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g1_vision.xml
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g1_vision.xml
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<!--DOCTYPE airframe SYSTEM "../../airframe.dtd"-->
<airframe name="BOOZ2_G1">
<modules main_freq="512">
<!--load name="vision_cmucam.xml"/-->
<load name="sonar_adc_ins.xml"/>
<load name="booz_extra_dl.xml"/>
<load name="booz_gumstix_com.xml"/>
</modules>
<servos>
<servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
<servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
<servo name="YAW" no="2" min="0" neutral="0" max="255"/>
<servo name="THRUST" 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="SUPERVISION" prefix="SUPERVISION_">
<define name="TRIM_A" value="0"/>
<define name="TRIM_E" value="6"/>
<define name="TRIM_R" value="0"/>
</section>
<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="32238"/>
<define name="GYRO_Q_NEUTRAL" value="32391"/>
<define name="GYRO_R_NEUTRAL" value="32853"/>
<define name="GYRO_P_SENS" value="1.00" integer="16"/>
<define name="GYRO_Q_SENS" value="1.00" integer="16"/>
<define name="GYRO_R_SENS" value="1.00" 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="2.55975587" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.55643340" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.57178460" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="33067"/>
<define name="ACCEL_Y_NEUTRAL" value="32778"/>
<define name="ACCEL_Z_NEUTRAL" value="32140"/>
<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="-12"/>
<define name="MAG_Y_NEUTRAL" value="-10"/>
<define name="MAG_Z_NEUTRAL" value="-11"/>
<define name="MAG_X_SENS" value="22.008352" integer="16"/>
<define name="MAG_Y_SENS" value="21.79885" integer="16"/>
<define name="MAG_Z_SENS" value="14.675745" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="1.3" unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="-2.6" unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section>
<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="BOOZ_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"/>
<!-- 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="300." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_Q" value="800" 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="500" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="90." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="2000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="2000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<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="INS" prefix="BOOZ_INS_">
<define name="SONAR_SENS" value="2.146" integer="16"/>
</section>
<section name="HORIZONTAL_FILTER" prefix="B2_HFF_">
<define name="ACCEL_NOISE" value="10."/>
<define name="R_POS" value="0.05"/>
<define name="R_POS_MIN" value="0."/>
<define name="R_SPEED" value="1."/>
<define name="R_SPEED_MIN" value="0."/>
</section>
<section name="GUIDANCE_V" prefix="BOOZ2_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) -->
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<!-- <define name="INV_M" value="0.118"/> -->
</section>
<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="60"/>
<define name="IGAIN" value="0"/>
<define name="NGAIN" value="0"/>
<!-- feedforward -->
<define name="AGAIN" value="50"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_NAV"/>
</section>
<section name="FMS">
</section>
<section name="MISC">
<define name="BOOZ_ANALOG_BARO_THRESHOLD" value="800"/>
<define name="BOOZ2_FACE_REINJ_1" value="1024"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{"front_motor", "back_motor", "right_motor", "left_motor"}"/>
<!--define name="JSBSIM_INIT" value=""reset_enac""/-->
<define name="SENSORS_PARAMS" value=""nps_sensors_params_booz2_a1.h""/>
</section>
<makefile>
ARCH=lpc21
ARCHI=arm7
BOARD_CFG = \"boards/booz2_v1_0.h\"
FLASH_MODE=IAP
# prevents motors from ever starting
#ap.CFLAGS += -DKILL_MOTORS
include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile
ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
sim.CFLAGS += -DNPS_NO_SUPERVISION
include $(CFG_BOOZ)/booz2_simulator_nps.makefile
ap.CFLAGS += -DMODEM_BAUD=B57600
include $(CFG_BOOZ)/subsystems/booz2_actuators_asctec.makefile
include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
#include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
include $(CFG_BOOZ)/subsystems/booz2_analog_bat_baro.makefile
include $(CFG_BOOZ)/subsystems/booz2_fms_datalink.makefile
include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
#include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
#ap.CFLAGS += -DR_POS=0.1
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DACTUATORS_START_DELAY=3
sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DACTUATORS_START_DELAY=3
ap.CFLAGS += -DUSE_MODULES
</makefile>
</airframe>