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walkera_genius_v1.xml
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walkera_genius_v1.xml
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<!-- this is a Walkera Genius V1 frame equiped with Lisa/S 0.1 with brushless main rotor -->
<!--
Applicable configuration:
airframe="airframes/TUDelft/IMAV2013/walkera_genius_v1.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml"
-->
<airframe name="walkera_genius_v1">
<servos driver="Pwm">
<servo name="CIC_FRONT" no="4" min="570" neutral="1600" max="2200"/>
<servo name="CIC_RIGHT" no="5" min="570" neutral="1400" max="2200"/>
<servo name="CIC_LEFT" no="0" min="570" neutral="1600" max="2200"/>
<servo name="TAIL" no="2" min="0" neutral="0" max="500"/>
<servo name="GAS" no="3" min="0" neutral="10" max="500"/>
</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>
<command_laws>
<let var="hoverpower" value=".75*MAX_PPRZ"/>
<let var="hoverstick" value=".35*MAX_PPRZ"/>
<let var="halfway" value="(@THRUST >= ($hoverstick) ? 1 : 0)"/>
<let var="collective" value="@THRUST * 0.4 + (MAX_PPRZ*0.01)"/>
<let var="gas" value="($hoverpower) + $halfway * (((@THRUST) - ($hoverstick)) * (MAX_PPRZ - ($hoverpower))) / (MAX_PPRZ - ($hoverstick)) + (1 - $halfway) * ((@THRUST - ($hoverstick)) * ($hoverpower)) / ($hoverstick)"/>
<set servo="GAS" value="$gas"/>
<set servo="CIC_LEFT" value="((@PITCH*0.5*0.5)-(@ROLL*0.5*0.73))-($collective)"/>
<set servo="CIC_RIGHT" value="((-@PITCH*0.5*0.5)-(@ROLL*0.5*0.73))+($collective)"/>
<set servo="CIC_FRONT" value="-@PITCH*0.5-($collective)"/>
<set servo="TAIL" value="@YAW+0.4*$gas"/>
</command_laws>
<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="185." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
<define name="ACCEL_X_NEUTRAL" value="0"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="0"/>
<!-- From delft MAVLab -->
<define name="MAG_X_NEUTRAL" value="396"/>
<define name="MAG_Y_NEUTRAL" value="-260"/>
<define name="MAG_Z_NEUTRAL" value="-91"/>
<define name="MAG_X_SENS" value="3.71635905504" integer="16"/>
<define name="MAG_Y_SENS" value="3.5526454063" integer="16"/>
<define name="MAG_Z_SENS" value="3.52339566014" integer="16"/>
<!-- Current correction -->
<define name="MAG_X_CURRENT_COEF" value="-0.390312445109"/>
<define name="MAG_Y_CURRENT_COEF" value="-0.068976232866"/>
<define name="MAG_Z_CURRENT_COEF" value="-0.181415585657"/>
</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_ATTITUDE_DIRECT"/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="3700"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="3.4" unit="V"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="80000"/>
<define name="SP_MAX_Q" value="80000"/>
<define name="SP_MAX_R" value="80000"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</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_R" value="250"/>
<define name="DEADBAND_A" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="3000" 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="3000" 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="3000" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="300." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(7000.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="3052"/>
<define name="PHI_DGAIN" value="108"/>
<define name="PHI_IGAIN" value="0"/>
<define name="THETA_PGAIN" value="3052"/>
<define name="THETA_DGAIN" value="108"/>
<define name="THETA_IGAIN" value="0"/>
<define name="PSI_PGAIN" value="944"/>
<define name="PSI_DGAIN" value="300"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value="0"/>
<define name="THETA_DDGAIN" value="0"/>
<define name="PSI_DDGAIN" value=" 300"/>
<define name="PHI_AGAIN" value="0"/>
<define name="THETA_AGAIN" value="0"/>
<define name="PSI_AGAIN" value="0"/>
</section>
<section name="INS" prefix="INS_">
</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="281"/>
<define name="HOVER_KD" value="66"/>
<define name="HOVER_KI" value="0"/>
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.9"/>
</section>
<section name="AHRS" prefix="AHRS_">
<define name="H_X" value=" 0.47577"/>
<define name="H_Y" value=" 0.11811"/>
<define name="H_Z" value=" 0.87161"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="50"/>
<define name="IGAIN" value="0"/>
</section>
<modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/>
<load name="send_imu_mag_current.xml"/>
</modules>
<firmware name="rotorcraft">
<target name="ap" board="lisa_s_0.1">
<subsystem name="radio_control" type="superbitrf_rc">
<define name="RADIO_TRANSMITTER_ID" value="2008496626"/> <!-- TUDelft Dx6i: TX 4 -->
<define name="RADIO_TRANSMITTER_CHAN" value="6"/>
<define name="RADIO_TRANSMITTER_PROTOCOL" value="0x01"/>
</subsystem>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
</target>
<subsystem name="actuators" type="pwm">
<define name="TIM5_SERVO_HZ" value="2000"/>
<define name="SERVO_HZ" value="300"/>
<define name="USE_SERVOS_1AND2"/>
</subsystem>
<subsystem name="telemetry" type="superbitrf"/>
<subsystem name="imu" type="lisa_s_v0.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins"/>
</firmware>
</airframe>