/
aggieair_ark_hexa_1-8.xml
286 lines (237 loc) · 10.8 KB
/
aggieair_ark_hexa_1-8.xml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
Aggie Air ARK
-->
<airframe name="ARK Hexarotor 1.8">
<firmware name="rotorcraft">
<target name="ap" board="lisa_mx_2.1">
<module name="radio_control" type="sbus">
<configure name="SBUS_PORT" value="UART5"/>
</module>
<configure name="HAS_LUFTBOOT" value="1"/>
<configure name="FLASH_MODE" value="DFU"/>
<module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="UART3"/>
<configure name="MODEM_BAUD" value="B57600"/>
</module>
</target>
<!-- NOTE: if you want to use extra_dl module for HITL
you have to set TELEMETRY_FREQUENCY to PERIODIC_FREQUENCY -->
<configure name="PERIODIC_FREQUENCY" value="160"/>
<configure name="TELEMETRY_FREQUENCY" value="160"/>
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="spektrum"/>
<module name="telemetry" type="transparent"/>
</target>
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<define name="SERVO_HZ" value="160"/>
</module>
<module name="stabilization" type="float_euler"/>
<module name="ins" type="vectornav">
<configure name="VN_PORT" value="UART2"/>
<configure name="VN_BAUD" value="B921600"/>
</module>
<module name="sys_mon"/>
<module name="copilot"/>
<module name="extra_dl">
<!-- in order to use uart1 without chibios we need to remap the peripheral-->
<define name="REMAP_UART1" value="TRUE"/>
<configure name="EXTRA_DL_PORT" value="UART1"/>
<configure name="EXTRA_DL_BAUD" value="B921600"/>
</module>
<module name="battery_monitor.xml">
<define name="BATMON_REV4" value="0"/>
<define name="BATMON_CURRENT_OFFSET" value="-120"/>
<define name="BATMON_CURRENT_SENSITIVITY" value="25.6"/>
<define name="BATMON_TEMP_OFFSET" value="250"/>
<define name="BATMON_TEMP_SENSITIVITY" value="10"/>
</module>
</firmware>
<!--These values are set for the Castle Creations HV Lite 60A ESCs-->
<servos driver="Pwm">
<servo name="FRONT" no="0" min="1010" neutral="1150" max="2000"/>
<servo name="FRONT_RIGHT" no="1" min="1010" neutral="1150" max="2000"/>
<servo name="BACK_RIGHT" no="2" min="1010" neutral="1150" max="2000"/>
<servo name="BACK" no="3" min="1010" neutral="1150" max="2000"/>
<servo name="BACK_LEFT" no="4" min="1010" neutral="1150" max="2000"/>
<servo name="FRONT_LEFT" no="5" min="1010" neutral="1150" max="2000"/>
</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>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<define name="NB_MOTOR" value="6"/>
<define name="SCALE" value="256"/>
<!-- hex plus A -->
<define name="ROLL_COEF" value="{ 0, -256, -256, 0, 256, 256 }"/>
<define name="PITCH_COEF" value="{ 256, 128, -128, -256, -128, 128 }"/>
<define name="YAW_COEF" value="{ 128, -128, 128, -128, 128, -128 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256, 256, 256 }"/>
</section>
<command_laws>
<!-- Use SERVO_FRONT_IDX to know the actuators array number, and user SERVO_FRONT_DRIVER_NO to use the xx-value defined in servo no="xx" -->
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FRONT" value="motor_mixing.commands[SERVO_FRONT_IDX]"/>
<set servo="FRONT_RIGHT" value="motor_mixing.commands[SERVO_FRONT_RIGHT_IDX]"/>
<set servo="BACK_RIGHT" value="motor_mixing.commands[SERVO_BACK_RIGHT_IDX]"/>
<set servo="BACK" value="motor_mixing.commands[SERVO_BACK_IDX]"/>
<set servo="BACK_LEFT" value="motor_mixing.commands[SERVO_BACK_LEFT_IDX]"/>
<set servo="FRONT_LEFT" value="motor_mixing.commands[SERVO_FRONT_LEFT_IDX]"/>
</command_laws>
<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="0.0" unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0.0" unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0.0" unit="deg"/>
<define name="BODY_TO_IMU2_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU2_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU2_PSI" value="270." unit="deg"/>
<define name="ACCEL_X_NEUTRAL" value="11"/>
<define name="ACCEL_Y_NEUTRAL" value="11"/>
<define name="ACCEL_Z_NEUTRAL" value="-25"/>
<!-- replace this with your own calibration -->
<define name="MAG_X_NEUTRAL" value="-179"/>
<define name="MAG_Y_NEUTRAL" value="-21"/>
<define name="MAG_Z_NEUTRAL" value="79"/>
