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[imav] add airframe and flight plan from IMAV2018
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@gautierhattenberger
gautierhattenberger committed Dec 3, 2018
1 parent 1511d84 commit 63d0719
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261 changes: 261 additions & 0 deletions conf/airframes/ENAC/fixed-wing/hawkeye.xml
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">

<airframe name="Jumper Neo">
<description>
Hawkeye plane with NanoPi Air and IDS cam
Designed for IMAV2018
</description>

<firmware name="fixedwing">
<configure name="PERIODIC_FREQUENCY" value="125"/>

<target name="ap" board="apogee_1.0_chibios">
<module name="radio_control" type="sbus"/>
<!--module name="ins" type="float_invariant">
<define name="USE_MAGNETOMETER"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="125"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="125"/>
<define name="BARO_BOARD_APOGEE_FREQ" value="50"/>
<define name="MPL3115_OVERSAMPLING" value="2"/>
</module-->
<module name="ahrs" type="float_dcm"/>
<module name="ins" type="alt_float"/>
<define name="DC_SHOT_EXTRA_DL" value="TRUE"/>
</target>
<target name="sim" board="pc">
<module name="radio_control" type="ppm"/>
<module name="ahrs" type="float_dcm"/>
<module name="ins" type="alt_float"/>
</target>

<!-- Communication -->
<module name="telemetry" type="xbee_api"/>

<!-- Actuators are automatically chosen according to board-->
<module name="imu" type="apogee">
<define name="APOGEE_LOWPASS_FILTER" value="MPU60X0_DLPF_20HZ"/>
<define name="APOGEE_SMPLRT_DIV" value="7"/>
</module>
<module name="control" type="new"/>
<module name="navigation"/>

<!-- Sensors -->
<module name="gps" type="ublox">
<configure name="GPS_BAUD" value="B115200"/>
</module>
<module name="mag_hmc58xx.xml">
<define name="MODULE_HMC58XX_UPDATE_AHRS"/>
<configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
</module>

<module name="extra_dl">
<configure name="EXTRA_DL_PORT" value="UART6"/>
<configure name="EXTRA_DL_BAUD" value="B115200"/>
</module>
<module name="digital_cam">
<define name="DC_SHUTTER_GPIO" value="GPIOB,GPIO15"/> <!-- Apogee AUX4 -->
<define name="DC_AUTOSHOOT_DISTANCE_INIT" value="4"/>
</module>

<module name="takeoff_detect.xml"/>
</firmware>

<!-- commands section -->
<servos>
<servo name="MOTOR" no="0" min="1040" neutral="1040" max="2000"/>
<servo name="AILEVON_RIGHT" no="1" min="1445" neutral="1565" max="1720"/>
<servo name="AILEVON_LEFT" no="2" min="1710" neutral="1590" max="1435"/>
</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="0.5"/>
<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="45" unit="deg"/>
<define name="MAX_PITCH" value="30" unit="deg"/>
</section>

<section name="IMU" prefix="IMU_">
<!-- Calibration Neutral -->
<define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_Q_SIGN" value="-1"/>
<define name="GYRO_R_SIGN" value="-1"/>
<define name="GYRO_P_NEUTRAL" value="0"/>
<define name="GYRO_Q_NEUTRAL" value="0"/>
<define name="GYRO_R_NEUTRAL" value="0"/>

<define name="ACCEL_X_SIGN" value="1"/>
<define name="ACCEL_Y_SIGN" value="-1"/>
<define name="ACCEL_Z_SIGN" value="-1"/>
<define name="ACCEL_X_NEUTRAL" value="38"/>
<define name="ACCEL_Y_NEUTRAL" value="-51"/>
<define name="ACCEL_Z_NEUTRAL" value="334"/>
<define name="ACCEL_X_SENS" value="2.44751351959" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.45786678054" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.45120935902" integer="16"/>

<define name="MAG_X_SIGN" value="1"/>
<define name="MAG_Y_SIGN" value="-1"/>
<define name="MAG_Z_SIGN" value="-1"/>
<define name="MAG_X_NEUTRAL" value="40"/><!--4-->
<define name="MAG_Y_NEUTRAL" value="-67"/>
<define name="MAG_Z_NEUTRAL" value="126"/>
<define name="MAG_X_SENS" value="3.72743572464" integer="16"/>
<define name="MAG_Y_SENS" value="3.77984806639" integer="16"/>
<define name="MAG_Z_SENS" value="4.27632896683" integer="16"/>

<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>

<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="deg"/>
<!--Ramonville-->
<define name="H_X" value="0.5141"/>
<define name="H_Y" value="0.0002"/>
<define name="H_Z" value="0.8576"/>
</section>

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

<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.05*MAX_DIST_FROM_HOME)"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="50."/>
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
<define name="RC_LOST_MODE" value="AP_MODE_AUTO2"/>
</section>

<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="0.12"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="4."/>
<!-- disable climb rate limiter -->
<define name="AUTO_CLIMB_LIMIT" value="2*V_CTL_ALTITUDE_MAX_CLIMB"/>

<!-- Cruise throttle + limits -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>

<!-- Climb loop (throttle) -->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.088" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.004"/>
<define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
<define name="AUTO_THROTTLE_IGAIN" value="0."/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.077"/>

<!-- Climb loop (pitch) -->
<define name="AUTO_PITCH_PGAIN" value="0.027"/>
<define name="AUTO_PITCH_DGAIN" value="0.01"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<!--define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/-->
<define name="AUTO_PITCH_MAX_PITCH" value="20" unit="deg"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-20" unit="deg"/>

<!-- airspeed control -->
<define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
<define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
<define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
<define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
<define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
<define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
<define name="AIRSPEED_MAX" value="30"/>
<define name="AIRSPEED_MIN" value="10"/>

<!-- groundspeed control -->
<define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
<define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>

<!-- pitch trim -->
<define name="PITCH_LOITER_TRIM" value="0." unit="deg"/>
<define name="PITCH_DASH_TRIM" value="0." unit="deg"/>

<define name="THROTTLE_SLEW" value="0.1"/>
</section>

<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="0.743"/>
<define name="COURSE_TAU" value="0.5"/>
<define name="ROLL_MAX_SETPOINT" value="45." unit="deg"/>
<define name="PITCH_MAX_SETPOINT" value="30." unit="deg"/>
<define name="PITCH_MIN_SETPOINT" value="-30." unit="deg"/>

<define name="ROLL_ATTITUDE_GAIN" value="11000."/>
<define name="ROLL_RATE_GAIN" value="1000."/>
<define name="ROLL_IGAIN" value="100."/>
<define name="ROLL_KFFA" value="0"/>
<define name="ROLL_KFFD" value="0"/>

<define name="PITCH_PGAIN" value="17250"/>
<define name="PITCH_DGAIN" value="500."/>
<define name="PITCH_IGAIN" value="400"/>
<define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/>

<define name="PITCH_OF_ROLL" value="1." unit="deg"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="ELEVATOR_OF_ROLL" value="1400"/>
</section>

<section name="NAV">
<define name="NAV_GLIDE_PITCH_TRIM" value="0."/>
</section>

<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
<define name="DEFAULT_ROLL" value="20." unit="deg"/>
<define name="DEFAULT_PITCH" value="10." unit="deg"/>
<define name="HOME_RADIUS" value="50" unit="m"/>
</section>

<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.35"/><!-- 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="SIMU">
<define name="ROLL_RESPONSE_FACTOR" value="20"/>
<define name="JSBSIM_MODEL" value="easystar" type="string"/>
<define name="JSBSIM_LAUNCHSPEED" value="15.0"/>
</section>

</airframe>

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