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rot_wing_v3c_oneloop.xml
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rot_wing_v3c_oneloop.xml
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<!-- This is a 7kg Rotating Wing Drone C
* Airframe: TUD00???
* Autopilot: Cube orange
* Datalink: Herelink
* GPS: UBlox F9P
* RC: SBUS Crossfire
-->
<airframe name="RotatingWingV3C">
<description>RotatingWingV3C for outdoor flight and simulation with INS EKF2</description>
<firmware name="rotorcraft">
<autopilot name="rotorcraft_oneloop_andi_indi.xml"/>
<target name="ap" board="cube_orange">
<configure name="PERIODIC_FREQUENCY" value="500"/> <!-- Configure the main periodic frequency to 500Hz -->
<configure name="NAVIGATION_FREQUENCY" value="500"/>
<module name="radio_control" type="sbus">
<configure name="SBUS_PORT" value="UART3"/> <!-- On the TELEM2 port -->
</module>
<module name="sys_mon"/>
<module name="flight_recorder"/>
<module name="lidar_tfmini">
<configure name="TFMINI_PORT" value="UART8"/>
<configure name="USE_TFMINI_AGL" value="TRUE"/>
</module>
<!-- RC switches -->
<define name="RADIO_TH_HOLD" value="RADIO_AUX1"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
<define name="RADIO_FMODE" value="RADIO_AUX2"/>
<define name="RADIO_FBW_MODE" value="RADIO_AUX3"/>
<define name="RADIO_CONTROL_THRUST_X" value="RADIO_AUX4"/>
<!-- EKF EXT POSE configure inputs -->
<define name="INS_EXT_POSE_MAG_ID" vaue="MAG_RM3100_SENDER_ID"/>
<define name="INS_EXT_POSE_IMU_ID" value="IMU_CUBE1_ID"/>
<!--Only send gyro and accel that is being used-->
<define name="IMU_GYRO_ABI_SEND_ID" value= "IMU_CUBE1_ID"/>
<define name="IMU_ACCEL_ABI_SEND_ID" value= "IMU_CUBE1_ID"/>
<!--Use adc rot sensor-->
<module name="wing_rotation_adc_sensor">
<define name="ADC_OFFSET" value="-49.1731"/>
<define name="ADC_SCALE" value="0.0029986"/>
</module>
<!-- Log in high speed (Remove for outdoor flights) -->
<!-- <define name="IMU_LOG_HIGHSPEED" value="TRUE"/> -->
<define name="I2C2_CLOCK_SPEED" value="100000"/>
</target>
<target name="nps" board="pc">
<configure name="PERIODIC_FREQUENCY" value="500"/>
<configure name="NAVIGATION_FREQUENCY" value="500"/>
<module name="radio_control" type="datalink"/>
<module name="fdm" type="jsbsim"/>
<!--Not dealing with these in the simulation-->
<define name="RADIO_TH_HOLD" value="0"/> <!-- Throttle hold in command laws -->
<define name="RADIO_FMODE" value="0"/> <!-- Throttle curve select -->
<define name="RADIO_FBW_MODE" value="0"/> <!-- Switch between AP and FBW control -->
<define name="RADIO_KILL_SWITCH" value="5"/> <!-- Kill switch -->
<define name="RADIO_CONTROL_THRUST_X" value="0"/>
</target>
<!-- Datalink -->
<module name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="B115200"/> <!-- herelink-->
<!-- <configure VALUE="B57600" name="MODEM_BAUD"/> xBee -->
</module>
<!-- Sensors -->
<module name="mag" type="rm3100">
<define name="MODULE_RM3100_UPDATE_AHRS" value="TRUE"/>
<configure name="MAG_RM3100_I2C_DEV" value="I2C2"/>
</module>
<module name="airspeed" type="ms45xx_i2c">
<define name="MS45XX_I2C_DEV" value="i2c2"/>
<define name="MS45XX_PRESSURE_SCALE" value="1.9077609"/>
<define name="USE_AIRSPEED_LOWPASS_FILTER" value="TRUE"/>
<define name="MS45XX_LOWPASS_TAU" value="0.15"/>
<define name="AIRSPEED_MS45XX_SEND_ABI" value="1"/>
</module>
<module name="airspeed" type="uavcan">
<define name="AIRSPEED_UAVCAN_LOWPASS_FILTER" value="TRUE" />
<define name="AIRSPEED_UAVCAN_LOWPASS_PERIOD" value="0.1" />
<define name="AIRSPEED_UAVCAN_LOWPASS_TAU" value="0.15" />
