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microjet.xml
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microjet.xml
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- Microjet Multiplex (http://www.multiplex-rc.de/)
Tiny 1.1 board (http://wiki.paparazziuav.org/wiki/Tiny)
Tilted infrared sensor
Xbee modem in API mode
-->
<airframe name="Microjet Tiny 1.1">
<servos>
<servo name="MOTOR" no="0" min="1290" neutral="1290" max="1810"/>
<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1510" max="1000"/>
<servo name="AILEVON_RIGHT" no="3" min="1000" neutral="1535" max="2000"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="SHUTTER" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
</rc_commands>
<section name="MIXER">
<define name="AILEVON_AILERON_RATE" value="0.75"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
</section>
<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="MOTOR" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.7"/>
<define name="MAX_PITCH" value="0.6"/>
</section>
<section name="INFRARED" prefix="IR_">
<define name="ADC_IR1_NEUTRAL" value="512"/>
<define name="ADC_IR2_NEUTRAL" value="512"/>
<define name="ADC_TOP_NEUTRAL" value="512"/>
<define name="LATERAL_CORRECTION" value="1."/>
<define name="LONGITUDINAL_CORRECTION" value="1."/>
<define name="VERTICAL_CORRECTION" value="1.5"/>
<define name="HORIZ_SENSOR_TILTED" value="1"/>
<define name="IR2_SIGN" value="-1"/>
<define name="TOP_SIGN" value="-1"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="-3.6" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="5" unit="deg"/>
<define name="CORRECTION_UP" value="1."/>
<define name="CORRECTION_DOWN" value="1."/>
<define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/>
</section>
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_P_NEUTRAL" value="500"/>
<!--define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/-->
<!--define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/-->
<!--define name="ROLL_SCALE" value="3.3*1000./1024./(IMU_ADXRS300_SENSITIVITY*IMU_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/-->
<!--define name="RATE_DEGS_TO_RADINT" value="M_PI/180./4096."/-->
<!--define name="GYRO_P_SENS" value="IMU_RATE_DEGS_TO_RADINT * IMU_ROLL_SCALE" integer="16"/-->
<define name="GYRO_P_SENS" value="0.137518981" integer="16"/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="2000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
<define name="XBEE_INIT" value=""ATPL2\rATRN5\rATTT80\r""/>
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="0.03"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="1.0"/>
<define name="COURSE_DGAIN" value="0.3"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="12000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
<define name="ROLL_SLEW" value="0.1"/>
<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="1500"/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_THROTTLE" value="1.00"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
<define name="DESCENT_NAV_RATIO" value="1.0"/>
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
</section>
<section name="SIMU">
<define name="JSBSIM_MODEL" value=""Malolo1""/>
<define name="JSBSIM_IR_ROLL_NEUTRAL" value="0." unit="deg"/>
<define name="JSBSIM_IR_PITCH_NEUTRAL" value="0." unit="deg"/>
</section>
<firmware name="fixedwing">
<target name="sim" board="pc" />
<target name="jsbsim" board="pc"/>
<target name="ap" board="tiny_1.1"/>
<define name="AGR_CLIMB" />
<define name="LOITER_TRIM" />
<subsystem name="radio_control" type="ppm"/>
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B9600"/>
</subsystem>
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="imu" type="analog">
<configure name="GYRO_P" value="ADC_3"/>
</subsystem>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
<subsystem name="ins" type="alt_float"/>
</firmware>
<section name="GCS">
<define name="AC_ICON" value="flyingwing"/>
</section>
<modules>
<load name="openlog.xml"/>
<load name="nav_survey_polygon.xml"/>
<load name="nav_line_border.xml"/>
<load name="nav_line.xml"/>
<load name="nav_smooth.xml"/>
<load name="nav_flower.xml"/>
<load name="nav_line_osam.xml"/>
<load name="nav_survey_poly_osam.xml"/>
<load name="nav_vertical_raster.xml"/>
<load name="nav_bungee_takeoff.xml"/>
<load name="infrared_adc.xml"/>
<load name="tune_airspeed.xml"/>
<load name="digital_cam_servo.xml">
<define name="DC_SHUTTER_SERVO" value="COMMAND_SHUTTER" />
</load>
</modules>
<firmware name="setup">
<target name="tunnel" board="tiny_1.1" />
<target name="usb_tunnel_0" board="tiny_1.1" />
<target name="usb_tunnel_1" board="tiny_1.1" />
</firmware>
</airframe>