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bebop_default.xml
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bebop_default.xml
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="bebop">
<firmware name="rotorcraft">
<target name="ap" board="bebop"/>
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="udp"/>
</target>
<!--define name="USE_SONAR" value="TRUE"/-->
<!-- Subsystem section -->
<module name="telemetry" type="transparent_udp"/>
<module name="radio_control" type="datalink"/>
<module name="motor_mixing"/>
<module name="actuators" type="bebop"/>
<module name="imu" type="bebop"/>
<module name="gps" type="furuno"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="float_mlkf"/>
<module name="ins" type="extended"/>
</firmware>
<modules main_freq="512">
<module name="geo_mag"/>
<module name="air_data"/>
<module name="send_imu_mag_current"/>
<!--module name="logger_file">
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</module-->
<module name="video_thread"/>
<module name="cv_colorfilter">
<define name="COLORFILTER_CAMERA" value="bottom_camera"/>
</module>
<module name="video_capture">
<define name="VIDEO_CAPTURE_CAMERA" value="bottom_camera"/>
<define name="VIDEO_CAPTURE_PATH" value="/data/ftp/internal_000/images"/>
</module>
<module name="video_rtp_stream">
<define name="VIEWVIDEO_CAMERA" value="bottom_camera"/>
<define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
</module>
<module name="nav" type="survey_rectangle_rotorcraft">
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
</module>
<module name="digital_cam_video">
<define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="10"/>
</module>
<module name="video_exif"/>
</modules>
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="6000"/>
</commands>
<servos driver="Default">
<servo name="TOP_RIGHT" no="0" min="3000" neutral="3000" max="12000"/>
<servo name="TOP_LEFT" no="1" min="3000" neutral="3000" max="12000"/>
<servo name="BOTTOM_LEFT" no="2" min="3000" neutral="3000" max="12000"/>
<servo name="BOTTOM_RIGHT" no="3" min="3000" neutral="3000" max="12000"/>
</servos>
<section name="MIXING" prefix="MOTOR_MIXING_">
<!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
<define name="TYPE" value="QUAD_X"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
</command_laws>
<section name="AIR_DATA" prefix="AIR_DATA_">
<define name="CALC_AIRSPEED" value="FALSE"/>
<define name="CALC_TAS_FACTOR" value="FALSE"/>
<define name="CALC_AMSL_BARO" value="TRUE"/>
</section>
<include href="conf/airframes/TUDELFT/calibrations/bebop_bart.xml" />
<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"/>
</section>
<!-- local magnetic field -->
<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
<section name="AHRS" prefix="AHRS_">
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
<!-- Delft -->
<define name="H_X" value="0.3892503"/>
<define name="H_Y" value="0.0017972"/>
<define name="H_Z" value="0.9211303"/>
</section>
<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2"/>
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
</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="300" unit="deg/s"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="50"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.9"/>
<define name="REF_MAX_P" value="600." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.9"/>
<define name="REF_MAX_Q" value="600." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="450" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.9"/>
<define name="REF_MAX_R" value="600." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="920"/>
<define name="PHI_DGAIN" value="425"/>
<define name="PHI_IGAIN" value="0"/>
<define name="THETA_PGAIN" value="920"/>
<define name="THETA_DGAIN" value="425"/>
<define name="THETA_IGAIN" value="0"/>
<define name="PSI_PGAIN" value="8000"/>
<define name="PSI_DGAIN" value="700"/>
<define name="PSI_IGAIN" value="0"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value="0"/>
<define name="THETA_DDGAIN" value="0"/>
<define name="PSI_DDGAIN" value="0"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="283"/>
<define name="HOVER_KD" value="82"/>
<define name="HOVER_KI" value="13"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<!-- Good weather -->
<define name="MAX_BANK" value="20" unit="deg"/>
<define name="REF_MAX_SPEED" value="2" unit="m/s"/>
<!-- Bad weather -->
<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
<define name="PGAIN" value="15"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="30"/>
</section>
<section name="NAVIGATION" prefix="NAV_">
<define name="CLIMB_VSPEED" value="2.5"/>
<define name="DESCEND_VSPEED" value="-1.0"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<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_NAV"/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
<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>