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[conf] enable mag for quadshot and add it to tests/examples
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@flixr
flixr committed Jun 3, 2014
1 parent 4601197 commit 4adee28
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171 changes: 79 additions & 92 deletions conf/airframes/examples/quadshot_asp21_spektrum.xml
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@@ -1,5 +1,5 @@
<!-- this is a quadshot vehicle equiped with Lisa/m2.0 and an aspirin 2.1
More information on the Quadshot can be found at transition-robotics.com -->
More information on the Quadshot can be found at transition-robotics.com -->

<airframe name="quadshot aspirin 2.1 spektrum">

Expand All @@ -26,22 +26,22 @@ More information on the Quadshot can be found at transition-robotics.com -->
<set servo="B1" value="motor_mixing.commands[2]"/>
<set servo="B2" value="motor_mixing.commands[3]"/>

<!-- Mode dependent actuator laws for the elevons. The elevons act different in rc attitude flight mode-->
<!-- First the correct feedback is stored in variables -->
<!-- Mode dependent actuator laws for the elevons. The elevons act different in rc attitude flight mode-->
<!-- First the correct feedback is stored in variables -->
<let var="aileron_feedback_left" value="@YAW"/>
<let var="aileron_feedback_right" value="@YAW"/>

<let var="elevator_feedback_left" value="+@PITCH"/>
<let var="elevator_feedback_right" value="-@PITCH"/>

<!-- Here the gains are defined for the two feedback cases, hover and forward-->
<!-- Here the gains are defined for the two feedback cases, hover and forward-->
<let var="hover_left" value="3*$aileron_feedback_left"/>
<let var="hover_right" value="3*$aileron_feedback_right"/>

<let var="forward_left" value="6*$aileron_feedback_left+4*$elevator_feedback_left"/>
<let var="forward_right" value="6*$aileron_feedback_right+4*$elevator_feedback_right"/>

<!-- This statement tells the autopilot to use the hover feedback if in mode attitude direct and to use the forward feedback in all other cases-->
<!-- This statement tells the autopilot to use the hover feedback if in mode attitude direct and to use the forward feedback in all other cases-->
<set servo="ELEVON_LEFT" value="AP_MODE == AP_MODE_ATTITUDE_DIRECT ? $hover_left : $forward_left" />
<set servo="ELEVON_RIGHT" value="AP_MODE == AP_MODE_ATTITUDE_DIRECT ? $hover_right : $forward_right" />
</command_laws>
Expand All @@ -58,15 +58,15 @@ More information on the Quadshot can be found at transition-robotics.com -->
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section>

<!-- If you got a caliberation XML document from your IMU supplier, import this in the IMU section -->
<!-- If you got a caliberation XML document from your IMU supplier, import this in the IMU section -->

<!-- Note that is better to have *no* caliberation file at all, than a one with incorrect caliberation values.
The default factory values are most of the time perfectly acceptable, so by default we will not use the caliberation file -->
<!-- Note that is better to have *no* caliberation file at all, than a one with incorrect caliberation values.
The default factory values are most of the time perfectly acceptable, so by default we will not use the caliberation file -->

<section name="IMU" prefix="IMU_">
<!-- Use default driver values for gyro -->

<!-- IMU calibration, make sure to calibrate the IMU properly before flight, see the wiki for more info-->
<!-- IMU calibration, make sure to calibrate the IMU properly before flight, see the wiki for more info-->
<define name="ACCEL_X_NEUTRAL" value="0"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="0"/>
Expand All @@ -88,18 +88,18 @@ More information on the Quadshot can be found at transition-robotics.com -->
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section>

<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_FORWARD"/>
<define name="MODE_AUTO2" value="AP_MODE_RATE_DIRECT"/>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_FORWARD"/>
<define name="MODE_AUTO2" value="AP_MODE_RATE_DIRECT"/>

<define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/>
</section>
<define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/>
</section>

<section name="BAT">
<section name="BAT">
<define name="MIN_BAT_LEVEL" value="10.4" units="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>

<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
Expand All @@ -115,7 +115,7 @@ More information on the Quadshot can be found at transition-robotics.com -->
<define name="IGAIN_R" value="200"/>
</section>

<!-- These gains are used when the gain scheduling module is enabled (by loading it in the modules section)-->
<!-- These gains are used when the gain scheduling module is enabled (by loading it in the modules section)-->
<section name ="GAIN_SETS">
<define name="NUMBER_OF_GAINSETS" value="2"/>
<define name="SCHEDULING_VARIABLE" value="(radio.values[COMMAND_THRUST]+ transition_status"/>
Expand Down Expand Up @@ -183,21 +183,19 @@ More information on the Quadshot can be found at transition-robotics.com -->
<define name="PSI_DDGAIN" value=" 0"/>
</section>

<section name="INS" prefix="INS_">
</section>

<!-- Gains for vertical navigation -->
<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="200"/>
<define name="HOVER_KD" value="175"/>
<define name="HOVER_KI" value="72"/>
<define name="NOMINAL_HOVER_THROTTLE" value ="0.4"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
<!-- Gains for vertical navigation -->
<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="200"/>
<define name="HOVER_KD" value="175"/>
<define name="HOVER_KI" value="72"/>
<define name="NOMINAL_HOVER_THROTTLE" value ="0.4"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
</section>

<section name="AHRS" prefix="AHRS_">
Expand All @@ -206,68 +204,57 @@ More information on the Quadshot can be found at transition-robotics.com -->
<define name="H_Z" value=" 0.87161"/>
</section>

