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<!DOCTYPE airframe SYSTEM "airframe.dtd"> | ||
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<airframe name="ardrone2_raw"> | ||
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<firmware name="rotorcraft"> | ||
<target name="ap" board="ardrone2_raw"> | ||
<define name="USE_INS_NAV_INIT"/> | ||
<configure name="AHRS_PROPAGATE_FREQUENCY" value="200"/> | ||
<define name="AHRS_PROPAGATE_FREQUENCY" value="200"/> | ||
<define name="INS_PROPAGATE_FREQUENCY" value="200"/> | ||
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/> | ||
<subsystem name="telemetry" type="udp"/> | ||
<subsystem name="radio_control" type="datalink"/> | ||
</target> | ||
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<target name="nps" board="pc"> | ||
<subsystem name="fdm" type="jsbsim"/> | ||
<subsystem name="radio_control" type="ppm"/> | ||
</target> | ||
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<!-- Subsystem section --> | ||
<subsystem name="motor_mixing"/> | ||
<subsystem name="actuators" type="ardrone2"/> | ||
<subsystem name="imu" type="ardrone2"/> | ||
<subsystem name="gps" type="udp"/> | ||
<subsystem name="stabilization" type="int_quat"/> | ||
<subsystem name="ahrs" type="int_cmpl_quat"/> | ||
<subsystem name="ins" type="extended"/> | ||
</firmware> | ||
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<modules main_freq="512"> | ||
<load name="send_imu_mag_current.xml"/> | ||
</modules> | ||
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<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> | ||
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<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> | ||
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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="255"/> | ||
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<!-- 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> | ||
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<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> | ||
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<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"/> | ||
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<!-- 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"/> | ||
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<!-- 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"/> | ||
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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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<!-- local magnetic field --> | ||
<!-- http://paparazzi.enac.fr/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> | ||
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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="600" 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="900" 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.)"/> | ||
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<define name="REF_OMEGA_Q" value="900" 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.)"/> | ||
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<define name="REF_OMEGA_R" value="600" unit="deg/s"/> | ||
<define name="REF_ZETA_R" value="0.9"/> | ||
<define name="REF_MAX_R" value="400." unit="deg/s"/> | ||
<define name="REF_MAX_RDOT" value="RadOfDeg(4000.)"/> | ||
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<!-- feedback --> | ||
<define name="PHI_PGAIN" value="592"/> | ||
<define name="PHI_DGAIN" value="303"/> | ||
<define name="PHI_IGAIN" value="0"/> | ||
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<define name="THETA_PGAIN" value="606"/> | ||
<define name="THETA_DGAIN" value="303"/> | ||
<define name="THETA_IGAIN" value="0"/> | ||
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<define name="PSI_PGAIN" value="529"/> | ||
<define name="PSI_DGAIN" value="353"/> | ||
<define name="PSI_IGAIN" value="0"/> | ||
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<!-- feedforward --> | ||
<define name="PHI_DDGAIN" value="0"/> | ||
<define name="THETA_DDGAIN" value="0"/> | ||
<define name="PSI_DDGAIN" value="52"/> | ||
</section> | ||
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<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="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> | ||
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<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="60"/> | ||
</section> | ||
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<section name="SIMULATOR" prefix="NPS_"> | ||
<define name="ACTUATOR_NAMES" value="{"nw_motor", "ne_motor", "se_motor", "sw_motor"}"/> | ||
<define name="JSBSIM_MODEL" value=""simple_ardrone2""/> | ||
<define name="JSBSIM_INIT" value=""reset00""/> | ||
<define name="SENSORS_PARAMS" value=""nps_sensors_params_default.h""/> | ||
</section> | ||
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<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> | ||
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<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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