/
twinjet_overo.xml
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/
twinjet_overo.xml
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<!DOCTYPE airframe SYSTEM "airframe.dtd">
<!-- Twinjet Multiplex (http://www.multiplex-rc.de/)
Twog v1 board (http://wiki.paparazziuav.org/wiki/Twog_v1)
PerkinElmer TPS334 IR Sensors
Aligned infrared sensor
XBee modem with AT firmware
LEA 5H GPS
-->
<airframe name="Twinjet">
<firmware name="fixedwing">
<target name="ap" board="twog_1.0">
<define name="UBX_EXTERNAL"/>
</target>
<target name="sim" board="pc"/>
<define name="LOITER_TRIM"/>
<define name="AGR_CLIMB"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_hitl"/>
<subsystem name="navigation"/>
<subsystem name="joystick"/>
<subsystem name="ins" type="gps_passthrough"/>
</firmware>
<firmware name="setup">
<target name="tunnel" board="twog_1.0" />
</firmware>
<modules>
<load name="twog_extra_dl.xml"/>
<load name="adc_generic.xml">
<flag name="ADC_CHANNEL_GENERIC1" value="ADC_3"/>
<flag name="ADC_CHANNEL_GENERIC2" value="ADC_5"/>
<flag name="USE_ADC_3"/>
<flag name="USE_ADC_5"/>
</load>
<load name="infrared_adc.xml"/>
</modules>
<servos>
<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILEVON_RIGHT" no="1" min="1230" neutral="1710" max="2100"/>
<servo name="AILEVON_LEFT" no="2" min="2120" neutral="1785" max="1300"/>
<servo name="CHAN3" no="3" min="2120" neutral="1785" max="1300"/>
<servo name="CHAN4" no="4" min="2120" neutral="1785" max="1300"/>
<servo name="CHAN5" no="5" min="2120" neutral="1785" max="1300"/>
<servo name="CHAN6" no="6" min="2120" neutral="1785" max="1300"/>
<servo name="CHAN7" no="7" min="2120" neutral="1785" max="1300"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
</rc_commands>
<section name="MIXER">
<define name="AILEVON_AILERON_RATE" value="0.75"/>
<define name="AILEVON_ELEVATOR_RATE" value="1.00"/>
</section>
<command_laws>
<set servo="THROTTLE" value="@THROTTLE"/>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="AILEVON_LEFT" value="$aileron + $elevator"/>
<set servo="AILEVON_RIGHT" value="-$aileron + $elevator"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.6"/>
<define name="MAX_PITCH" value="0.6"/>
</section>
<section name="INFRARED" prefix="IR_">
<define name="ADC_IR1_NEUTRAL" value="512"/>
<define name="ADC_IR2_NEUTRAL" value="512"/>
<define name="ADC_TOP_NEUTRAL" value="512"/>
<define name="HORIZ_SENSOR_ALIGNED" value="1"/>
<define name="IR1_SIGN" value="1"/>
<define name="IR2_SIGN" value="-1"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="5" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="10" unit="deg"/>
<define name="LATERAL_CORRECTION" value="1."/>
<define name="LONGITUDINAL_CORRECTION" value="1."/>
<define name="VERTICAL_CORRECTION" value="1.25"/>
<define name="CORRECTION_UP" value="1."/>
<define name="CORRECTION_DOWN" value="1."/>
<define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="0.9"/>
<define name="ROLL_MAX_SETPOINT" value="0.53" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="6000."/>
<define name="PITCH_DGAIN" value="0."/>
<define name="ELEVATOR_OF_ROLL" value="0"/>
<!-- roll rate loop -->
<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="1500"/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="0.05"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.40"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".3"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.8"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="2000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1500"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.008"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.25"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.14"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
</section>
<section name="NAV">
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="1000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="6.3" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="7.0" unit="V"/>
<define name="LOW_BAT_LEVEL" value="7.3" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)" unit="s"/>
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
<define name="DEFAULT_THROTTLE" value="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE+0.05" unit="%"/>
<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
<define name="HOME_RADIUS" value="50" unit="m"/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
<define name="CLIMB_THROTTLE" value="0.65"/><!-- Throttle for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive Decent -->
<define name="CLIMB_PITCH" value="0.2"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
<define name="DESCENT_NAV_RATIO" value="1.0"/>
</section>
</airframe>