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quady_ll11a2pwm.xml
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quady_ll11a2pwm.xml
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<!-- this is a quadrocopter frame equiped with Lisa/L 1.1, Aspirin 2.1 and generic china pwm motor controllers -->
<!--
Applicable configuration:
airframe="airframes/esden/quady_ll11a2pwm.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/dummy.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-->
<airframe name="quady_ll11a2pwm.xml">
<servos min="0" neutral="0" max="0xff">
<servo name="FRONT" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="BACK" no="1" min="1000" neutral="1000" max="2000"/>
<servo name="LEFT" no="2" min="1000" neutral="1000" max="2000"/>
<servo name="RIGHT" no="3" 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>
<!--<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"/>
-->
<set servo="FRONT" value="0"/>
<set servo="BACK" value="1"/>
<set servo="LEFT" value="2"/>
<set servo="RIGHT" value="3"/>
</command_laws>
<!-- for the sim -->
<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="STOP_MOTOR" value="1000"/>
<define name="MIN_MOTOR" value="1100"/>
<define name="MAX_MOTOR" value="1920"/>
<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 }"/>
<!--define name="MOTOR_INERTIA_COMPENSATION_FACTOR" value="2"/-->
</section>
<include href="conf/airframes/esden/calib/asp21-001.xml"/>
<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0. )"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0. )"/>
<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 225. )"/>
</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="RadOfDeg(45.)"/>
<define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
<define name="SP_MAX_PSI" value="RadOfDeg(45.)"/>
<define name="SP_MAX_R" value="RadOfDeg(90.)"/>
<define name="SP_MAX_P" value="RadOfDeg(90.)"/>
<define name="DEADBAND_R" value="250"/>
<define name="DEADBAND_A" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="RadOfDeg(400.)"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="RadOfDeg(400.)"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="RadOfDeg(180.)"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- simonk esc firmware gains light quad? -->
<!-- feedback -->
<define name="PHI_PGAIN" value="570"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="570"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="1300"/>
<define name="PSI_DGAIN" value="1000"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 530"/>
<define name="THETA_DDGAIN" value=" 530"/>
<define name="PSI_DDGAIN" value=" 300"/>
<!-- simonk esc firmware gains light quad? -->
<!-- feedback -->
<!--define name="PHI_PGAIN" value="1300"/>
<define name="PHI_DGAIN" value="1000"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="1300"/>
<define name="THETA_DGAIN" value="1000"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="1300"/>
<define name="PSI_DGAIN" value="1000"/>
<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"/-->
<!-- stock china esc firmware gains -->
<!-- feedback -->
<!--define name="PHI_PGAIN" value="390"/>
<define name="PHI_DGAIN" value="260"/>
<define name="PHI_IGAIN" value="50"/>
<define name="THETA_PGAIN" value="390"/>
<define name="THETA_DGAIN" value="260"/>
<define name="THETA_IGAIN" value="50"/>
<define name="PSI_PGAIN" value="780"/>
<define name="PSI_DGAIN" value="520"/>
<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="10." 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="830"/>
<define name="HOVER_KD" value="650"/>
<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="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/-->
</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="50"/>
<define name="DGAIN" value="50"/>
<define name="IGAIN" value="0"/>
</section>
<section name="MISC">
<define name="FACE_REINJ_1" value="1024"/>
</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"/>
</modules>
<firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.1">
<!-- <define name="BOOZ_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="pwm_supervision"/>
<subsystem name="telemetry" type="transparent"/>
<define name="SERVO_HZ" value="400"/>
<define name="RADIO_MODE" value="RADIO_AUX2"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<!--define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/-->
<!--define name = "RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value = "UART5"/-->
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
<subsystem name="imu" type="aspirin_v2.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins"/>
<!--define name="USE_INS_NAV_INIT"/-->
<!--subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/-->
</firmware>
<firmware name="lisa_test_progs">
<target name="test_led" board="lisa_l_1.1">
<configure name="SYS_TIME_LED" value="none"/>
</target>
<target name="test_uart" board="lisa_l_1.1"/>
<target name="test_servos" board="lisa_l_1.1"/>
<target name="test_telemetry" board="lisa_l_1.1"/>
<target name="test_imu_aspirin" board="lisa_l_1.1"/>
<target name="test_rc_spektrum" board="lisa_l_1.1"/>
<target name="test_baro" board="lisa_l_1.1"/>
<!--<target name="test_imu" board="lisa_l_1.1"/>
<target name="test_rc_ppm" board="lisa_l_1.1"/>
<target name="test_adc" board="lisa_l_1.1"/>
<target name="test_hmc5843" board="lisa_l_1.1"/>
<target name="test_itg3200" board="lisa_l_1.1"/>
<target name="test_adxl345" board="lisa_l_1.1"/>
<target name="test_esc_mkk_simple" board="lisa_l_1.1"/>
<target name="test_esc_asctecv1_simple" board="lisa_l_1.1"/>
<target name="test_actuators_mkk" board="lisa_l_1.1"/>
<target name="test_actuators_asctecv1" board="lisa_l_1.1"/-->
</firmware>
</airframe>