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quadrotor_lisa_m_mkk.xml
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quadrotor_lisa_m_mkk.xml
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- this is a quadrotor frame equiped with
* Autopilot: Lisa/M 1.0 http://paparazzi.enac.fr/wiki/Lisa/M_v10
* IMU: Aspirin 1.5 http://paparazzi.enac.fr/wiki/AspirinIMU
* Actuators: MKK motor controllers http://paparazzi.enac.fr/wiki/Subsystem/actuators#MKK
* GPS: Ublox http://paparazzi.enac.fr/wiki/Subsystem/gps
* RC: any PPM system http://paparazzi.enac.fr/wiki/Subsystem/radio_control#PPM
-->
<airframe name="Quadrotor LisaM_1.0 mkk">
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_1.0">
<define name="ACTUATORS_START_DELAY" value="3"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="mkk"/>
<subsystem name="imu" type="aspirin_v1.5"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
</firmware>
<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"/>
</commands>
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<define name="NB" value="4"/>
<!-- FRONT, BACK, RIGHT, LEFT -->
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
</section>
<section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="2"/>
<define name="MAX_MOTOR" value="200"/>
<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"/>
<!-- front/back turning CW, left/right CCW -->
<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="IMU" prefix="IMU_">
<define name="ACCEL_X_NEUTRAL" value="11"/>
<define name="ACCEL_Y_NEUTRAL" value="11"/>
<define name="ACCEL_Z_NEUTRAL" value="-25"/>
<define name="MAG_X_NEUTRAL" value="-152"/>
<define name="MAG_Y_NEUTRAL" value="-51"/>
<define name="MAG_Z_NEUTRAL" value="10"/>
<define name="MAG_X_SENS" value="4.04042714046" integer="16"/>
<define name="MAG_Y_SENS" value="3.95350991963" integer="16"/>
<define name="MAG_Z_SENS" value="3.83055079257" integer="16"/>
<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="-45." unit="deg"/>
</section>
<section name="AHRS" prefix="AHRS_">
<define name="H_X" value="0.3770441"/>
<define name="H_Y" value="0.0193986"/>
<define name="H_Z" value="0.9259921"/>
</section>
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.3" integer="16"/>
</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="20"/>
<define name="DEADBAND_Q" value="20"/>
<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="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="250"/>
<!-- 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="400." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<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="1000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="1000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="500"/>
<define name="PSI_DGAIN" value="300"/>
<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="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="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!-- NOMINAL_HOVER_THROTTLE sets a fixed value instead of the adaptive estimation -->
<!--define name="NOMINAL_HOVER_THROTTLE" value="0.5" unit="%"/-->
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="20" unit="deg"/>
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</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_default.h""/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<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"/>
</section>
</airframe>