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test airfram
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@dewagter @fvantienen
dewagter authored and fvantienen committed Nov 15, 2015
1 parent 446c963 commit 1d11a60
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237 changes: 237 additions & 0 deletions conf/airframes/TUDelft/airframes/test.xml
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">

<!-- this is a quadrotor frame in X-configuration equiped with
* Autopilot: Lisa/MX 2.1 with STM32F4 http://wiki.paparazziuav.org/wiki/Lisa/M_v21
* IMU: Integrated Aspirin 2.2 http://wiki.paparazziuav.org/wiki/AspirinIMU
* Actuators: Asctec motor controllers http://wiki.paparazziuav.org/wiki/Subsystem/actuators#Asctec_v2
* GPS: UBlox http://wiki.paparazziuav.org/wiki/Subsystem/gps
* RC: one Spektrum sats http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
-->

<airframe name="Test">

<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0">
<define name="USE_SERVOS_7AND8"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
</target>

<subsystem name="radio_control" type="spektrum">
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
<define name="RADIO_CONTROL_SPEKTRUM_NO_SIGN" value="1"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_AUX2"/>
</subsystem>

<subsystem name="actuators" type="pwm"/>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="imu" type="lisa_m_v2.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="hff"/>
<subsystem name="guidance" type="indi"/>
</firmware>

<firmware name="rotorcraft">
<target name="fbw" board="lisa_m_2.0">
<define name="USE_SERVOS_7AND8"/>
<define name="RC_LOST_FBW_MODE" value="FBW_MODE_FAILSAFE"/><!-- Switch to Failsafe or to Autopilot on RC loss? -->
<define name="AP_LOST_FBW_MODE" value="FBW_MODE_FAILSAFE"/><!-- Switch to Failsafe or to Manual on AP loss? -->
</target>

<subsystem name="radio_control" type="spektrum">
<define name="RADIO_CONTROL_NB_CHANNEL" value="7"/>
<define name="RADIO_CONTROL_SPEKTRUM_NO_SIGN" value="1"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_AUX2"/>
</subsystem>

<subsystem name="actuators" type="pwm"/>

<subsystem name="intermcu" type="uart"/>
</firmware>

<modules>
<load name="geo_mag.xml"/>
<load name="air_data.xml"/>
<load name="logger_spi_link.xml"/>
</modules>

<servos driver="Pwm">
<servo name="THRUST" no="0" min="1000" neutral="1500" max="2000"/>
<servo name="ROLL" no="1" min="1000" neutral="1500" max="2000"/>
<servo name="PITCH" no="2" min="1000" neutral="1500" max="2000"/>
<servo name="YAW" no="3" min="1000" neutral="1500" max="2000"/>
<servo name="TAIL_GAIN" no="4" min="1000" neutral="1500" max="2000"/>
<servo name="COLLECTIVE" no="5" min="1000" neutral="1500" max="2000"/>
<servo name="AUX2" no="6" min="1000" neutral="1500" max="2000"/>
</servos>

<commands>
<axis name="THRUST" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="TAIL_GAIN" failsafe_value="0"/>
<axis name="COLLECTIVE" failsafe_value="0"/>
<axis name="AUX2" failsafe_value="0"/>
</commands>

<rc_commands>
<set command="THRUST" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="YAW" value="@YAW"/>
<set command="TAIL_GAIN" value="@GEAR"/>
<set command="COLLECTIVE" value="@FLAP"/>
<set command="AUX2" value="0"/>
</rc_commands>

<command_laws>
<set servo="THRUST" value="@THRUST"/>
<set servo="ROLL" value="@ROLL"/>
<set servo="PITCH" value="@PITCH"/>
<set servo="YAW" value="@YAW"/>
<set servo="TAIL_GAIN" value="@TAIL_GAIN"/>
<set servo="COLLECTIVE" value="@COLLECTIVE"/>
<set servo="AUX2" value="0"/>
</command_laws>

<section name="MISC">
<define name="NAV_CLIMB_VSPEED" value="2.5"/>
<define name="NAV_DESCEND_VSPEED" value="-1.0"/>
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
<define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="TRUE"/>
<define name="VoltageOfAdc(adc)" value="(0.014355*adc)"/>
</section>

<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"/>

<!-- replace this with your own calibration -->
<define name="MAG_X_NEUTRAL" value="-2"/>
<define name="MAG_Y_NEUTRAL" value="484"/>
<define name="MAG_Z_NEUTRAL" value="53"/>
<define name="MAG_X_SENS" value="4.02836351262" integer="16"/>
<define name="MAG_Y_SENS" value="3.97184580645" integer="16"/>
<define name="MAG_Z_SENS" value="4.08689235615" integer="16"/>


<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="-90." unit="deg"/>
</section>

<section name="AHRS" prefix="AHRS_">
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
<define name="H_X" value="0.3770441"/>
<define name="H_Y" value="0.0193986"/>
<define name="H_Z" value="0.9259921"/>
</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="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>

<define name="IGAIN_P" value="75"/>
<define name="IGAIN_Q" value="75"/>
<define name="IGAIN_R" value="50"/>

<!-- 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="65." unit="deg"/>
<define name="SP_MAX_THETA" value="65." unit="deg"/>
<define name="SP_MAX_R" value="250." unit="deg/s"/>
<define name="DEADBAND_R" value="200"/>

<!-- 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="300." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="300." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
<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.)"/>

<!-- feedback -->
<define name="PHI_PGAIN" value="900"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="900"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="900"/>
<define name="PSI_DGAIN" value="200"/>
<define name="PSI_IGAIN" value="10"/>

<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 200"/>
<define name="THETA_DDGAIN" value=" 200"/>
<define name="PSI_DDGAIN" value=" 200"/>
</section>

<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section>

<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="35" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="AGAIN" value="70"/>
<define name="IGAIN" value="20"/>
</section>

<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
<define name="JSBSIM_MODEL" value="&quot;simple_x_quad&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_AXIS_MODE" value="4"/>
</section>

<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_RC_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_RC_DIRECT"/>
<define name="MODE_AUTO2" value="AP_MODE_RC_DIRECT"/>
</section>

<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="43.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="44.0" unit="V"/>
<define name="LOW_BAT_LEVEL" value="46.0" unit="V"/>
<define name="MAX_BAT_LEVEL" value="50.5" unit="V"/>
</section>

</airframe>
7 changes: 7 additions & 0 deletions sw/airborne/subsystems/intermcu/intermcu.c
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Expand Up @@ -378,6 +378,11 @@ void intermcu_on_rc_frame(void)
InterMcuSend_INTERMCU_RADIO(fbw_state->channels);

}
void intermcu_send_status(void)
{
// Send Status
}

#endif


Expand All @@ -386,6 +391,8 @@ struct InterMCU inter_mcu;

void intermcu_periodic(void)
{
RunOnceEvery(25, intermcu_send_status());

if (inter_mcu.time_since_last_frame >= INTERMCU_LOST_CNT) {
inter_mcu.status = INTERMCU_LOST;
} else {
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