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A1000_BOOZ.xml
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A1000_BOOZ.xml
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<!-- UofA Group 1000 Fixed Pitch Airframe using Booz board -->
<airframe name="A1000 BOOZ">
<servos>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" min="0" neutral="0" max="255"/>
<servo name="RIGHT" no="2" 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_MKK" prefix="ACTUATORS_MKK_">
<define name="NB" value="4"/>
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
</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_">
<!-- beginning of CRISTA IMU sign defines -->
<define name="GYRO_P_SIGN" value="-1"/>
<define name="GYRO_Q_SIGN" value="1"/>
<define name="GYRO_R_SIGN" value="1"/>
<define name="ACCEL_X_SIGN" value="-1"/>
<define name="ACCEL_Y_SIGN" value="-1"/>
<define name="ACCEL_Z_SIGN" value="1"/>
<define name="MAG_X_SIGN" value="-1"/>
<define name="MAG_Y_SIGN" value="1"/>
<define name="MAG_Z_SIGN" value="-1"/>
<!-- end of crista imu sign defines -->
<define name="GYRO_P_CHAN" value="4"/>
<define name="GYRO_Q_CHAN" value="0"/>
<define name="GYRO_R_CHAN" value="1"/>
<!-- <define name="GYRO_P_NEUTRAL" value="32734"/>
<define name="GYRO_Q_NEUTRAL" value="32272"/>
<define name="GYRO_R_NEUTRAL" value="32420"/> -->
<define name="GYRO_P_NEUTRAL" value="30900"/>
<define name="GYRO_Q_NEUTRAL" value="32400"/>
<define name="GYRO_R_NEUTRAL" value="31800"/>
<define name="GYRO_P_SENS" value=" 0.85" integer="16"/>
<define name="GYRO_Q_SENS" value=" 0.85" integer="16"/>
<define name="GYRO_R_SENS" value=" 0.85" integer="16"/>
<define name="ACCEL_X_CHAN" value="2"/>
<define name="ACCEL_Y_CHAN" value="5"/>
<define name="ACCEL_Z_CHAN" value="6"/>
<define name="ACCEL_X_SENS" value=" 6.29676358" integer="16"/>
<define name="ACCEL_Y_SENS" value=" 6.07991732" integer="16"/>
<define name="ACCEL_Z_SENS" value=" 6.62632272" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="40385"/>
<define name="ACCEL_Y_NEUTRAL" value="39223"/>
<define name="ACCEL_Z_NEUTRAL" value="38860"/>
<!-- test neutral <define name="ACCEL_Z_NEUTRAL" value="38900"/> -->
<define name="MAG_X_CHAN" value="4"/> <!-- previously 0-->
<define name="MAG_Y_CHAN" value="0"/> <!-- previously 4-->
<define name="MAG_Z_CHAN" value="2"/>
<!--
<define name="MAG_X_NEUTRAL" value="2339"/>
<define name="MAG_Y_NEUTRAL" value="2106"/>
<define name="MAG_Z_NEUTRAL" value="1902"/>
<define name="MAG_X_SENS" value=" 4.4039655" integer="16"/>
<define name="MAG_Y_SENS" value=" 4.2959321" integer="16"/>
<define name="MAG_Z_SENS" value=" 4.0988408" integer="16"/> -->
<!--
second attempt
<define name="MAG_X_NEUTRAL" value="2169"/>
<define name="MAG_Y_NEUTRAL" value="2263"/>
<define name="MAG_Z_NEUTRAL" value="1673"/>
-->
<!-- Second Attempt
<define name="MAG_X_SENS" value="3.77021943193" integer="16"/>
<define name="MAG_Y_SENS" value="3.4884990526" integer="16"/>
<define name="MAG_Z_SENS" value="3.52031672283" integer="16"/>
-->
<define name="MAG_X_NEUTRAL" value="2110"/>
<define name="MAG_Y_NEUTRAL" value="2168"/>
<define name="MAG_Z_NEUTRAL" value="1612"/>
<define name="MAG_45_HACK" value="1"/>
<define name="MAG_X_SENS" value="2.828427125" integer="16"/>
<define name="MAG_Y_SENS" value="2.973101172" integer="16"/>
<define name="MAG_Z_SENS" value="3.88650043" integer="16"/>
<!--
<define name="MAG_X_SENS" value="2.665947727" integer="16"/>
<define name="MAG_Y_SENS" value="2.466741336" integer="16"/>
<define name="MAG_Z_SENS" value="3.4884990526" integer="16"/>
<define name="MAG_45_HACK" value="1"/>
-->
<define name="BODY_TO_IMU_PHI" value="2.9 " unit="deg"/> <!-- previously 1.5-->
