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[airframe conf] added a preliminary quadrotor example for lisa/m 2 wi…
…th pwm
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<!-- this is a quadrotor frame equiped with Lisa/M and MKK motor controllers --> | ||
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<airframe name="fraser"> | ||
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<firmware name="rotorcraft"> | ||
<target name="ap" board="lisa_m_2.0"> | ||
<define name="ACTUATORS_START_DELAY" value="3"/> | ||
<configure name="AHRS_ALIGNER_LED" value="3"/> | ||
<subsystem name="actuators" type="pwm_supervision"/> | ||
<define name="SERVO_HZ" value="400"/> | ||
</target> | ||
<target name="sim" board="pc"> | ||
<subsystem name="fdm" type="nps"/> | ||
<subsystem name="actuators" type="mkk"/> | ||
</target> | ||
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<subsystem name="radio_control" type="ppm"/> | ||
<subsystem name="telemetry" type="transparent"/> | ||
<subsystem name="imu" type="aspirin_v2.0"/> | ||
<subsystem name="gps" type="ublox"/> | ||
<subsystem name="stabilization" type="int_quat"/> | ||
<subsystem name="ahrs" type="int_cmpl_quat"/> | ||
</firmware> | ||
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<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> | ||
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<!-- for the sim --> | ||
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_"> | ||
<define name="NB" value="4"/> | ||
<!-- FRONT, BACK, RIGHT, LEFT --> | ||
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/> | ||
</section> | ||
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<section name="SUPERVISION" prefix="SUPERVISION_"> | ||
<define name="STOP_MOTOR" value="1000"/> | ||
<define name="MIN_MOTOR" value="1100"/> | ||
<define name="MAX_MOTOR" value="1900"/> | ||
<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"/> | ||
<!-- front/back turning CW, left/right CCW --> | ||
<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 }"/> | ||
</section> | ||
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<section name="IMU" prefix="IMU_"> | ||
<define name="ACCEL_X_NEUTRAL" value="11"/> | ||
<define name="ACCEL_Y_NEUTRAL" value="11"/> | ||
<define name="ACCEL_Z_NEUTRAL" value="-25"/> | ||
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<define name="MAG_X_NEUTRAL" value="-152"/> | ||
<define name="MAG_Y_NEUTRAL" value="-51"/> | ||
<define name="MAG_Z_NEUTRAL" value="10"/> | ||
<define name="MAG_X_SENS" value="4.04042714046" integer="16"/> | ||
<define name="MAG_Y_SENS" value="3.95350991963" integer="16"/> | ||
<define name="MAG_Z_SENS" value="3.83055079257" integer="16"/> | ||
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<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="-45." unit="deg"/> | ||
</section> | ||
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<section name="AHRS" prefix="AHRS_"> | ||
<define name="PROPAGATE_FREQUENCY" value="512"/> | ||
<define name="H_X" value="0.3770441"/> | ||
<define name="H_Y" value="0.0193986"/> | ||
<define name="H_Z" value="0.9259921"/> | ||
</section> | ||
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<section name="INS" prefix="INS_"> | ||
<define name="BARO_SENS" value="22.3" integer="16"/> | ||
</section> | ||
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<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"/> | ||
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<!-- feedback --> | ||
<define name="GAIN_P" value="400"/> | ||
<define name="GAIN_Q" value="400"/> | ||
<define name="GAIN_R" value="350"/> | ||
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<define name="IGAIN_P" value="75"/> | ||
<define name="IGAIN_Q" value="75"/> | ||
<define name="IGAIN_R" value="50"/> | ||
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<!-- feedforward --> | ||
<define name="DDGAIN_P" value="300"/> | ||
<define name="DDGAIN_Q" value="300"/> | ||
<define name="DDGAIN_R" value="300"/> | ||
</section> | ||
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<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_"> | ||
<!-- setpoints --> | ||
<define name="SP_MAX_PHI" value="45." unit="deg"/> | ||
<define name="SP_MAX_THETA" value="45." unit="deg"/> | ||
<define name="SP_MAX_R" value="90." unit="deg/s"/> | ||
<define name="DEADBAND_A" value="0"/> | ||
<define name="DEADBAND_E" value="0"/> | ||
<define name="DEADBAND_R" value="250"/> | ||
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<!-- 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.)"/> | ||
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<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.)"/> | ||
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<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.)"/> | ||
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<!-- feedback --> | ||
<define name="PHI_PGAIN" value="1000"/> | ||
<define name="PHI_DGAIN" value="400"/> | ||
<define name="PHI_IGAIN" value="200"/> | ||
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<define name="THETA_PGAIN" value="1000"/> | ||
<define name="THETA_DGAIN" value="400"/> | ||
<define name="THETA_IGAIN" value="200"/> | ||
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<define name="PSI_PGAIN" value="500"/> | ||
<define name="PSI_DGAIN" value="300"/> | ||
<define name="PSI_IGAIN" value="10"/> | ||
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<!-- feedforward --> | ||
<define name="PHI_DDGAIN" value="300"/> | ||
<define name="THETA_DDGAIN" value="300"/> | ||
<define name="PSI_DDGAIN" value="300"/> | ||
</section> | ||
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<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="150"/> | ||
<define name="HOVER_KD" value="80"/> | ||
<define name="HOVER_KI" value="20"/> | ||
<!-- 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"/> | ||
</section> | ||
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> | ||
<define name="USE_REF" value="1"/> | ||
<define name="MAX_BANK" value="20" unit="deg"/> | ||
<define name="PGAIN" value="100"/> | ||
<define name="DGAIN" value="100"/> | ||
<define name="IGAIN" value="0"/> | ||
</section> | ||
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<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_aspirin.h""/> | ||
</section> | ||
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<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> | ||
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<section name="BAT"> | ||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/> | ||
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/> | ||
<define name="LOW_BAT_LEVEL" value="9.7" unit="V"/> | ||
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/> | ||
</section> | ||
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</airframe> |