<define name="AIRSPEED_UAVCAN_SEND_ABI" value="0" /> <!-- Read Airspeed for logging but do not use it -->
</module>
<module name="air_data"/>
<module name="gps" type="ublox">
<configure name="UBX_GPS_BAUD" value="B460800"/>
<define name="USE_GPS_UBX_RTCM" value="TRUE"/>
</module>
<!-- IMU / INS -->
<module name="imu" type="cube"/>
<module name="ins" type="ekf2"/>
<!-- Actuators on dual CAN bus -->
<module name="actuators" type="uavcan">
<configure value="TRUE" name="UAVCAN_USE_CAN1"/>
<configure value="TRUE" name="UAVCAN_USE_CAN2"/>
</module>
<!-- Actuators on PWM -->
<module name="actuators" type="pwm" >
<define name="SERVO_HZ" value="400"/>
</module>
<!-- Control -->
<module name="stabilization" type="oneloop" >
<configure name="INDI_NUM_ACT" value="8"/>
</module>
<module name="guidance" type="oneloop"/>
<module name="nav" type="hybrid">
<define name="NAV_HYBRID_MAX_AIRSPEED" value="5.0f"/>
<define name="NAV_HYBRID_SPEED_MARGIN" value="0.0f"/>
<define name="NAV_HYBRID_MAX_DECELERATION" value="1.0f"/>
<define name="GUIDANCE_H_USE_REF" value="FALSE"/>
</module>
<module name="oneloop" type="andi">
<configure name="ANDI_NUM_ACT_TOT" value="7"/>
<configure name="ANDI_NUM_ACT" value="5"/>
<configure name="ANDI_NUM_VIRTUAL_ACT" value="2"/>
<configure name="ANDI_OUTPUTS" value="6"/>
</module>
<module name="wls">
<define name="WLS_N_U" value = "7"/>
<define name="WLS_N_V" value = "6"/>
</module>
<module name="ground_detect_sensor"/>
<!-- <module name="rotwing_state">
<define name = "ROT_MECH_IDX" value = "9"/>
<define name = "USE_ROTMECH_VIRTUAL" value = "FALSE"/>
<define name = "ROTMECH_DYN" value = "3.0"/>
</module> -->
<module name="agl_dist"/>
</firmware>
<!-- PWM actuators -->
<servos driver="Pwm">
<servo no="0" name="ROTATION_MECH" min="1360" neutral="1586" max="1812"/>
</servos>
<!-- Can bus 1 actuators -->
<servos driver="Uavcan1">
<servo no="0" name="MOTOR_FRONT" min="0" neutral="600" max="8191"/>
<servo no="1" name="MOTOR_RIGHT" min="0" neutral="600" max="8191"/>
<servo no="2" name="MOTOR_BACK" min="0" neutral="600" max="8191"/>
<servo no="3" name="MOTOR_LEFT" min="0" neutral="600" max="8191"/>
<servo no="4" name="MOTOR_PUSH" min="0" neutral="200" max="8191"/>
</servos>
<!-- CAN BUS 1 command outputs-->
<servos driver="Uavcan1Cmd">
<servo no="5" name="SERVO_ELEVATOR" min="3250" neutral="3250" max="-3250"/>
<servo no="6" name="SERVO_RUDDER" min="-3250" neutral="0" max="3250"/>
</servos>
<!-- Can bus 2 actuators -->
<servos driver="Uavcan2">
<servo no="0" name="BMOTOR_FRONT" min="0" neutral="600" max="8191"/>
<servo no="1" name="BMOTOR_RIGHT" min="0" neutral="600" max="8191"/>
<servo no="2" name="BMOTOR_BACK" min="0" neutral="600" max="8191"/>
<servo no="3" name="BMOTOR_LEFT" min="0" neutral="600" max="8191"/>
</servos>
<!-- CAN BUS 2 command outputs-->
<servos driver="Uavcan2Cmd">
<servo no="7" name="AIL_LEFT" min="-3250" neutral="0" max="3250"/> <!-- min can go up to -9600-->
<servo no="8" name="FLAP_LEFT" min="-3250" neutral="0" max="3250"/> <!-- min can go up to -9600-->
<servo no="9" name="FLAP_RIGHT" min="-3250" neutral="0" max="3250"/> <!-- max can go up to -9600-->
<servo no="10" name="AIL_RIGHT" min="-3250" neutral="0" max="3250"/> <!-- max can go up to -9600-->
</servos>
<commands>
<axis NAME="ROLL" FAILSAFE_VALUE="0"/>
<axis NAME="PITCH" FAILSAFE_VALUE="0"/>
<axis NAME="YAW" FAILSAFE_VALUE="0"/>
<axis NAME="THRUST" FAILSAFE_VALUE="0"/>
</commands>
<auto_rc_commands>
<set VALUE="@THROTTLE" COMMAND="THRUST"/>
<set VALUE="@ROLL" COMMAND="ROLL"/>
