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<!DOCTYPE airframe SYSTEM "../airframe.dtd"> | ||
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<!-- this is a quadrotor frame equiped with | ||
* Autopilot: Lisa/M 2.0 http://wiki.paparazziuav.org/wiki/Lisa/M_v20 | ||
* IMU: Aspirin 2.1 http://wiki.paparazziuav.org/wiki/AspirinIMU | ||
* Actuators: PWM motor controllers http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM_Supervision | ||
* GPS: Ublox http://wiki.paparazziuav.org/wiki/Subsystem/gps | ||
* RC: two Spektrum sats http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum | ||
--> | ||
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<airframe name="Quad Suave"> | ||
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<firmware name="rotorcraft"> | ||
<target name="ap" board="lisa_m_2.0"> | ||
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<!-- MPU6000 is configured to output data at 2kHz, but polled at 512Hz PERIODIC_FREQUENCY --> | ||
</target> | ||
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<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/> | ||
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<subsystem name="radio_control" type="ppm"> | ||
<configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/> | ||
</subsystem> | ||
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<target name="nps" board="pc"> | ||
<subsystem name="fdm" type="jsbsim"/> | ||
</target> | ||
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<subsystem name="gps" type="ublox"/> | ||
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<subsystem name="motor_mixing"/> | ||
<subsystem name="actuators" type="pwm"> | ||
<define name="SERVO_HZ" value="400"/> | ||
<define name="USE_SERVOS_7AND8"/> | ||
</subsystem> | ||
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<subsystem name="telemetry" type="transparent"/> | ||
<subsystem name="imu" type="aspirin_v2.1"/> | ||
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<subsystem name="stabilization" type="int_quat"/> | ||
<subsystem name="ahrs" type="int_cmpl_quat"> | ||
<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/> | ||
</subsystem> | ||
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<configure name="GPS_LED" value="4"/> | ||
<configure name="RADIO_CONTROL_LED" value="3"/> | ||
<configure name="AHRS_ALIGNER_LED" value="2"/> | ||
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<subsystem name="ins"/> | ||
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<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/--> | ||
</firmware> | ||
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<servos driver="Pwm"> | ||
<servo name="FRONT" no="0" min="1000" neutral="1100" max="1900"/> | ||
<servo name="BACK" no="1" min="1000" neutral="1100" max="1900"/> | ||
<servo name="RIGHT" no="2" min="1000" neutral="1100" max="1900"/> | ||
<servo name="LEFT" no="3" min="1000" neutral="1100" max="1900"/> | ||
</servos> | ||
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<commands> | ||
<axis name="ROLL" failsafe_value="0"/> | ||
<axis name="PITCH" failsafe_value="0"/> | ||
<axis name="YAW" failsafe_value="0"/> | ||
<axis name="THRUST" failsafe_value="0"/> | ||
</commands> | ||
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<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="256"/> | ||
<!-- front/back turning CW, right/left CCW --> | ||
<define name="ROLL_COEF" value="{ 0, 0, -256, 256 }"/> | ||
<define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/> | ||
<define name="YAW_COEF" value="{ -256, -256, 256, 256 }"/> | ||
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/> | ||
</section> | ||
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<command_laws> | ||
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/> | ||
<set servo="FRONT" value="motor_mixing.commands[0]"/> | ||
<set servo="BACK" value="motor_mixing.commands[1]"/> | ||
<set servo="RIGHT" value="motor_mixing.commands[2]"/> | ||
<set servo="LEFT" value="motor_mixing.commands[3]"/> | ||
</command_laws> | ||
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<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"/> | ||
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<!-- replace this with your own calibration --> | ||
<define name="MAG_X_NEUTRAL" value="-179"/> | ||
<define name="MAG_Y_NEUTRAL" value="-21"/> | ||
<define name="MAG_Z_NEUTRAL" value="79"/> | ||
<define name="MAG_X_SENS" value="4.17334785618" integer="16"/> | ||
<define name="MAG_Y_SENS" value="3.98885954135" integer="16"/> | ||
<define name="MAG_Z_SENS" value="4.40442339014" integer="16"/> | ||
