Merge pull request #517 from fvantienen/superbitrf

SuperbitRF and Lisa/S
paparazzi · Aug 29, 2013 · 515b607 · 515b607
2 parents a244d21 + 271931b
commit 515b607
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diff --git a/conf/airframes/TUDelft/IMAV2013/conf.xml b/conf/airframes/TUDelft/IMAV2013/conf.xml
@@ -0,0 +1,45 @@
+<?xml version="1.0"?>
+<conf>
+
+  <aircraft
+    name="MavRick_LisaS"
+    ac_id="1"
+    airframe="airframes/TUDelft/IMAV2013/mavrick_lisa_s.xml"
+    radio="radios/cockpitSX.xml"
+    telemetry="telemetry/default_fixedwing_imu.xml"
+    flight_plan="flight_plans/basic.xml"
+    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/ins_neutrals.xml"
+    gui_color="white"
+    />
+  <aircraft
+    name="Quadrotor_LisaS"
+    ac_id="2"
+    airframe="airframes/examples/quadrotor_lisa_s.xml"
+    radio="radios/cockpitSX.xml"
+    telemetry="telemetry/default_rotorcraft.xml"
+    flight_plan="flight_plans/rotorcraft_basic.xml"
+    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml"
+    gui_color="blue"
+    />
+  <aircraft
+    name="Walkera_V120D02S"
+    ac_id="3"
+    airframe="airframes/TUDelft/IMAV2013/walkera_V120D02S.xml"
+    radio="radios/cockpitSX.xml"
+    telemetry="telemetry/default_rotorcraft.xml"
+    flight_plan="flight_plans/rotorcraft_basic.xml"
+    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml"
+    gui_color="green"
+    />
+  <aircraft
+    name="Walkera_GeniusV1"
+    ac_id="4"
+    airframe="airframes/TUDelft/IMAV2013/walkera_genius_v1.xml"
+    radio="radios/cockpitSX.xml"
+    telemetry="telemetry/default_rotorcraft.xml"
+    flight_plan="flight_plans/rotorcraft_basic.xml"
+    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml"
+    gui_color="orange"
+    />
+
+</conf>
diff --git a/conf/airframes/TUDelft/IMAV2013/mavrick_lisa_s.xml b/conf/airframes/TUDelft/IMAV2013/mavrick_lisa_s.xml
@@ -0,0 +1,178 @@
+<!-- this is a tiny MavRick fixedwing frame equiped with Lisa/S 0.1 -->
+
+<!--
+     Applicable configuration:
+     airframe="airframes/TUDelft/IMAV2013/mavrick_lisa_s.xml"
+     radio="radios/cockpitSX.xml"
+     telemetry="telemetry/default_fixedwing.xml"
+     flight_plan="flight_plans/fixedwing_basic.xml"
+     settings="settings/fixedwing_basic.xml"
+-->
+
+<airframe name="MavRick_LisaS">
+
+  <firmware name="fixedwing">
+    <define name="AGR_CLIMB" />
+    <target name="ap" board="lisa_s_0.1"/>
+
+    <subsystem name="radio_control" type="superbitrf_rc">
+      <define name="RADIO_TRANSMITTER_ID" value="2008496626"/> <!-- TUDelft Dx6i: TX 4 -->
+      <define name="RADIO_TRANSMITTER_CHAN" value="6"/>
+      <define name="RADIO_TRANSMITTER_PROTOCOL" value="0x01"/>
+      <define name="RADIO_KILL_SWITCH" value="RADIO_FLAP"/>
+    </subsystem>
+
+    <!-- Communication -->
+    <subsystem name="telemetry" type="transparent"/>
+
+    <!-- Actuators are automatically chosen according to board-->
+    <subsystem name="imu"     type="lisa_s_v0.1"/>
+    <subsystem name="ahrs"    type="float_dcm"/>
+    <subsystem name="control"/>
+    <subsystem name="navigation"/>
+    <!-- Sensors -->
+    <subsystem name="gps" type="ublox"/>
+    <subsystem name="ins" type="alt_float"/>
+  </firmware>
+
+ <modules>
+   <load name="gps_ubx_ucenter.xml"/>
+ </modules>
+
+<!-- commands section -->
+  <servos>
+    <servo name="MOTOR" no="1" min="1040" neutral="1040" max="2000"/>
+    <servo name="AILEVON_LEFT" no="0" min="1900" neutral="1543" max="1100"/>
+    <servo name="AILEVON_RIGHT" no="2" min="1100" neutral="1561" max="1900"/>
+  </servos>
+
+  <commands>
+    <axis name="THROTTLE" failsafe_value="0"/>
+    <axis name="ROLL" failsafe_value="0"/>