<define name="MAG_X_SENS" value="4.17334785618" integer="16"/>
<define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
<define name="MAG_Z_SENS" value="4.40442339014" integer="16"/>
</section>
<section name="AHRS" prefix="AHRS_">
<define name="H_X" value="0.3770441"/>
<define name="H_Y" value="0.0193986"/>
<define name="H_Z" value="0.9259921"/>
</section>
<section name="INS" prefix="INS_">
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="DEADBAND_P" value="20"/>
<define name="DEADBAND_Q" value="20"/>
<define name="DEADBAND_R" value="200"/>
<define name="REF_TAU" value="4"/>
<!-- feedback -->
<define name="GAIN_P" value="000"/>
<define name="GAIN_Q" value="000"/>
<define name="GAIN_R" value="00"/>
<define name="IGAIN_P" value="0"/>
<define name="IGAIN_Q" value="0"/>
<define name="IGAIN_R" value="0"/>
<!-- feedforward -->
<define name="DDGAIN_P" value="300"/>
<define name="DDGAIN_Q" value="300"/>
<define name="DDGAIN_R" value="300"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="35." unit="deg"/>
<define name="SP_MAX_THETA" value="35." unit="deg"/>
<define name="SP_MAX_R" value="40." unit="deg/s"/>
<define name="DEADBAND_A" value="5"/>
<define name="DEADBAND_E" value="5"/>
<define name="DEADBAND_R" value="10"/>
<!-- inetgrator limits -->
<define name="MAX_SUM_ERR" value="50"/>
<!-- 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="400." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<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.)"/>
<!-- Big fat ARK Gains -->
<define name="PHI_PGAIN" value="2700"/>
<define name="PHI_DGAIN" value="700"/>
<define name="PHI_IGAIN" value="5.0"/>
<define name="THETA_PGAIN" value="2700"/>
<define name="THETA_DGAIN" value="700"/>
<define name="THETA_IGAIN" value="5.0"/>
<define name="PSI_PGAIN" value="4000"/>
<define name="PSI_DGAIN" value="3500"/>
<define name="PSI_IGAIN" value="1.5"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value="5"/>
<define name="THETA_DDGAIN" value="5"/>
<define name="PSI_DDGAIN" value="10"/>
</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="265"/>
<define name="HOVER_KD" value="339"/>
<define name="HOVER_KI" value="52"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.50"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="20" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<define name="REF_MAX_SPEED" value="8.0" unit="m/s"/>
<define name="REF_MAX_ACCEL" value="5.66" unit="m/s2"/>
<define name="PGAIN" value="27"/>
<define name="DGAIN" value="21"/>
<define name="AGAIN" value="17"/>
<define name="IGAIN" value="16"/>
</section>
<section name="NAVIGATION" prefix="NAV_">
<define name="CLIMB_VSPEED" value="1.5" />
<define name="DESCEND_VSPEED" value="-1.0" />
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="f_motor, fr_motor, br_motor, b_motor, bl_motor, fl_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="AGGIEAIR/aggieair_ark_hexa" type="string"/>
<define name="JS_AXIS_THROTTLE" value="0"/>
<define name="JS_AXIS_THROTTLE_REVERSED" value="1"/>
<define name="JS_AXIS_ROLL" value="1"/>
<define name="JS_AXIS_PITCH" value="2"/>
<define name="JS_AXIS_PITCH_REVERSED" value="1"/>
<define name="JS_AXIS_YAW" value="3"/>
<define name="JS_AXIS_YAW_REVERSED" value="1"/>
<define name="JS_AXIS_MODE" value="7"/>
</section>
<section name="GCS">
<define name="ICONS_THEME" value="flat_theme"/>
<define name="ALT_SHIFT_PLUS_PLUS" value="30"/>
<define name="ALT_SHIFT_PLUS" value="10"/>
<define name="ALT_SHIFT_MINUS" value="-10"/>
<define name="AC_ICON" value="hexarotor"/>
</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_NAV"/>
</section>
<section name="BAT">
<!-- Flight values -->
<!--
<define name="CATASTROPHIC_BAT_LEVEL" value="19.2" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="20.0" unit="V"/>
<define name="LOW_BAT_LEVEL" value="21.0" unit="V"/>
<define name="MAX_BAT_LEVEL" value="25.3" unit="V"/>
-->
<!-- Simulator values -->
<define name="MAX_BAT_LEVEL" value="5.0" unit="V" />
<define name="LOW_BAT_LEVEL" value="4.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="3.5" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
</section>
</airframe>