/
navgo.xml
247 lines (202 loc) · 8.92 KB
/
navgo.xml
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<airframe name="NavGo">
<modules main_freq="512">
<!--load name="booz_pwm.xml">
<define name="USE_PWM1"/>
</load-->
<!--load name="booz_drop.xml"/>
<load name="booz_cam.xml"/-->
</modules>
<firmware name="rotorcraft">
<define name="USE_INS_NAV_INIT"/>
<define name="USE_ADAPT_HOVER"/>
<define name="NO_FUCKING_STARTUP_DELAY"/>
<!--define name="GUIDANCE_H_USE_REF"/-->
<target name="ap" board="navgo_1.0">
<define name="FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R"/>
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<!--define name="NPS_NO_SUPERVISION"/-->
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="skiron">
<define name="SKIRON_I2C_SCL_TIME" value="25"/>
</subsystem>
<subsystem name="imu" type="navgo"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/>
<subsystem name="ins" type="hff"/>
</firmware>
<servos min="0" neutral="0" max="0xff">
<servo name="FRONT" no="2" min="0" neutral="0" max="255"/>
<servo name="BACK" no="0" min="0" neutral="0" max="255"/>
<servo name="RIGHT" no="1" min="0" neutral="0" max="255"/>
<servo name="LEFT" 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="ACTUATORS_SKIRON" prefix="ACTUATORS_SKIRON_">
<define name="NB" value="4"/>
<define name="IDX" value="{ SERVO_FRONT, SERVO_BACK, SERVO_RIGHT, SERVO_LEFT }"/>
</section>
<section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="20"/>
<define name="MAX_MOTOR" value="255"/>
<define name="TRIM_A" value="0"/>
<define name="TRIM_E" value="0"/>
<define name="TRIM_R" value="0"/>
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/>
<define name="ROLL_COEF" value="{ 0, 0, -256, 256}"/>
<define name="PITCH_COEF" value="{ 256, -256, 0, 0}"/>
<define name="YAW_COEF" value="{ -256, -256, 256, 256}"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_NEUTRAL" value="5"/>
<define name="GYRO_Q_NEUTRAL" value="-10"/>
<define name="GYRO_R_NEUTRAL" value="17"/>
<!-- SENS ITG3200 1/14.375 (deg/s)/LSB, rate frac 12bit => 1/14.375 * pi / 180 * 2^12 -->
<define name="GYRO_P_SENS" value="4.97312" integer="16"/>
<define name="GYRO_Q_SENS" value="4.97312" integer="16"/>
<define name="GYRO_R_SENS" value="4.97312" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="-5"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="-20"/>
<!-- SENS ADXL345 16G 31.2 mg/LSB, accel frac 10bit => 31.2 * 2^10 / 1000 = 31.9488-->
<define name="ACCEL_X_SENS" value="38.2683" integer="16"/>
<define name="ACCEL_Y_SENS" value="38.7108" integer="16"/>
<define name="ACCEL_Z_SENS" value="39.6583" integer="16"/>
<define name="MAG_X_NEUTRAL" value="55"/>
<define name="MAG_Y_NEUTRAL" value="54"/>
<define name="MAG_Z_NEUTRAL" value="92"/>
<define name="MAG_X_SENS" value="4.97044135787" integer="16"/>
<define name="MAG_Y_SENS" value="4.49687342915" integer="16"/>
<define name="MAG_Z_SENS" value="4.93138019221" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="RadOfDeg(-10.)"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg(-10.)"/>
<define name="BODY_TO_IMU_PSI" value="RadOfDeg(0.)"/>
</section>
<!-- Magnetic field for Toulouse (declination -16°) -->
<section name="AHRS" prefix="AHRS_">
<define name="MAG_UPDATE_YAW_ONLY" value="1"/>
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value=" 0.513081"/>
<define name="H_Y" value="-0.00242783"/>
<define name="H_Z" value=" 0.858336"/>
</section>
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="14" integer="16"/>
</section>
<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="RadOfDeg(45.)"/>
<define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
<define name="SP_MAX_R" value="RadOfDeg(90.)"/>
<define name="DEADBAND_R" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="RadOfDeg(300.)"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="RadOfDeg(90.)"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-700"/>
<define name="PHI_DGAIN" value="-200"/>
<define name="PHI_IGAIN" value="-50"/>
<define name="THETA_PGAIN" value="-700"/>
<define name="THETA_DGAIN" value="-200"/>
<define name="THETA_IGAIN" value="-50"/>
<define name="PSI_PGAIN" value="-700"/>
<define name="PSI_DGAIN" value="-250"/>
<define name="PSI_IGAIN" value="-20"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
<define name="THETA_DDGAIN" value=" 300"/>
<define name="PSI_DDGAIN" value=" 300"/>
</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="REF_MIN_ZDD" value="-1.2*9.81"/>
<define name="REF_MAX_ZDD" value=" 0.8*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-250"/>
<define name="HOVER_KI" value="0"/>
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-140"/>
<define name="DGAIN" value="-90"/>
<define name="IGAIN" value="-30"/>
<define name="NGAIN" value="-0"/>
<!-- feedforward -->
<define name="AGAIN" value="100"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</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_Z_HOLD"/>
<!--define name="MODE_AUTO2" value="AP_MODE_NAV"/-->
</section>
<section name="FMS">
<define name="BOOZ_FMS_TIMEOUT" value="0"/>
</section>
<section name="CAM" prefix="BOOZ_CAM_">
<define name="TILT_NEUTRAL" value="1500"/>
<define name="TILT_MIN" value="1060"/>
<define name="TILT_MAX" value="2250"/>
<define name="TILT_ANGLE_MIN" value="RadOfDeg(-90.)" unit="rad"/>
<define name="TILT_ANGLE_MAX" value="RadOfDeg( 0.)" unit="rad"/>
<define name="PAN_NEUTRAL" value="0"/>
<define name="PAN_MIN" value="0"/>
<define name="PAN_MAX" value="25736"/> <!-- 360 deg (2^12) -->
<define name="DEFAULT_MODE" value="BOOZ_CAM_MODE_MANUAL"/>
<!--define name="SetPwm(_v)" value="Booz2SetPwm1Value(_v)"/-->
</section>
<section name="MISC">
<define name="BOOZ_ANALOG_BARO_THRESHOLD" value="800"/>
<define name="FACE_REINJ_1" value="1024"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
<define name="BoozDropPwm(_v)" value="BoozSetPwm1Value(_v)"/>
<define name="IMU_MAG_OFFSET" value="-9."/>
</section>
<section name="GCS">
<define name="ALT_SHIFT_PLUS_PLUS" value="5"/>
<define name="ALT_SHIFT_PLUS" value="1"/>
<define name="ALT_SHIFT_MINUS" value="-1"/>
</section>
</airframe>