/
skywalker.xml
240 lines (188 loc) · 8.95 KB
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skywalker.xml
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
YAPA + XSens + XBee
-->
<airframe name="Yapa v1">
<servos>
<servo name="THROTTLE" no="0" min="1100" neutral="1100" max="1900"/>
<servo name="AILERON_LEFT" no="2" min="900" neutral="1500" max="2100"/>
<servo name="AILERON_RIGHT" no="6" min="900" neutral="1500" max="2100"/>
<servo name="ELEVATOR" no="7" min="1900" neutral="1500" max="1100"/>
<servo name="RUDDER" no="3" min="1100" neutral="1500" max="1900"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="BRAKE" failsafe_value="9600"/> <!-- both elerons up as butterfly brake ? -->
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="YAW" value="@YAW"/>
<set command="PITCH" value="@PITCH"/>
<set command="BRAKE" value="@FLAPS"/>
</rc_commands>
<section name="SERVO_MIXER_GAINS">
<define name="AILERON_NEUTRAL" value="0.3f"/>
<define name="AILERON_RATE_UP" value="1.0f"/>
<define name="AILERON_RATE_DOWN" value="0.5f"/>
<define name="AILERON_RATE_UP_BRAKE" value="1.0f"/>
<define name="AILERON_RATE_DOWN_BRAKE" value="1.0f"/>
<define name="PITCH_GAIN" value="0.9f"/>
<define name="BRAKE_AILEVON" value="-0.7f"/>
<define name="BRAKE_PITCH" value="0.1f"/>
<define name="MAX_BRAKE_RATE" value="130"/>
<define name="RUDDER_OF_AILERON" value="0.3"/>
<define name="LIMIT(X,XL,XH)" value="( ((X)>(XH)) ? (XH) : ( ((X)>(XL)) ? (X) : (XL) ) )"/>
</section>
<command_laws>
<!-- Brake Rate Limiter -->
<let var="brake_value_nofilt" value="LIMIT(-@BRAKE, 0, MAX_PPRZ)"/>
<let var="test; \
static int16_t _var_brake_value = 0; \
_var_brake_value += LIMIT(_var_brake_value_nofilt - _var_brake_value,-MAX_BRAKE_RATE,MAX_BRAKE_RATE); \
int verwaarloos_deze_warning_CDW" value="0"/>
<!-- Differential Aileron Depending on Brake Value -->
<let var="aileron_up_rate" value="(AILERON_RATE_UP * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_UP_BRAKE * $brake_value)"/>
<let var="aileron_down_rate" value="(AILERON_RATE_DOWN * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_DOWN_BRAKE * $brake_value)"/>
<let var="aileron_up" value="(@ROLL * (((float)$aileron_up_rate) / ((float)MAX_PPRZ)))"/>
<let var="aileron_down" value="(@ROLL * (((float)$aileron_down_rate) / ((float)MAX_PPRZ)))"/>
<let var="leftturn" value="(@ROLL >= 0? 1 : 0)"/>
<let var="rightturn" value="(1 - $leftturn)"/>
<set servo="AILERON_LEFT" value="($aileron_up * $leftturn) + ($aileron_down * $rightturn) - $brake_value*(BRAKE_AILEVON) - (MAX_PPRZ * AILERON_NEUTRAL)"/>
<set servo="AILERON_RIGHT" value="($aileron_up * $rightturn) + ($aileron_down * $leftturn) + $brake_value*(BRAKE_AILEVON) + (MAX_PPRZ *AILERON_NEUTRAL)"/>
<set servo="RUDDER" value="@YAW + @ROLL * RUDDER_OF_AILERON"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<!-- Pitch with Brake-Trim Function -->
<set servo="ELEVATOR" value="@PITCH * PITCH_GAIN - BRAKE_PITCH * $brake_value"/>
</command_laws>
<!-- Local magnetic field -->
<section name="AHRS" prefix="AHRS_" >
<define name="H_X" value="0.51562740288882" />
<define name="H_Y" value="-0.05707735220832" />
<define name="H_Z" value="0.85490967783446" />
</section>
<section name="XSENS">
<define name="GPS_IMU_LEVER_ARM_X" value="-0.285f" />
<define name="GPS_IMU_LEVER_ARM_Y" value="0.0f" />
<define name="GPS_IMU_LEVER_ARM_Z" value="0.0f" />
</section>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="RadOfDeg(75)"/>
<define name="MAX_PITCH" value="RadOfDeg(45)"/>
</section>
<section name="BAT">
<!-- <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/> -->
<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
</section>
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="14." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<define name="XBEE_INIT" value=""ATPL2\rATRN5\rATTT80\r""/>
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
<!-- <define name="ALT_KALMAN_ENABLED" value="TRUE"/> -->
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.108000002801"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.57800000906"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.108999997377" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0."/>
<define name="AUTO_THROTTLE_IGAIN" value="0."/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.324999988079"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20000004768"/>
<define name="COURSE_DGAIN" value="0.300000011921"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="1.01600003242"/>
<define name="ROLL_MAX_SETPOINT" value="0.851999998093" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="PITCH_PGAIN" value="-13476.5615234"/>
<define name="PITCH_DGAIN" value="7.73400020599"/>
<define name="ELEVATOR_OF_ROLL" value="3007.81298828"/>
<define name="ROLL_SLEW" value="1."/>
<define name="ROLL_ATTITUDE_GAIN" value="-11718.75"/>
<define name="ROLL_RATE_GAIN" value="-820.312011719"/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="30"/>
<define name="BLEND_END" value="15"/>
<define name="CLIMB_THROTTLE" value="1.00"/>
<define name="CLIMB_PITCH" value="RadOfDeg(30)"/>
<define name="DESCENT_THROTTLE" value="0.0"/>
<define name="DESCENT_PITCH" value="RadOfDeg(-15)"/>
<define name="CLIMB_NAV_RATIO" value="0.8"/>
<define name="DESCENT_NAV_RATIO" value="1.0"/>
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
</section>
<section name="DIGITAL_CAMERA" prefix="DC_">
<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
<define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
</section>
<modules>
<load name="ins_xsens_MTiG_fixedwing.xml">
<configure name="XSENS_UART_NR" value="0"/>
</load>
<load name="light.xml">
<define name="LIGHT_LED_STROBE" value="3"/>
<define name="LIGHT_LED_NAV" value="2"/>
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
</load>
<!-- <load name="digital_cam_i2c.xml"/> -->
<!-- <load name="ins_ppzuavimu.xml"/> -->
<load name="digital_cam.xml">
<define name="DC_SHUTTER_LED" value="2"/>
</load>
</modules>
<firmware name="fixedwing">
<target name="ap" board="tiny_2.11">
<define name="STRONG_WIND"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<define name="LOITER_TRIM"/>
</target>
<target name="sim" board="pc"/>
<subsystem name="radio_control" type="ppm"/>
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B57600"/>
</subsystem>
<!-- Actuators -->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="navigation"/>
<subsystem name="gps" type="xsens"/>
<subsystem name="i2c"/>
</firmware>
</airframe>