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<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> | ||
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<section name="AHRS" prefix="AHRS_"> | ||
<define name="H_X" value="0.3770441"/> | ||
<define name="H_Y" value="0.0193986"/> | ||
<define name="H_Z" value="0.9259921"/> | ||
</section> | ||
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<section name="INS" prefix="INS_"> | ||
</section> | ||
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<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"/> | ||
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<!-- feedback --> | ||
<define name="GAIN_P" value="400"/> | ||
<define name="GAIN_Q" value="400"/> | ||
<define name="GAIN_R" value="350"/> | ||
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<define name="IGAIN_P" value="75"/> | ||
<define name="IGAIN_Q" value="75"/> | ||
<define name="IGAIN_R" value="50"/> | ||
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<!-- feedforward --> | ||
<define name="DDGAIN_P" value="300"/> | ||
<define name="DDGAIN_Q" value="300"/> | ||
<define name="DDGAIN_R" value="300"/> | ||
</section> | ||
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<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="90." unit="deg/s"/> | ||
<define name="DEADBAND_A" value="0"/> | ||
<define name="DEADBAND_E" value="0"/> | ||
<define name="DEADBAND_R" value="250"/> | ||
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<!-- reference --> | ||
<define name="REF_OMEGA_P" value="400" unit="deg/s"/> | ||
<define name="REF_ZETA_P" value="0.85"/> | ||
<define name="REF_MAX_P" value="400." unit="deg/s"/> | ||
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/> | ||
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<define name="REF_OMEGA_Q" value="400" unit="deg/s"/> | ||
<define name="REF_ZETA_Q" value="0.85"/> | ||
<define name="REF_MAX_Q" value="400." unit="deg/s"/> | ||
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/> | ||
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<define name="REF_OMEGA_R" value="250" 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.)"/> | ||
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<!-- feedback --> | ||
<define name="PHI_PGAIN" value="1000"/> | ||
<define name="PHI_DGAIN" value="400"/> | ||
<define name="PHI_IGAIN" value="200"/> | ||
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<define name="THETA_PGAIN" value="1000"/> | ||
<define name="THETA_DGAIN" value="400"/> | ||
<define name="THETA_IGAIN" value="200"/> | ||
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<define name="PSI_PGAIN" value="500"/> | ||
<define name="PSI_DGAIN" value="300"/> | ||
<define name="PSI_IGAIN" value="10"/> | ||
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<!-- feedforward --> | ||
<define name="PHI_DDGAIN" value="300"/> | ||
<define name="THETA_DDGAIN" value="300"/> | ||
<define name="PSI_DDGAIN" value="300"/> | ||
</section> | ||
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<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> | ||
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> | ||
<define name="MAX_BANK" value="20" 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> | ||
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<section name="NAV"> | ||
<define name="ARRIVED_AT_WAYPOINT" value="2" unit="m"/> | ||
</section> | ||
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<section name="SIMULATOR" prefix="NPS_"> | ||
<define name="ACTUATOR_NAMES" value="{"front_motor", "back_motor", "right_motor", "left_motor"}"/> | ||
<define name="JSBSIM_INIT" value=""reset00""/> | ||
<define name="JSBSIM_MODEL" value=""simple_quad""/> | ||
<define name="SENSORS_PARAMS" value=""nps_sensors_params_default.h""/> | ||
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) --> | ||
<define name="JS_AXIS_MODE" value="4"/> | ||
</section> | ||
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<section name="AUTOPILOT"> | ||
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/> | ||
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/> | ||
<define name="MODE_AUTO2" value="AP_MODE_NAV"/> | ||
</section> | ||
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<section name="BAT"> | ||
<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="10.1" unit="V"/> | ||
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/> | ||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="30000"/> | ||
</section> | ||
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</airframe> |