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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,212 @@ | ||
| <!DOCTYPE airframe SYSTEM "../airframe.dtd"> | ||
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| <airframe name="bebop_indi"> | ||
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| <firmware name="rotorcraft"> | ||
| <target name="ap" board="bebop"/> | ||
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| <target name="nps" board="pc"> | ||
| <module name="fdm" type="jsbsim"/> | ||
| <module name="udp"/> | ||
| </target> | ||
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| <!-- Subsystem section --> | ||
| <module name="telemetry" type="transparent_udp"/> | ||
| <module name="radio_control" type="datalink"/> | ||
| <module name="motor_mixing"/> | ||
| <module name="actuators" type="bebop"/> | ||
| <module name="imu" type="bebop"/> | ||
| <module name="gps" type="datalink"/> | ||
| <module name="stabilization" type="indi"/> | ||
| <module name="stabilization" type="rate_indi"/> | ||
| <module name="ahrs" type="int_cmpl_quat"> | ||
| <configure name="USE_MAGNETOMETER" value="FALSE"/> | ||
| <define name="AHRS_USE_GPS_HEADING" value="TRUE"/> | ||
| </module> | ||
| <module name="ins" type="extended"/> | ||
| <module name="guidance" type="indi"/> | ||
| </firmware> | ||
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| <modules main_freq="512"> | ||
| <module name="geo_mag"/> | ||
| <module name="air_data"/> | ||
| <module name="send_imu_mag_current"/> | ||
| <module name="logger_file"> | ||
| <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/> | ||
| </module> | ||
| </modules> | ||
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| <commands> | ||
| <axis name="PITCH" failsafe_value="0"/> | ||
| <axis name="ROLL" failsafe_value="0"/> | ||
| <axis name="YAW" failsafe_value="0"/> | ||
| <axis name="THRUST" failsafe_value="6000"/> | ||
| </commands> | ||
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| <servos driver="Default"> | ||
| <servo name="TOP_RIGHT" no="0" min="3000" neutral="3000" max="12000"/> | ||
| <servo name="TOP_LEFT" no="1" min="3000" neutral="3000" max="12000"/> | ||
| <servo name="BOTTOM_LEFT" no="2" min="3000" neutral="3000" max="12000"/> | ||
| <servo name="BOTTOM_RIGHT" no="3" min="3000" neutral="3000" max="12000"/> | ||
| </servos> | ||
|
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| <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="TYPE" value="QUAD_X"/> | ||
| </section> | ||
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| <command_laws> | ||
| <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/> | ||
| <set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/> | ||
| <set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/> | ||
| <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/> | ||
| <set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/> | ||
| </command_laws> | ||
|
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| <section name="AIR_DATA" prefix="AIR_DATA_"> | ||
| <define name="CALC_AIRSPEED" value="FALSE"/> | ||
| <define name="CALC_TAS_FACTOR" value="FALSE"/> | ||
| <define name="CALC_AMSL_BARO" value="TRUE"/> | ||
| </section> | ||
|
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| <include href="conf/airframes/TUDELFT/calibrations/bebop7.xml" /> | ||
|
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| <section name="IMU" prefix="IMU_"> | ||
| <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/> | ||
| <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/> | ||
| <define name="BODY_TO_IMU_PSI" value="0." unit="deg"/> | ||
| </section> | ||
|
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| <!-- local magnetic field --> | ||
| <!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field --> | ||
| <section name="AHRS" prefix="AHRS_"> | ||
| <!-- values used if no GPS fix, on 3D fix is update by geo_mag module --> | ||
| <!-- Delft --> | ||
| <define name="H_X" value="0.3892503"/> | ||
| <define name="H_Y" value="0.0017972"/> | ||
| <define name="H_Z" value="0.9211303"/> | ||
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| <define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0"/> | ||
| <define name="GRAVITY_HEURISTIC_FACTOR" value="0"/> | ||
| </section> | ||
|
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| <section name="INS" prefix="INS_"> | ||
| <define name="SONAR_MAX_RANGE" value="2.2"/> | ||
| <define name="SONAR_UPDATE_ON_AGL" value="TRUE"/> | ||
|
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| <!-- Use GPS altitude measurments and set the R gain --> | ||
| <define name="USE_GPS_ALT" value="1"/> | ||
| <define name="VFF_R_GPS" value="0.01"/> | ||
| </section> | ||
|
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| <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_"> | ||
| <!-- setpoint limits for attitude stabilization rc flight --> | ||
| <define name="SP_MAX_PHI" value="45" unit="deg"/> | ||
| <define name="SP_MAX_THETA" value="45" unit="deg"/> | ||
| <define name="SP_MAX_R" value="120" unit="deg/s"/> | ||
