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[opticflow] airframe
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@dewagter
dewagter committed Jan 13, 2015
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230 changes: 230 additions & 0 deletions conf/airframes/ardrone2_opticflow_hover.xml
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<!DOCTYPE airframe SYSTEM "airframe.dtd">

<airframe name="ardrone2_raw">

<firmware name="rotorcraft">
<target name="ap" board="ardrone2_raw">
<subsystem name="telemetry" type="transparent_udp"/>
<subsystem name="radio_control" type="datalink"/>
</target>

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

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

<!-- Subsystem section -->
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="ardrone2"/>
<subsystem name="imu" type="ardrone2"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="extended"/>
</firmware>

<modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/>
<load name="send_imu_mag_current.xml"/>
<load name="file_logger.xml"/>
<load name="cv_opticflow.xml"/>
</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="3000"/>
</commands>

<servos driver="Default">
<servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
<servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
<servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
<servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
</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="NB_MOTOR" value="4"/>
<define name="SCALE" value="255"/>

<!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
<define name="ROLL_COEF" value="{ 256, -256, -256, 256 }"/>
<define name="PITCH_COEF" value="{ 256, 256, -256, -256 }"/>
<define name="YAW_COEF" value="{ -256, 256, -256, 256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section>

<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<set servo="TOP_LEFT" value="motor_mixing.commands[0]"/>
<set servo="TOP_RIGHT" value="motor_mixing.commands[1]"/>
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[2]"/>
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[3]"/>
</command_laws>

<section name="VISION" prefix="VISION_">
<define name="HOVER" value="FALSE"/>
<define name="PHI_PGAIN" value="500"/>
<define name="PHI_IGAIN" value="10"/>
<define name="THETA_PGAIN" value="500"/>
<define name="THETA_IGAIN" value="10"/>
<define name="DESIRED_VX" value="0"/>
<define name="DESIRED_VY" value="0"/>
</section>

<section name="IMU" prefix="IMU_">
<!-- Accelero -->
<define name="ACCEL_X_NEUTRAL" value="2048"/>
<define name="ACCEL_Y_NEUTRAL" value="2048"/>
<define name="ACCEL_Z_NEUTRAL" value="2048"/>

<!-- Magneto calibration -->
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="-180"/>
<define name="MAG_X_SENS" value="16." integer="16"/>
<define name="MAG_Y_SENS" value="16." integer="16"/>
<define name="MAG_Z_SENS" value="16." 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_">
<!-- 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="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="600" unit="deg/s"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="250"/>

<!-- reference -->
<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="200" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.9"/>
<define name="REF_MAX_R" value="300." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(4000.)"/>

<!-- feedback -->
<define name="PHI_PGAIN" value="592"/>
<define name="PHI_DGAIN" value="303"/>
<define name="PHI_IGAIN" value="0"/>

<define name="THETA_PGAIN" value="606"/>
<define name="THETA_DGAIN" value="303"/>
<define name="THETA_IGAIN" value="0"/>

<define name="PSI_PGAIN" value="529"/>
<define name="PSI_DGAIN" value="353"/>
<define name="PSI_IGAIN" value="0"/>

<!-- feedforward -->
<define name="PHI_DDGAIN" value="0"/>
<define name="THETA_DDGAIN" value="0"/>
<define name="PSI_DDGAIN" value="52"/>
</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="FALSE"/>
</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="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
<define name="JSBSIM_MODEL" value="&quot;simple_ardrone2&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_ardrone2.h&quot;"/>
</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_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</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>

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