Skip to content

Commit

Permalink
[guidance] Add a flip guidance mode
Browse files Browse the repository at this point in the history
  • Loading branch information
@fvantienen
fvantienen committed Sep 13, 2015
1 parent b6e5cb6 commit 1e4b0b6
Show file tree
Hide file tree
Showing 13 changed files with 453 additions and 4 deletions.
248 changes: 248 additions & 0 deletions conf/airframes/TUDelft/airframes/bebop_flip.xml
View file
@@ -0,0 +1,248 @@
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">

<airframe name="bebop_indi">

<firmware name="rotorcraft">
<target name="ap" board="bebop"/>

<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
</target>

<!--define name="USE_SONAR" value="TRUE"/-->

<!-- Subsystem section -->
<subsystem name="telemetry" type="transparent_udp"/>
<subsystem name="radio_control" type="datalink"/>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="bebop"/>
<subsystem name="imu" type="bebop"/>
<subsystem name="gps" type="furuno"/>
<subsystem name="stabilization" type="indi"/>
<subsystem name="ahrs" type="float_mlkf"/>
<subsystem name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="FALSE"/>
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
<configure name="SECONDARY_AHRS" value="int_cmpl_quat"/>
</subsystem>
<subsystem name="ins" type="extended"/>
</firmware>

<modules main_freq="512">
<load name="geo_mag.xml"/>
<load name="air_data.xml"/>
<load name="send_imu_mag_current.xml"/>
<load name="logger_file.xml">
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</load>
</modules>

<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>

<section name="gyro_scaling">
<define name="BEBOP_GYRO_RANGE" value="MPU60X0_GYRO_RANGE_2000"/>
<define name="IMU_GYRO_P_SENS" value="4.359"/>
<define name="IMU_GYRO_Q_SENS" value="4.359"/>
<define name="IMU_GYRO_R_SENS" value="4.359"/>
<define name="IMU_GYRO_P_SENS_NUM" value="4359"/>
<define name="IMU_GYRO_Q_SENS_NUM" value="4359"/>
<define name="IMU_GYRO_R_SENS_NUM" value="4359"/>
<define name="IMU_GYRO_P_SENS_DEN" value="1000"/>
<define name="IMU_GYRO_Q_SENS_DEN" value="1000"/>
<define name="IMU_GYRO_R_SENS_DEN" value="1000"/>
</section>

<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>

<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>

<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>

<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>

<section name="IMU" prefix="IMU_">
<!-- Magneto calibration -->
<define name="MAG_X_NEUTRAL" value="18"/>
<define name="MAG_Y_NEUTRAL" value="157"/>
<define name="MAG_Z_NEUTRAL" value="49"/>
<define name="MAG_X_SENS" value="10.5007722373" integer="16"/>
<define name="MAG_Y_SENS" value="11.1147400462" integer="16"/>
<define name="MAG_Z_SENS" value="11.6479371722" integer="16"/>

<!-- Magneto current calibration -->
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>

<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>

<!-- 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 -->
<!-- Toulouse -->
<!--define name="H_X" value="0.513081"/>
<define name="H_Y" value="-0.00242783"/>
<define name="H_Z" value="0.858336"/-->
<!-- Delft -->
<define name="H_X" value="0.3892503"/>
<define name="H_Y" value="0.0017972"/>
<define name="H_Z" value="0.9211303"/>
</section>

<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2"/>
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
</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="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="300" unit="deg/s"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="50"/>
</section>

<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.)"/>

<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.)"/>

<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>

<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"/>

<!-- 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"/>

<!-- 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"/>

<!-- 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"/>

<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.0001"/>
</section>

<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="283"/>
<define name="HOVER_KD" value="82"/>
<define name="HOVER_KI" value="13"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section>

<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<!-- Good weather -->
<define name="MAX_BANK" value="20" unit="deg"/>
<!-- 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>

<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>

<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_FLIP"/>
<define name="MODE_AUTO2" value="AP_MODE_FLIP"/>
</section>