<set VALUE="@PITCH" COMMAND="PITCH"/>
<set VALUE="@YAW" COMMAND="YAW"/>
<set VALUE="@AUX4" COMMAND="THRUST_X"/>
</auto_rc_commands>
<command_laws>
<let VAR="th_hold" VALUE="Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), !autopilot_get_motors_on())"/>
<let VAR="servo_hold" VALUE="LessThan(RadioControlValues(RADIO_TH_HOLD), -4800)"/>
<set VALUE="($th_hold? -9600 : actuators_pprz[0])" SERVO="MOTOR_FRONT"/>
<set VALUE="($th_hold? -9600 : actuators_pprz[1])" SERVO="MOTOR_RIGHT"/>
<set VALUE="($th_hold? -9600 : actuators_pprz[2])" SERVO="MOTOR_BACK"/>
<set VALUE="($th_hold? -9600 : actuators_pprz[3])" SERVO="MOTOR_LEFT"/>
<set VALUE="($servo_hold? RadioControlValues(RADIO_YAW) : actuators_pprz[5])" SERVO="SERVO_RUDDER"/>
<set VALUE="($servo_hold? (RadioControlValues(RADIO_PITCH)/4+7200) : (!autopilot_in_flight()? 0 : actuators_pprz[6]))" SERVO="SERVO_ELEVATOR"/>
<set VALUE="($th_hold? -9600 : actuators_pprz[4])" SERVO="MOTOR_PUSH"/>
<!-- <set VALUE="rotwing_state_skewing.servo_pprz_cmd" SERVO="ROTATION_MECH"/> -->
<set VALUE="-9600" SERVO="ROTATION_MECH"/>
<set VALUE="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[7])" SERVO="AIL_LEFT"/>
<set VALUE="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[7])" SERVO="AIL_RIGHT"/>
<set VALUE="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[8])" SERVO="FLAP_LEFT"/>
<set VALUE="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[8])" SERVO="FLAP_RIGHT"/>
<!-- Backup commands -->
<set VALUE="($th_hold? -9600 : actuators_pprz[0])" SERVO="BMOTOR_FRONT"/>
<set VALUE="($th_hold? -9600 : actuators_pprz[1])" SERVO="BMOTOR_RIGHT"/>
<set VALUE="($th_hold? -9600 : actuators_pprz[2])" SERVO="BMOTOR_BACK"/>
<set VALUE="($th_hold? -9600 : actuators_pprz[3])" SERVO="BMOTOR_LEFT"/>
</command_laws>
<section NAME="MISC">
<!-- Voltage and current measurements -->
<define name="VoltageOfAdc(adc)" value="((3.3f/65536.0f) * 11.98389 * adc)"/>
<define name="VBoardOfAdc(adc)" value="((3.3f/65536.0f) * 1.89036 * adc)"/>
<!-- Others -->
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
<define name="NAV_CLIMB_VSPEED" value="2.0" />
<define name="NAV_DESCEND_VSPEED" value="-1.0"/>
<define name="NAV_CARROT_DIST" value="15"/>
<define name="CLOSE_TO_WAYPOINT" value="15"/>
<define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="500"/>
<define name="ARRIVED_AT_WAYPOINT" value="50.0"/>
<define name="NO_GPS_LOST_WITH_DATALINK_TIME" value="20"/>
<define name="NO_GPS_LOST_WITH_RC_VALID" value="TRUE"/>
<define name="USE_AIRSPEED" value="TRUE"/>
<define name="STABILIZATION_ATTITUDE_SP_MAX_PHI" value="45." unit="deg" />
<define name="STABILIZATION_ATTITUDE_SP_MAX_THETA" value="45." unit="deg" />
<define name="STABILIZATION_ATTITUDE_SP_MAX_R" value="90." unit="deg/s"/>
<define name="STABILIZATION_ATTITUDE_DEADBAND_R" value="200" />
<define name="FWD_SIDESLIP_GAIN" value="2.0"/>
</section>
<section name="GROUND_DETECT">
<define name="THRESHOLD_GROUND_DETECT" value="40"/>
<define name="USE_GROUND_DETECT_INDI_THRUST" value="FALSE"/>
<define name="USE_GROUND_DETECT_AGL_DIST" value="TRUE"/>
<define name="GROUND_DETECT_SENSOR_AGL_MIN_VALUE" value="0.24"/>
<define name="AGL_DIST_MIN_DISTANCE_CHECK" value="0.20"/>
<define name="AGL_DIST_MAX_DISTANCE_CHECK" value="0.25"/>
<define name="AGL_DIST_FILTER" value="0.07"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="ACCEL_CALIB" value="{{.abi_id=20, .calibrated={.neutral=true, .scale=true, .filter=true},.neutral={-12,-9,20}, .scale={{30726,37910,15728},{3133,3871,1611}}, .filter_sample_freq=1134.1, .filter_freq=30}, {.abi_id=21, .calibrated={.neutral=true, .scale=true},.neutral={-9,-30,26}, .scale={{45288,818,33359},{8935,167,6832}}}, {.abi_id=22, .calibrated={.neutral=true, .scale=true},.neutral={-35,-5,13}, .scale={{26152,56165,62837},{5357,11479,12884}}}}"/>
