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booz2_flixr.xml
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booz2_flixr.xml
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<!DOCTYPE airframe SYSTEM "airframe.dtd">
<airframe name="BOOZ2_F1">
<firmware name="rotorcraft">
<target name="ap" board="booz_1.0">
<!--<define name="KILL_MOTORS"/>--> <!-- prevent motors from ever starting -->
<!--<define name="RADIO_KILL_SWITCH" value="RADIO_CONTROL_SWITCH1"/>-->
<define name="USE_INS_NAV_INIT"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
</target>
<subsystem name="telemetry" type="transparent_usb"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="actuators" type="mkk"/>
<subsystem name="imu" type="b2_v1.0"/>
<subsystem name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins"/>
</firmware>
<firmware name="booz2_test_progs">
<target name="test_downlink" board="booz_1.0"/>
<target name="test_baro" board="booz_1.0"/>
<target name="test_spektrum" board="booz_1.0"/>
<target name="tunnel" board="booz_1.0"/>
<target name="usb_tunnel_0" board="booz_1.0"/>
<target name="usb_tunnel_1" board="booz_1.0"/>
</firmware>
<modules main_freq="512">
<load name="booz_pwm.xml">
<define name="USE_PWM1"/>
</load>
<load name="booz_drop.xml"/>
<load name="sys_mon.xml"/>
<!--load name="booz_cam.xml"/-->
<load name="sonar_adc_ins.xml">
<configure name="ADC_SONAR" value="ADC_0"/>
</load>
</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="0" />
</commands>
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<define name="NB" value="4" />
<define name="ADDR" value="{ 0x52, 0x54, 0x58, 0x56 }" />
</section>
<section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="2" />
<define name="MAX_MOTOR" value="210" />
<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="32362" />
<define name="GYRO_Q_NEUTRAL" value="32080" />
<define name="GYRO_R_NEUTRAL" value="32096" />
<define name="GYRO_P_SENS" value="1.1032765" integer="16" />
<define name="GYRO_Q_SENS" value="1.1360802599" integer="16" />
<define name="GYRO_R_SENS" value="1.1249874614" integer="16" />
<define name="ACCEL_X_SENS" value="2.45932966" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.45106376" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.47825717" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="31886"/>
<define name="ACCEL_Y_NEUTRAL" value="32162"/>
<define name="ACCEL_Z_NEUTRAL" value="32941"/>
<define name="MAG_X_CHAN" value="4" />
<define name="MAG_Y_CHAN" value="0" />
<define name="MAG_Z_CHAN" value="2" />
<define name="MAG_45_HACK" value="1" />
<!--define name="MAG_X_SENS" value="5.14821844457 * sqrt(2)/2" integer="16"/-->
<!--define name="MAG_Y_SENS" value="5.11810156597 * sqrt(2)/2" integer="16"/-->
<define name="MAG_X_SENS" value="3.640340173" integer="16"/>
<define name="MAG_Y_SENS" value="3.619044324" integer="16"/>
<define name="MAG_Z_SENS" value="5.07618333556" integer="16"/>
<define name="MAG_X_SIGN" value="-1" />
<define name="MAG_Y_SIGN" value=" 1" />
<define name="MAG_Z_SIGN" value="-1" />
<define name="MAG_X_NEUTRAL" value="2059"/>
<define name="MAG_Y_NEUTRAL" value="1944"/>
<define name="MAG_Z_NEUTRAL" value="2099"/>
<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>
<section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value=" 0.51562740288882"/>
<define name="H_Y" value="-0.05707735220832"/>
<define name="H_Z" value=" 0.85490967783446"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="10000" />
<define name="SP_MAX_Q" value="10000" />
<define name="SP_MAX_R" value="10000" />
<define name="DEADBAND_P" value="0" />
<define name="DEADBAND_Q" value="0" />
<define name="DEADBAND_R" value="200" />
<define name="REF_TAU" value="4" />
<!-- feedback -->
<define name="GAIN_P" value="400" />
<define name="GAIN_Q" value="400" />
<define name="GAIN_R" value="350" />
<define name="IGAIN_P" value="75" />
<define name="IGAIN_Q" value="75" />
<define name="IGAIN_R" value="50" />
<!-- feedforward -->
<define name="DDGAIN_P" value="300" />
<define name="DDGAIN_Q" value="300" />
<define name="DDGAIN_R" value="300" />
</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="0.9" />
<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="0.9" />
<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="0.9" />
<define name="REF_MAX_R" value="180." unit="deg/s" />
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)" />
<!-- feedback -->
<define name="PHI_PGAIN" value="1000" />
<define name="PHI_DGAIN" value="300" />
<define name="PHI_IGAIN" value="100" />
<define name="THETA_PGAIN" value="1000" />
<define name="THETA_DGAIN" value="300" />
<define name="THETA_IGAIN" value="100" />
<define name="PSI_PGAIN" value="500" />
<define name="PSI_DGAIN" value="320" />
<define name="PSI_IGAIN" value="75" />
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300" />
<define name="THETA_DDGAIN" value=" 300" />
<define name="PSI_DDGAIN" value=" 300" />
</section>
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="15." integer="16"/>
<define name="SONAR_SENS" value="2.146" integer="16"/>
</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="HOVER_KP" value="100"/>
<define name="HOVER_KD" value="60"/>
<define name="HOVER_KI" value="10"/>
<!-- 1.5m/s for full stick : 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="70"/>
<define name="DGAIN" value="150"/>
<define name="IGAIN" value="15"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V" />
<define name="MAX_BAT_LEVEL" value="12.0" unit="V" />
<define name="VoltageOfAdc(adc)" value="(0.0246*adc)"/>
</section>
<section name="MISC">
<define name="FACE_REINJ_1" value="1024"/>
<define name="BOOZ_ANALOG_BARO_THRESHOLD" value="512"/>
</section>
<section name="FMS">
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{"front_motor", "back_motor", "right_motor", "left_motor"}" />
<define name="INITIAL_CONDITITONS" value=""reset00"" />
<define name="SENSORS_PARAMS" value=""nps_sensors_params_booz2_a1.h"" />
</section>
<section name="MODE" prefix="MODE_">
<define name="MANUAL" value="AP_MODE_ATTITUDE_DIRECT" />
<define name="AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD" />
<define name="AUTO2" value="AP_MODE_HOVER_Z_HOLD" />
</section>
</airframe>