<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
<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>
</airframe>
1 change: 1 addition & 0 deletions conf/firmwares/rotorcraft.makefile
View file
Expand Up @@ -103,6 +103,7 @@ $(TARGET).srcs += $(SRC_FIRMWARE)/guidance/guidance_h_ref.c
$(TARGET).srcs += $(SRC_FIRMWARE)/guidance/guidance_v.c
$(TARGET).srcs += $(SRC_FIRMWARE)/guidance/guidance_v_ref.c
$(TARGET).srcs += $(SRC_FIRMWARE)/guidance/guidance_v_adapt.c
$(TARGET).srcs += $(SRC_FIRMWARE)/guidance/guidance_flip.c

include $(CFG_ROTORCRAFT)/navigation.makefile

Expand Down
2 changes: 1 addition & 1 deletion conf/messages.xml
View file
Expand Up @@ -1988,7 +1988,7 @@
<field name="rc_status" type="uint8" values="OK|LOST|REALLY_LOST"/>
<field name="frame_rate" type="uint8" unit="Hz"/>
<field name="gps_status" type="uint8" values="NO_FIX|NA|2D|3D|DGPS|RTK"/>
<field name="ap_mode" type="uint8" values="KILL|FAILSAFE|HOME|RATE_DIRECT|ATTITUDE_DIRECT|RATE_RC_CLIMB|ATTITUDE_RC_CLIMB|ATTITUDE_CLIMB|RATE_Z_HOLD|ATTITUDE_Z_HOLD|HOVER_DIRECT|HOVER_CLIMB|HOVER_Z_HOLD|NAV|RC_DIRECT|CARE_FREE|FORWARD|MODULE"/>
<field name="ap_mode" type="uint8" values="KILL|FAILSAFE|HOME|RATE_DIRECT|ATTITUDE_DIRECT|RATE_RC_CLIMB|ATTITUDE_RC_CLIMB|ATTITUDE_CLIMB|RATE_Z_HOLD|ATTITUDE_Z_HOLD|HOVER_DIRECT|HOVER_CLIMB|HOVER_Z_HOLD|NAV|RC_DIRECT|CARE_FREE|FORWARD|MODULE|FLIP"/>
<field name="ap_in_flight" type="uint8" values="ON_GROUND|IN_FLIGHT"/>
<field name="ap_motors_on" type="uint8" values="MOTORS_OFF|MOTORS_ON"/>
<field name="ap_h_mode" type="uint8" values="KILL|RATE|ATTITUDE|HOVER|NAV|CF"/>
Expand Down
2 changes: 1 addition & 1 deletion conf/settings/rotorcraft_basic.xml
View file
Expand Up @@ -4,7 +4,7 @@
<dl_settings>

<dl_settings NAME="System">
<dl_setting var="autopilot_mode_auto2" min="0" step="1" max="15" module="autopilot" shortname="auto2" values="KILL|Fail|HOME|Rate|Att|Rate_rcC|Att_rcC|Att_C|Rate_Z|Att_Z|Hover|Hover_C|Hover_Z|Nav|RC_D|CareFree"/>
<dl_setting var="autopilot_mode_auto2" min="0" step="1" max="15" module="autopilot" shortname="auto2" values="KILL|Fail|HOME|Rate|Att|Rate_rcC|Att_rcC|Att_C|Rate_Z|Att_Z|Hover|Hover_C|Hover_Z|Nav|RC_D|CareFree|Forward|Module|Flip"/>
<dl_setting var="kill_throttle" min="0" step="1" max="1" module="autopilot" values="Resurrect|Kill" handler="KillThrottle"/>
<dl_setting var="autopilot_power_switch" min="0" step="1" max="1" module="autopilot" values="OFF|ON" handler="SetPowerSwitch">
<strip_button name="POWER ON" icon="on.png" value="1" group="power_switch"/>
Expand Down
6 changes: 6 additions & 0 deletions sw/airborne/firmwares/rotorcraft/autopilot.c
View file
Expand Up @@ -436,6 +436,9 @@ void autopilot_set_mode(uint8_t new_autopilot_mode)
guidance_h_mode_changed(GUIDANCE_H_MODE_MODULE_SETTING);
#endif
break;
case AP_MODE_FLIP:
guidance_h_mode_changed(GUIDANCE_H_MODE_FLIP);
break;
default:
break;
}
Expand Down Expand Up @@ -482,6 +485,9 @@ void autopilot_set_mode(uint8_t new_autopilot_mode)
guidance_v_mode_changed(GUIDANCE_V_MODE_MODULE_SETTING);
#endif
break;
case AP_MODE_FLIP:
guidance_v_mode_changed(GUIDANCE_V_MODE_FLIP);
break;
default:
break;
}
Expand Down
1 change: 1 addition & 0 deletions sw/airborne/firmwares/rotorcraft/autopilot.h
View file
Expand Up @@ -51,6 +51,7 @@
#define AP_MODE_CARE_FREE_DIRECT 15
#define AP_MODE_FORWARD 16
#define AP_MODE_MODULE 17
#define AP_MODE_FLIP 18

extern uint8_t autopilot_mode;
extern uint8_t autopilot_mode_auto2;
Expand Down

0 comments on commit 1e4b0b6

Please sign in to comment.