<define name="BODY_TO_IMU_THETA" value="-3.7 " unit="deg"/> <!-- previously -1.5-->
<define name="BODY_TO_IMU_PSI" value="0. " unit="deg"/>
</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"/>
<!-- new section from the NOVA -->
<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" />
<!-- original values
<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="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="500" unit="deg/s"/> <!--originally 800-->
<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="500" unit="deg/s"/> <!-- originally 800-->
<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="700" unit="deg/s"/> <!-- originally 500-->
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="300"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="380"/>
<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="14.9" 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="500"/>
<define name="HOVER_KD" value="200"/>
<define name="HOVER_KI" value="100"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000"/>
<!-- <define name="INV_M" value ="0.2"/> -->
</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="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_HOVER_Z_HOLD"/>
</section>
<section name="FMS">
</section>
<section name="MISC">
<define name="FACE_REINJ_1" value="1024"/>
<define name="NOMINAL_AIRSPEED" value="1"/>
</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>
<firmware name="rotorcraft">
<target name="ap" board="booz_1.0">
<configure name="FLASH_MODE" value="IAP"/> <!-- default for the board but putting it here as example-->
<define name="RADIO_KILL_SWITCH" value="4"/>
<define name="MODEM_BAUD" value = "B57600"/>
<define name="GPS_LAG" value = "0.8"/>
<define name="ACTUATORS_START_DELAY" value = "3"/>
<!-- <define name="KILL_MOTORS"/> -->
<define name="FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R" />
<define name="GPS_USE_LATLONG"/>
<define name="USE_ADAPT_HOVER"/>
<define name="USE_INS_NAV_INIT"/>
</target>
<target name="sim" board="pc"/>
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="mkk"/>
<subsystem name="imu" type="crista"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/>
<subsystem name="ins" type="hff"/>
</firmware>
<firmware name="booz_test_progs">
<target name="test_telemetry" board="booz_1.0"/>
<target name="test_baro" board="booz_1.0"/>
<target name="test_spektrum" board="booz_1.0"/>
</firmware>
<firmware name="booz_test_progs">
<target name="test_telemetry" board="booz_1.0"/>
<target name="test_baro" board="booz_1.0"/>
<target name="test_spektrum" board="booz_1.0"/>
</firmware>
<!-- old makefile section
<makefile>
ARCH=lpc21
BOARD_CFG = \"boards/booz2_v1_0.h\"
# prevents motors from ever starting
ap.CFLAGS += -DKILL_MOTORS
ap.CFLAGS += -DMODEM_BAUD=B57600
#ap.CFLAGS += -DGPS_USE_LATLONG now included in NOVA section, include if NOVA section removed
#throttle killswitch
ap.CFLAGS += -DRADIO_KILL_SWITCH=RADIO_CONTROL_SWITCH1
include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile
include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
include $(CFG_BOOZ)/subsystems/booz2_imu_crista.makefile
include $(CFG_BOOZ)/subsystems/booz_gps_ublox.makefile
include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
#include $(CFG_BOOZ)/subsystems/booz2_fms_test_signal.makefile
#stuff from nova below
ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
include $(CFG_BOOZ)/subsystems/ins_hff.makefile
#set USE_GPS lag for horizontal filter
ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R
ap.CFLAGS += -DGPS_USE_LATLONG
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DACTUATORS_START_DELAY=3
</makefile>
-->
</airframe>