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qs_asp22.xml
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qs_asp22.xml
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<!-- this is a quadshot vehicle equiped with Lia -->
<!-- Copyright (C) 2012, Transition Robotics, Inc. -->
<airframe name="qs_asp22">
<servos driver="Pwm">
<servo name="A1" no="0" min="1000" neutral="1050" max="2000"/>
<servo name="A2" no="1" min="1000" neutral="1050" max="2000"/>
<servo name="B1" no="2" min="1000" neutral="1050" max="2000"/>
<servo name="B2" no="3" min="1000" neutral="1050" max="2000"/>
<servo name="ELEVON_LEFT" no="4" min="1000" neutral="1500" max="2000"/>
<servo name="ELEVON_RIGHT" no="5" min="1000" neutral="1500" max="2000"/>
</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>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<set servo="A1" value="motor_mixing.commands[SERVO_A1]"/>
<set servo="A2" value="motor_mixing.commands[SERVO_A2]"/>
<set servo="B1" value="motor_mixing.commands[SERVO_B1]"/>
<set servo="B2" value="motor_mixing.commands[SERVO_B2]"/>
<let var="aileron_feedback_left" value="-@YAW"/>
<let var="aileron_feedback_right" value="-@YAW"/>
<let var="elevator_feedback_left" value="-@PITCH"/>
<let var="elevator_feedback_right" value="+@PITCH"/>
<let var="hover_left" value="3*$aileron_feedback_left"/>
<let var="hover_right" value="3*$aileron_feedback_right"/>
<let var="forward_left" value="6*$aileron_feedback_left+4*$elevator_feedback_left"/>
<let var="forward_right" value="6*$aileron_feedback_right+4*$elevator_feedback_right"/>
<set servo="ELEVON_LEFT" value="AP_MODE == AP_MODE_ATTITUDE_DIRECT ? $hover_left : $forward_left" />
<set servo="ELEVON_RIGHT" value="AP_MODE == AP_MODE_ATTITUDE_DIRECT ? $hover_right : $forward_right" />
</command_laws>
<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"/>
<define name="PITCH_COEF" value="{ -256, -256, 256, 256 }"/>
<define name="ROLL_COEF" value="{ 256, -256, 256, -256 }"/>
<define name="YAW_COEF" value="{ -256, 256, 128, -128 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section>
<include href="conf/airframes/esden/calib/asp22-019.xml"/>
<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="90." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_AUTO1" value="AP_MODE_FORWARD"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO2" value="AP_MODE_RATE_DIRECT"/>
<define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/>
</section>
<section name="BAT">
<define name="MIN_BAT_LEVEL" value="10.4" units="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</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="350"/>
<define name="GAIN_Q" value="250"/>
<define name="GAIN_R" value="350"/>
<define name="IGAIN_P" value="200"/>
<define name="IGAIN_Q" value="200"/>
<define name="IGAIN_R" value="200"/>
</section>
<section name ="GAIN_SETS">
<define name="NUMBER_OF_GAINSETS" value="2"/>
<define name="SCHEDULING_VARIABLE" value="(radio.values[COMMAND_THRUST]+ transition_status"/>
<define name="SCHEDULING_POINTS" value="{1000, 6000}"/>
<define name="SCHEDULING_VARIABLE_FRAC" value="0"/>
<define name="PHI_P" value="{230, 230}"/>
<define name="PHI_D" value="{170, 170}"/>
<define name="PHI_I" value="{30, 30}"/>
<define name="PHI_DD" value="{0, 0}"/>
<define name="THETA_P" value="{200, 300}"/>
<define name="THETA_D" value="{100, 50}"/>
<define name="THETA_I" value="{40, 40}"/>
<define name="THETA_DD" value="{0, 0}"/>
<define name="PSI_P" value="{300, 300}"/>
<define name="PSI_D" value="{150, 150}"/>
<define name="PSI_I" value="{0, 0}"/>
<define name="PSI_DD" value="{0, 0}"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="60." unit="deg"/>
<define name="SP_MAX_THETA" value="60." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="DEADBAND_R" value="250"/>
<define name="DEADBAND_A" value="250"/>
<define name="SP_PSI_DELTA_LIMIT" value="90" unit="deg"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="3000" 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="3000" 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="3000" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.9"/>
<define name="REF_MAX_R" value="90." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="230"/>
<define name="PHI_DGAIN" value="170"/>
<define name="PHI_IGAIN" value="30"/>
<define name="THETA_PGAIN" value="300"/>
<define name="THETA_DGAIN" value="50"/>
<define name="THETA_IGAIN" value="40"/>
<define name="PSI_PGAIN" value="300"/>
<define name="PSI_DGAIN" value="150"/>
<define name="PSI_IGAIN" value="0"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 0"/>
<!--define name="THETA_DDGAIN" value=" 140"/-->
<define name="THETA_DDGAIN" value=" 0"/>
<define name="PSI_DDGAIN" value=" 0"/>
<!-- <define name="TURN_COORDINATION" value="0"/>
<define name="TURN_ACCEL_COORDINATION" value="0"/>-->
</section>
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.4" 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="200"/>
<define name="HOVER_KD" value="175"/>
<define name="HOVER_KI" value="72"/>
<define name="RC_CLIMB_COEF" value ="163"/>
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!-- <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.3"/> -->
</section>
<section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value=" 0.47577"/>
<define name="H_Y" value=" 0.11811"/>
<define name="H_Z" value=" 0.87161"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>
<section name="MISC">
<define name="USE_EARTH_BOUND_RC_SETPOINT" value="TRUE"/>
<!-- <define name="USE_REFERENCE_SYSTEM" value="FALSE"/> -->
<define name="SWITCH_STICKS_FOR_RATE_CONTROL" value="TRUE"/>
<define name="TRANSITION_MAX_OFFSET" value="-82.0" unit="deg"/>
</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>
<modules main_freq="512">
<!--load name="vehicle_interface_overo_link.xml"/-->
<load name="gps_ubx_ucenter.xml"/>
<load name="led_safety_status.xml">
<define name="USE_LED_BODY" value="1"/>
<define name="SAFETY_WARNING_LED" value="BODY"/>
</load>
<!--load name="gain_scheduling.xml"/-->
</modules>
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0">
<subsystem name="radio_control" type="ppm">
<configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/>
</subsystem>
<configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/>
</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="pwm">
<define name="SERVO_HZ" value="400"/>
<define name="USE_SERVOS_7AND8"/>
</subsystem>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.2"/>
<!-- <subsystem name="imu" type="aspirin_v1.5"/> -->
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="0"/>
<define name="AHRS_USE_GPS_HEADING" value="0"/>
</subsystem>
<subsystem name="ins"/>
<!--define name="USE_INS_NAV_INIT"/-->
<!--subsystem name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/-->
</firmware>
</airframe>