| <define name="DEADBAND_A" value="0"/> | ||
| <define name="DEADBAND_E" value="0"/> | ||
| <define name="DEADBAND_R" value="50"/> | ||
| </section> | ||
|
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| <section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_"> | ||
| <!-- attitude reference generation model --> | ||
| <define name="REF_OMEGA_P" value="450" unit="deg/s"/> | ||
| <define name="REF_ZETA_P" value="0.9"/> | ||
| <define name="REF_MAX_P" value="600." unit="deg/s"/> | ||
| <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/> | ||
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| <define name="REF_OMEGA_Q" value="450" unit="deg/s"/> | ||
| <define name="REF_ZETA_Q" value="0.9"/> | ||
| <define name="REF_MAX_Q" value="600." unit="deg/s"/> | ||
| <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/> | ||
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| <define name="REF_OMEGA_R" value="450" unit="deg/s"/> | ||
| <define name="REF_ZETA_R" value="0.9"/> | ||
| <define name="REF_MAX_R" value="600." unit="deg/s"/> | ||
| <define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/> | ||
| </section> | ||
|
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| <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_"> | ||
| <!-- control effectiveness --> | ||
| <define name="G1_P" value="0.0639"/> | ||
| <define name="G1_Q" value="0.0361"/> | ||
| <define name="G1_R" value="0.0022"/> | ||
| <define name="G2_R" value="0.1450"/> | ||
|
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| <!-- reference acceleration for attitude control --> | ||
| <define name="REF_ERR_P" value="600.0"/> | ||
| <define name="REF_ERR_Q" value="600.0"/> | ||
| <define name="REF_ERR_R" value="600.0"/> | ||
| <define name="REF_RATE_P" value="28.0"/> | ||
| <define name="REF_RATE_Q" value="28.0"/> | ||
| <define name="REF_RATE_R" value="28.0"/> | ||
|
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| <!--Maxium yaw rate, to avoid instability--> | ||
| <define name="MAX_R" value="120.0" unit="deg/s"/> | ||
|
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| <!-- second order filter parameters --> | ||
| <define name="FILT_OMEGA" value="50.0"/> | ||
| <define name="FILT_ZETA" value="0.55"/> | ||
| <define name="FILT_OMEGA_R" value="50.0"/> | ||
| <define name="FILT_ZETA_R" value="0.55"/> | ||
|
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| <!-- first order actuator dynamics --> | ||
| <define name="ACT_DYN_P" value="0.1"/> | ||
| <define name="ACT_DYN_Q" value="0.1"/> | ||
| <define name="ACT_DYN_R" value="0.1"/> | ||
|
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| <!-- Adaptive Learning Rate --> | ||
| <define name="USE_ADAPTIVE" value="FALSE"/> | ||
| <define name="ADAPTIVE_MU" value="0.0001"/> | ||
| </section> | ||
|
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| <section name="GUIDANCE_V" prefix="GUIDANCE_V_"> | ||
| <define name="HOVER_KP" value="283"/> | ||
| <define name="HOVER_KD" value="82"/> | ||
| <define name="HOVER_KI" value="20"/> | ||
| <define name="NOMINAL_HOVER_THROTTLE" value="0.655"/> | ||
| <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/> | ||
| </section> | ||
|
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| <section name="GUIDANCE_H" prefix="GUIDANCE_H_"> | ||
| <!-- Good weather --> | ||
| <define name="MAX_BANK" value="20" unit="deg"/> | ||
| <define name="REF_MAX_SPEED" value="2" unit="m/s"/> | ||
| <!-- Bad weather --> | ||
| <!-- define name="MAX_BANK" value="32" unit="deg"/ --> | ||
| <define name="PGAIN" value="79"/> | ||
| <define name="DGAIN" value="100"/> | ||
| <define name="IGAIN" value="30"/> | ||
| </section> | ||
|
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| <section name="NAVIGATION" prefix="NAV_"> | ||
| <define name="CLIMB_VSPEED" value="2.5"/> | ||
| <define name="DESCEND_VSPEED" value="-1.0"/> | ||
| </section> | ||
|
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| <section name="SIMULATOR" prefix="NPS_"> | ||
| <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/> | ||
| <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/> | ||
| <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/> | ||
| </section> | ||
|
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| <section name="AUTOPILOT"> | ||
| <define name="MODE_STARTUP" value="AP_MODE_NAV"/> | ||
| <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"/> | ||
|
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| <define name="NO_RC_THRUST_LIMIT" value="TRUE"/> | ||
| </section> | ||
|
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| <section name="BAT"> | ||
| <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/> | ||
| <define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/> | ||
| <define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/> | ||
| <define name="LOW_BAT_LEVEL" value="11.1" unit="V"/> | ||
| <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/> | ||
| </section> | ||
| </airframe> |
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