<!-- Gains for horizontal navigation-->
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>

<section name="MISC">
<define name="REF_QUAT_INFINITESIMAL_STEP" value="TRUE"/>
<!--The Quadshot uses a slightly different axis system for the setpoint, to make both hovering and flying forward intuitive-->
<define name="USE_EARTH_BOUND_RC_SETPOINT" value="TRUE"/>
<!-- This is the pitch angle that the Quadshot will have in forward flight, where 0 degrees is hover-->
<define name="TRANSITION_MAX_OFFSET" value="-82.0" unit="deg"/>
<define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value=" {1,1,-1,-1,1,-1,1,1,1,1,1,1}"/>


<define name="USE_AIRSPEED" value="TRUE"/>
<define name="AIRSPEED_ETS_I2C_DEV" value="i2c2"/>
</section>

<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
</section>

<modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/>

<!-- The the led_safety_status module will make the Quadshot LEDs blink in certain patterns when there are safety violations-->
<load name="led_safety_status.xml">
<define name="USE_LED_BODY" value="1"/>
<define name="SAFETY_WARNING_LED" value="BODY"/>
</load>

<!--Use an airspeed sensor and get the measured airspeed in the messages-->
<load name="airspeed_ets.xml">
<define name="AIRSPEED_ETS_SYNC_SEND"/>
</load>

<!-- Load this module to use multiple gain sets, which have to be specified in the gain sets section -->
<!--load name="gain_scheduling.xml"/-->
</modules>
<!-- Gains for horizontal navigation-->
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="100"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="0"/>
</section>

<section name="MISC">
<define name="REF_QUAT_INFINITESIMAL_STEP" value="TRUE"/>
<!--The Quadshot uses a slightly different axis system for the setpoint, to make both hovering and flying forward intuitive-->
<define name="USE_EARTH_BOUND_RC_SETPOINT" value="TRUE"/>
<!-- This is the pitch angle that the Quadshot will have in forward flight, where 0 degrees is hover-->
<define name="TRANSITION_MAX_OFFSET" value="-82.0" unit="deg"/>
<define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value=" {1,1,-1,-1,1,-1,1,1,1,1,1,1}"/>


<define name="USE_AIRSPEED" value="TRUE"/>
<define name="AIRSPEED_ETS_I2C_DEV" value="i2c2"/>
</section>

<modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/>

<!-- The the led_safety_status module will make the Quadshot LEDs blink in certain patterns when there are safety violations-->
<load name="led_safety_status.xml">
<define name="USE_LED_BODY" value="1"/>
<define name="SAFETY_WARNING_LED" value="BODY"/>
</load>

<!--Use an airspeed sensor and get the measured airspeed in the messages-->
<load name="airspeed_ets.xml">
<define name="AIRSPEED_ETS_SYNC_SEND"/>
</load>

<!-- Load this module to use multiple gain sets, which have to be specified in the gain sets section -->
<!--load name="gain_scheduling.xml"/-->
</modules>

<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0">
<subsystem name="radio_control" type="spektrum">
<!-- Put the mode on channel AUX1-->
<define name="RADIO_MODE" value="RADIO_AUX1"/>
<!-- <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/> -->
</subsystem>

<!-- To use an airspeed sensor on I2C, enable I2C2-->
<define name="USE_I2C2"/>
<subsystem name="radio_control" type="spektrum">
<!-- Put the mode on channel AUX1-->
<define name="RADIO_MODE" value="RADIO_AUX1"/>
<!-- <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/> -->
</subsystem>

<!-- If using aspirin 2.2, make sure to uncomment the following barometer configuration: -->
<!-- <configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/> -->
</target>
<!-- To use an airspeed sensor on I2C, enable I2C2-->
<define name="USE_I2C2"/>

<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<!-- If using aspirin 2.2, make sure to uncomment the following barometer configuration: -->
<!-- <configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/> -->
</target>

<subsystem name="motor_mixing"/>
Expand All @@ -282,8 +269,8 @@ More information on the Quadshot can be found at transition-robotics.com -->
<subsystem name="stabilization" type="int_quat"/>

<subsystem name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="0"/>
<define name="AHRS_USE_GPS_HEADING" value="0"/>
<configure name="USE_MAGNETOMETER" value="TRUE"/>
<!--define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" value="TRUE"/-->
</subsystem>

<subsystem name="ins"/>
Expand Down
10 changes: 10 additions & 0 deletions conf/conf_example.xml
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Expand Up @@ -179,6 +179,16 @@
settings=" settings/rotorcraft_basic.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml"
gui_color="blue"
/>
<aircraft
name="quadshot"
ac_id="19"
airframe="airframes/examples/quadshot_asp21_spektrum.xml"
radio="radios/spektrum.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings=" settings/rotorcraft_basic.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml"
gui_color="blue"
/>
<aircraft
name="setup_lisam2"
ac_id="16"
Expand Down
10 changes: 10 additions & 0 deletions conf/conf_tests.xml
View file
Expand Up @@ -289,6 +289,16 @@
settings=" settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/control/ctl_dash_loiter_trim.xml settings/estimation/ins_neutrals.xml"
gui_color="blue"
/>
<aircraft
name="quadshot"
ac_id="19"
airframe="airframes/examples/quadshot_asp21_spektrum.xml"
radio="radios/spektrum.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings=" settings/rotorcraft_basic.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml"
gui_color="blue"
/>
<aircraft
name="setup_lisam2"
ac_id="16"
Expand Down

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