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asctec_cdw.xml
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asctec_cdw.xml
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- this is an Asctec frame equipped with Lisa/L v0.9 and Asctec V2 controllers -->
<airframe name="asctec_cdw">
<!-- ************************* FIRMWARE ************************* -->
<firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.0">
<configure name="MODEM_PORT" value="UART3"/>
<configure name="GPS_PORT" value="UART2"/>
<!-- <define name="ACTUATORS_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="ppm"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_FLAPS"/>
<define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="1"/>
<define name="USE_I2C_ACTUATORS_REBOOT_HACK"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="asctec_v2"/>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="imu" type="aspirin_v2.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="hff"/>
</firmware>
<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>
<!-- ************************* MODULES ************************* -->
<modules main_freq="512">
<!-- <load name="high_speed_logger_spi_link.xml"/> -->
<load name="imu_quality_assessment.xml"/>
<load name="gps_ubx_ucenter.xml" />
</modules>
<!-- ************************* ACTUATORS ************************* -->
<servos driver="Asctec_v2">
<servo name="FRONT" no="0" min="0" neutral="3" max="200"/>
<servo name="BACK" no="1" min="0" neutral="3" max="200"/>
<servo name="LEFT" no="2" min="0" neutral="3" max="200"/>
<servo name="RIGHT" no="3" min="0" neutral="3" max="200"/>
</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="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/>
<!-- Driver expects: Front - Back - Left - Right -->
<define name="ROLL_COEF" value="{ 256, -256, 256, -256 }"/>
<define name="PITCH_COEF" value="{ 256, -256, -256, 256 }"/>
<define name="YAW_COEF" value="{ 256, 256, -256, -256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<set servo="FRONT" value="motor_mixing.commands[0]"/>
<set servo="BACK" value="motor_mixing.commands[1]"/>
<set servo="LEFT" value="motor_mixing.commands[2]"/>
<set servo="RIGHT" value="motor_mixing.commands[3]"/>
</command_laws>
<!-- ************************* SENSORS ************************* -->
<section name="IMU" prefix="IMU_">
<define name="ACCEL_X_NEUTRAL" value="0"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="200"/>
<define name="ACCEL_X_SENS" value="9.810" integer="16"/>
<define name="ACCEL_Y_SENS" value="9.810" integer="16"/>
<define name="ACCEL_Z_SENS" value="9.810" integer="16"/>
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="1." integer="16"/>
<define name="MAG_Y_SENS" value="1." integer="16"/>
<define name="MAG_Z_SENS" value="1." integer="16"/>
<define name="BODY_TO_IMU_PHI" value="180." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="90." unit="deg"/>
</section>
<section name="INS" prefix="INS_">
</section>
<!-- ************************* GAINS ************************* -->
<section name="STABILIZATION_RATE" prefix="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="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="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="900"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="900"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="900"/>
<define name="PSI_DGAIN" value="200"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 200"/>
<define name="THETA_DDGAIN" value=" 200"/>
<define name="PSI_DDGAIN" value=" 200"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="500"/>
<define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="100"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.4"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<!-- ************************* MISC ************************* -->
<section name="MAGNETICS" prefix="AHRS_H_">
<define name="X" value="0.4"/>
<define name="Y" value="0"/>
<define name="Z" value="0.9"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{"ne_motor", "se_motor", "sw_motor", "nw_motor"}"/>
<define name="JSBSIM_INIT" value=""reset00""/>
<define name="JSBSIM_MODEL" value=""simple_x_quad""/>
<define name="SENSORS_PARAMS" value=""nps_sensors_params_default.h""/>
</section>
</airframe>