL_BAUD" value="B921600"/>
</module>
<module name="lidar_sf11">
<configure name="LIDAR_SF11_I2C_DEV" value="i2c2"/>
</module>
<module name="battery_monitor.xml">
<define name="BATMON_REV4" value="1"/>
<define name="BATMON_CURRENT_OFFSET" value="-120"/>
<define name="BATMON_CURRENT_SENSITIVITY" value="25.6"/>
<define name="BATMON_TEMP_OFFSET" value="250"/>
<define name="BATMON_TEMP_SENSITIVITY" value="10"/>
</module>
</modules>
<!-- commands section -->
<!-- Servo Configuration -->
<servos>
<servo name="THROTTLE" no="0" min="1100" neutral="1100" max="1900"/>
<servo name="AILERON_RIGHT" no="1" min="900" neutral="1500" max="2100"/>
<servo name="AILERON_LEFT" no="2" min="2100" neutral="1500" max="900"/>
<servo name="ELEVATOR" no="3" min="2100" neutral="1500" max="900"/>
<servo name="RUDDER" no="4" min="2100" neutral="1500" max="900"/>
<servo name="FLAP" no="5" min="900" neutral="1500" max="2100"/>
</servos>
<!-- Servo Command Structure -->
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="FLAP" failsafe_value="0"/>
</commands>
<!-- RC Command Structure -->
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="YAW" value="@YAW"/>
<set command="FLAP" value="@FLAP"/>
</rc_commands>
<!-- Define RC commands to Servo in Auto Mode -->
<auto_rc_commands>
<set command="YAW" value="@YAW"/>
<set command="FLAP" value="@FLAP"/>
</auto_rc_commands>
<!-- Define Mixing Parameters -->
<section name="MIXER">
<define name="AILERON_AILERON_RATE" value="0.9"/>
<define name="ELEV_ELEV_RATE" value="0.8"/>
</section>
<!-- Define RC commands to Servos in Manual -->
<command_laws>
<let var="aileron" value="@ROLL * AILERON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * ELEV_ELEV_RATE"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="AILERON_RIGHT" value="$aileron"/> <!--flip signs if necessary -->
<set servo="AILERON_LEFT" value=" - $aileron"/>
<set servo="ELEVATOR" value="$elevator"/>
<set servo="RUDDER" value="@YAW"/>
<set servo="FLAP" value="@FLAP"/>
</command_laws>
<!-- Define Max Roll and Pitch setpoints in Auto1 -->
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.7"/>
<define name="MAX_PITCH" value="0.6"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
<!-- Dummy Mag values for NPS -
replace with your own calibration -->
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
</section>
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
</section>
<!-- Define current estimator and Battery Level Warnings -->
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="50000"/>
<define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.3"/>
<!-- Flight values -->
<!--
<define name="MAX_BAT_LEVEL" value="16.5" unit="V" />
<define name="LOW_BAT_LEVEL" value="14.1" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="13.8" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="13.5" unit="V"/>
-->
<!-- Simulator values -->
<define name="MAX_BAT_LEVEL" value="5.0" unit="V" />
<define name="LOW_BAT_LEVEL" value="4.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="3.5" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="16." unit="m/s"/> <!-- GCS only -->
<define name="CARROT" value="5." unit="s"/> <!-- GCS only -->
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- TODO: double check the power controls settings, this value seems to be outdated -->
<!--define name="POWER_CTL_BAT_NOMINAL" value="23.2" unit="volt"/-->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="0.136"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.40"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.20"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.70"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.05" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.142"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="0.1"/>
<define name="AUTO_PITCH_IGAIN" value="0.025"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.31415" unit="rad"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.31415" unit="rad"/>
<!-- landing control loop -->
<define name="LANDING_THROTTLE_PGAIN" value="600.0"/>
<define name="LANDING_THROTTLE_IGAIN" value="10.0"/>
<define name="LANDING_THROTTLE_MAX" value="0.65"/>
<define name="LANDING_DESIRED_SPEED" value="18" unit="m/s"/>
<define name="LANDING_PITCH_PGAIN" value="0.1"/>
<define name="LANDING_PITCH_IGAIN" value="0.1"/>
<define name="LANDING_PITCH_LIMITS" value="0.2" unit="rad"/>
<define name="LANDING_PITCH_FLARE" value="0.06"/>
<define name="LANDING_ALT_THROTTLE_KILL" value="15" unit="m"/>
<define name="LANDING_ALT_FLARE" value="5" unit="m"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="1.135"/>
<define name="COURSE_DGAIN" value="0.35"/>
<define name="ROLL_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.35" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.2" unit="rad"/>
<define name="PITCH_PGAIN" value="12900."/>
<!-- ORIGINAL GAIN
<define name="PITCH_DGAIN" value="1.5"/>
-->
<!-- SIMULATOR GAIN -->
<define name="PITCH_DGAIN" value="151.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
<define name="ROLL_ATTITUDE_GAIN" value="9000"/>
<define name="ROLL_RATE_GAIN" value="1600"/>
<define name="ROLL_SLEW" value="0.1"/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_THROTTLE" value="0.75"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.13"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.1"/><!-- 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="1.0"/>
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="5" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0" unit="%"/>
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
<!-- Launcher Takeoff Configuration -->
<section name="LAUNCHER" prefix="LAUNCHER_TAKEOFF_">
<define name="PITCH" value="0.23" unit="rad"/>
<define name="HEIGHT" value="70" unit="m"/>
<define name="MIN_SPEED_CIRCLE" value="8" unit="m/s"/>
<define name="DISTANCE" value="30" unit="m"/>
<define name="MIN_SPEED_LINE" value="5" unit="m/s"/>
</section>
<!-- Skid Landing Configuration -->
<section name="LANDING" prefix="SKID_LANDING_">
<define name="AF_HEIGHT" value="50" unit="m"/>
<define name="FINAL_HEIGHT" value="50" unit="m"/>
<define name="FINAL_STAGE_TIME" value="10" unit="s"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="JSBSIM_LAUNCHSPEED" value="25"/>
<define name="JSBSIM_MODEL" value="AGGIEAIR/minion" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_invariant.h" type="string"/>
<define name="JS_AXIS_THROTTLE" value="0"/>
<define name="JS_AXIS_THROTTLE_REVERSED" value="1"/>
<define name="JS_AXIS_ROLL" value="1"/>
<define name="JS_AXIS_PITCH" value="2"/>
<define name="JS_AXIS_PITCH_REVERSED" value="1"/>
<define name="JS_AXIS_YAW" value="3"/>
<define name="JS_AXIS_YAW_REVERSED" value="1"/>
<define name="JS_AXIS_FLAPS" value="5"/>
<define name="JS_AXIS_MODE" value="7"/>
<define name="JSBSIM_ROLL_TRIM" value="0.008"/>
<define name="JSBSIM_PITCH_TRIM" value="0.0375"/>
<define name="JSBSIM_YAW_TRIM" value="0.001"/>
</section>
</airframe>