<define name="MAG_CALIB" value="{{.abi_id=5, .calibrated={.neutral=true, .scale=true},.neutral={-14,3,42}, .scale={{17279,2209,36874},{30247,3800,64095}}}}"/>
<define name="GYRO_CALIB" value="{{.abi_id=20, .calibrated={.filter=true}, .filter_sample_freq=1134.1, .filter_freq=30}}"/>
<define name="BODY_TO_IMU_PHI" value="-2.6" unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section>
<section PREFIX="ONELOOP_ANDI_" NAME="ONELOOP_ANDI">
<define name = "G1_ROLL" value = "{ 0.0f, -13.0f, 0.0f, 13.0f, 0.0f, 0.0f, 0.0f}"/>
<define name = "G1_PITCH" value = "{ 1.6f, 0.0f, -1.6f, 0.0f, 0.0f, 0.0f, 0.0f}"/>
<define name = "G1_YAW" value = "{-0.4f, 0.4f, -0.4f, 0.4f, 0.0f, 0.0f, 0.0f}"/>
<define name = "G1_THRUST" value = "{-0.575f, -0.575f, -0.575f, -0.575f, 0.55f, 0.0f, 0.0f}"/>
<define name = "G1_ZERO" value = "{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}"/>
<define name = "G2" value = "{-0.02f, 0.02f, -0.02f, 0.02f, 0.0f, 0.0f, 0.0f}"/>
<define name = "MAX_R" value = "120.0" unit="deg/s"/>
<define name = "FILT_CUTOFF" value = "3.0" />
<define name = "FILT_CUTOFF_ACC" value = "5.0"/>
<define name = "FILT_CUTOFF_VEL" value = "5.0"/>
<define name = "FILT_CUTOFF_POS" value = "10.0"/>
<define name = "ESTIMATION_FILT_CUTOFF" value = "3.2" />
<define name = "FILT_CUTOFF_P" value = "3.0"/>
<define name = "FILT_CUTOFF_Q" value = "3.0"/>
<define name = "FILT_CUTOFF_R" value = "3.0" />
<define name = "FILT_CUTOFF_RDOT" value = "0.5" />
<define name = "FILTER_YAW_RATE" value = "TRUE"/>
<define name = "ACT_DYN" value = "{10.1f, 10.1f, 10.1f, 10.1f, 24.07f, 0.0f,0.0f}" />
<define name = "ACT_IS_SERVO" value = "{0, 0, 0, 0, 0, 0, 0}" />
<define name = "ACT_MAX" value = "{9600.0f, 9600.0f, 9600.0f, 9600.0f, 9600.0f, M_PI_4, M_PI_4}"/>
<define name = "ACT_MIN" value = "{0.0f , 0.0f, 0.0f, 0.0f, 0.0f, -M_PI_4, -M_PI_4}"/>
<define name = "ACT_MAX_NORM" value = "{1.0f , 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f}"/>
<define name = "ACT_MIN_NORM" value = "{0.0f , 0.0f, 0.0f, 0.0f, 0.0f, -1.0f, -1.0f}"/>
<define name = "DEBUG_MODE" value = "FALSE"/>
<define name = "AC_HAS_PUSHER" value = "TRUE"/>
<define name = "PUSHER_IDX" value = "4"/>
<define name = "WV" value = "{1.0f, 1.0f, 1.0f, 1000.0f, 1000.0f, 100.0f}"/>
<define name = "WU" value = "{0.75f, 0.75f, 0.75f, 0.75f, 1.0f, 2.0f, 2.0f}"/>
<define name = "U_PREF" value = "{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_MODULE"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
<define name="MODE_STARTUP" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="TRUE"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="18.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="18.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="19.2" unit="V"/>
<define name="MAX_BAT_LEVEL" value="25.2" unit="V"/>
<define name="TAKEOFF_BAT_LEVEL" value="24.2" unit="V"/>
<define name="BAT_NB_CELLS" value="6"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="front_motor, right_motor, back_motor, left_motor, pusher" type="string[]"/>
<define name="JSBSIM_MODEL" value="rotwingv3c_SI" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<define name="COMMANDS_NB" value="5"/>
<define name="NO_MOTOR_MIXING" value="TRUE"/>
<define name="JS_AXIS_MODE" value="4"/>
</section>
</airframe>