+    <axis name="PITCH" failsafe_value="0"/>
+  </commands>
+
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL" value="@ROLL"/>
+    <set command="PITCH" value="@PITCH"/>
+  </rc_commands>
+
+  <section name="MIXER">
+    <define name="AILEVON_AILERON_RATE" value="0.75"/>
+    <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
+  </section>
+
+  <command_laws>
+    <let var="aileron" value="@ROLL  * AILEVON_AILERON_RATE"/>
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
+    <set servo="MOTOR" value="@THROTTLE"/>
+    <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
+    <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+  </command_laws>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="0.85"/>
+    <define name="MAX_PITCH" value="0.6"/>
+  </section>
+
+  <section name="IMU" prefix="IMU_">
+    <define name="BODY_TO_IMU_PHI" value="190." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
+
+    <define name="ACCEL_X_NEUTRAL" value="0"/>
+    <define name="ACCEL_Y_NEUTRAL" value="0"/>
+    <define name="ACCEL_Z_NEUTRAL" value="0"/>
+
+    <!-- From delft MAVLab -->
+    <define name="MAG_X_NEUTRAL" value="396"/>
+    <define name="MAG_Y_NEUTRAL" value="-260"/>
+    <define name="MAG_Z_NEUTRAL" value="-91"/>
+    <define name="MAG_X_SENS" value="3.71635905504" integer="16"/>
+    <define name="MAG_Y_SENS" value="3.5526454063" integer="16"/>
+    <define name="MAG_Z_SENS" value="3.52339566014" integer="16"/>
+
+    <!-- Current correction -->
+    <define name="MAG_X_CURRENT_COEF" value="-0.390312445109"/>
+    <define name="MAG_Y_CURRENT_COEF" value="-0.068976232866"/>
+    <define name="MAG_Z_CURRENT_COEF" value="-0.181415585657"/>
+  </section>
+
+
+  <section name="INS" prefix="INS_">
+    <define name="ROLL_NEUTRAL_DEFAULT" value="0.048" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="rad"/>
+  </section>
+
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+  </section>
+
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
+    <define name="CARROT" value="5." unit="s"/>
+    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
+    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
+  </section>
+
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="0.03"/>
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
+
+    <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="1.0"/>
+    <define name="COURSE_DGAIN" value="0.3"/>
+
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
+
+    <define name="PITCH_PGAIN" value="12000."/>
+    <define name="PITCH_DGAIN" value="1.5"/>
+
+    <define name="ELEVATOR_OF_ROLL" value="1250"/>
+
+    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
+    <define name="ROLL_RATE_GAIN" value="1500"/>
+  </section>
+
+  <section name="AGGRESSIVE" prefix="AGR_">
+    <define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
+    <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
+    <define name="CLIMB_THROTTLE" value="1.00"/><!-- Gaz for Aggressive Climb -->
+    <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
+    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
+    <define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
+    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
+    <define name="DESCENT_NAV_RATIO" value="1.0"/>
+  </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+    <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
+    <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+    <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+    <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+    <define name="HOME_RADIUS" value="100" unit="m"/>
+  </section>
+
+</airframe>