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A1000_LISA.xml
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A1000_LISA.xml
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<!--<!DOCTYPE airframe SYSTEM "../airframe.dtd">-->
<airframe name="A1000 LISA">
<modules main_freq="512">
<load name="deploy_sonar_buoy.xml"/>
</modules>
<servos>
<servo name="BACK" no="0" min="2000" neutral="1500" max="1000"/>
<servo name="LEFT" no="1" min="2000" neutral="1500" max="1000"/>
<servo name="FRONT" no="2" min="2000" neutral="1500" max="1000"/>
<servo name="RIGHT" no="3" min="2000" neutral="1500" max="1000"/>
<servo name="ESC" no="4" min="1000" neutral="1000" 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>
<set servo="ESC" value="motors_on?ESC_HOVER:ESC_STOPPED"/>
<set servo="FRONT" value="-(@PITCH + @YAW + (1.3 * (@THRUST<<5)))"/>
<set servo="BACK" value="-(-@PITCH + @YAW + (1.3 *(@THRUST<<5)))"/>
<set servo="LEFT" value="-(@ROLL - @YAW + (1.3 *(@THRUST<<5)))"/>
<set servo="RIGHT" value="-(-@ROLL - @YAW + (1.3 *(@THRUST<<5)))"/>
</command_laws>
-->
<command_laws>
<set servo="ESC" value="motors_on?ESC_HOVER:ESC_STOPPED"/>
<set servo="FRONT" value="@PITCH + @YAW + @THRUST"/>
<set servo="BACK" value="-@PITCH + @YAW + @THRUST"/>
<set servo="LEFT" value="@ROLL - @YAW + @THRUST"/>
<set servo="RIGHT" value="-@ROLL - @YAW + @THRUST"/>
</command_laws>
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_NEUTRAL" value="33550"/>
<define name="GYRO_Q_NEUTRAL" value="33500"/>
<define name="GYRO_R_NEUTRAL" value="32500"/>
<define name="GYRO_P_SENS" value=" 1.101357422" integer="16"/>
<define name="GYRO_Q_SENS" value=" 1.122670898" integer="16"/>
<define name="GYRO_R_SENS" value=" 1.104890137" integer="16"/>
<!-- accelerations done on 18/10/2010 -->
<define name="ACCEL_X_NEUTRAL" value="32093"/>
<define name="ACCEL_Y_NEUTRAL" value="32301"/>
<define name="ACCEL_Z_NEUTRAL" value="32293"/>
<define name="ACCEL_X_SENS" value="2.53098065315" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.52055255767" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.57032707747" integer="16"/>
<define name="MAG_X_NEUTRAL" value="-9"/>
<define name="MAG_Y_NEUTRAL" value="-4"/>
<define name="MAG_Z_NEUTRAL" value="14"/>
<define name="MAG_X_SENS" value="3.61018203965" integer="16"/>
<define name="MAG_Y_SENS" value="4.13471628028" integer="16"/>
<define name="MAG_Z_SENS" value="2.07762920804" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0.53 " unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="-1.24 " unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0" unit="deg"/>
</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="BAT">
<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="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="800" 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="800" 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="500" unit="deg/s"/>
<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="5000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="5000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="400"/>
<define name="PSI_PGAIN" value="2000"/>
<define name="PSI_DGAIN" value="350"/>
<define name="PSI_IGAIN" value="10"/>
feedforward
<define name="PHI_DDGAIN" value=" 300"/>
<define name="THETA_DDGAIN" value=" 300"/>
<define name="PSI_DDGAIN" value="300"/> -->
<!-- feedback -->
<define name="PHI_PGAIN" value="1500"/>
<define name="PHI_DGAIN" value="30"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="1500"/>
<define name="THETA_DGAIN" value="300"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="300"/>
<define name="PSI_IGAIN" value="10"/>
<!-- 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"/>
</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="MISC">
<define name="FACE_REINJ_1" value="1024"/>
</section>
<firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.0">
<define name = "RADIO_CONTROL_MODE" value = "RADIO_AUX1"/>
<define name = "RADIO_KILL_SWITCH" value = "RADIO_GEAR"/>
<define name = "HELI"/>
<!-- <define name = "KILL_MOTORS" />-->
<!-- if we want a secondary spektrum reciever we need to set the board to be
lisa_l_1.1 and rewired accordingly then set the following.
<define name = "RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value = "UART5"/>
<define name = "OVERRIDE_UART5_IRQ_HANDLER"/> -->
</target>
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="heli"/>
<subsystem name="imu" type="b2_v1.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/>
</firmware>
<firmware name="lisa_test_progs">
<target name="test_telemetry" board="lisa_l_1.0"/>
<target name="test_baro" board="lisa_l_1.0"/>
<target name="test_spektrum" board="lisa_l_1.0"/>
</firmware>
<firmware name="lisa_passthrough">
<target name="stm_passthrough" board="lisa_l_1.0"/>
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="imu" type="b2_v1.1"/>
</firmware>
</airframe>