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<!DOCTYPE airframe SYSTEM "../airframe.dtd"> | ||
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<!-- | ||
YAPA + XSens + XBee | ||
--> | ||
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<airframe name="Yapa v1"> | ||
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<servos> | ||
<servo name="THROTTLE" no="0" min="1100" neutral="1100" max="1900"/> | ||
<servo name="AILERON_LEFT" no="2" min="900" neutral="1500" max="2100"/> | ||
<servo name="AILERON_RIGHT" no="6" min="900" neutral="1500" max="2100"/> | ||
<servo name="ELEVATOR" no="7" min="1900" neutral="1500" max="1100"/> | ||
<servo name="RUDDER" no="3" min="1100" neutral="1500" max="1900"/> | ||
</servos> | ||
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<commands> | ||
<axis name="THROTTLE" failsafe_value="0"/> | ||
<axis name="ROLL" failsafe_value="0"/> | ||
<axis name="YAW" failsafe_value="0"/> | ||
<axis name="PITCH" failsafe_value="0"/> | ||
<axis name="BRAKE" failsafe_value="9600"/> <!-- both elerons up as butterfly brake ? --> | ||
</commands> | ||
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<rc_commands> | ||
<set command="THROTTLE" value="@THROTTLE"/> | ||
<set command="ROLL" value="@ROLL"/> | ||
<set command="YAW" value="@YAW"/> | ||
<set command="PITCH" value="@PITCH"/> | ||
<set command="BRAKE" value="@FLAPS"/> | ||
</rc_commands> | ||
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<section name="SERVO_MIXER_GAINS"> | ||
<define name="AILERON_NEUTRAL" value="0.3f"/> | ||
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<define name="AILERON_RATE_UP" value="1.0f"/> | ||
<define name="AILERON_RATE_DOWN" value="0.5f"/> | ||
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<define name="AILERON_RATE_UP_BRAKE" value="1.0f"/> | ||
<define name="AILERON_RATE_DOWN_BRAKE" value="1.0f"/> | ||
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<define name="PITCH_GAIN" value="0.9f"/> | ||
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<define name="BRAKE_AILEVON" value="-0.7f"/> | ||
<define name="BRAKE_PITCH" value="0.1f"/> | ||
<define name="MAX_BRAKE_RATE" value="130"/> | ||
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<define name="RUDDER_OF_AILERON" value="0.3"/> | ||
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<define name="LIMIT(X,XL,XH)" value="( ((X)>(XH)) ? (XH) : ( ((X)>(XL)) ? (X) : (XL) ) )"/> | ||
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</section> | ||
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<command_laws> | ||
<!-- Brake Rate Limiter --> | ||
<let var="brake_value_nofilt" value="LIMIT(-@BRAKE, 0, MAX_PPRZ)"/> | ||
<let var="test; \ | ||
static int16_t _var_brake_value = 0; \ | ||
_var_brake_value += LIMIT(_var_brake_value_nofilt - _var_brake_value,-MAX_BRAKE_RATE,MAX_BRAKE_RATE); \ | ||
int verwaarloos_deze_warning_CDW" value="0"/> | ||
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<!-- Differential Aileron Depending on Brake Value --> | ||
<let var="aileron_up_rate" value="(AILERON_RATE_UP * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_UP_BRAKE * $brake_value)"/> | ||
<let var="aileron_down_rate" value="(AILERON_RATE_DOWN * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_DOWN_BRAKE * $brake_value)"/> | ||
<let var="aileron_up" value="(@ROLL * (((float)$aileron_up_rate) / ((float)MAX_PPRZ)))"/> | ||
<let var="aileron_down" value="(@ROLL * (((float)$aileron_down_rate) / ((float)MAX_PPRZ)))"/> | ||
<let var="leftturn" value="(@ROLL >= 0? 1 : 0)"/> | ||
<let var="rightturn" value="(1 - $leftturn)"/> | ||
<set servo="AILERON_LEFT" value="($aileron_up * $leftturn) + ($aileron_down * $rightturn) - $brake_value*(BRAKE_AILEVON) - (MAX_PPRZ * AILERON_NEUTRAL)"/> | ||
<set servo="AILERON_RIGHT" value="($aileron_up * $rightturn) + ($aileron_down * $leftturn) + $brake_value*(BRAKE_AILEVON) + (MAX_PPRZ *AILERON_NEUTRAL)"/> | ||
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<set servo="RUDDER" value="@YAW + @ROLL * RUDDER_OF_AILERON"/> | ||
<set servo="THROTTLE" value="@THROTTLE"/> | ||
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<!-- Pitch with Brake-Trim Function --> | ||
<set servo="ELEVATOR" value="@PITCH * PITCH_GAIN - BRAKE_PITCH * $brake_value"/> | ||
</command_laws> | ||
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<!-- Local magnetic field --> | ||
<section name="AHRS" prefix="AHRS_" > | ||
<define name="H_X" value="0.51562740288882" /> | ||
<define name="H_Y" value="-0.05707735220832" /> | ||
<define name="H_Z" value="0.85490967783446" /> | ||
</section> | ||
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<section name="XSENS"> | ||
<define name="GPS_IMU_LEVER_ARM_X" value="-0.285f" /> | ||
<define name="GPS_IMU_LEVER_ARM_Y" value="0.0f" /> | ||
<define name="GPS_IMU_LEVER_ARM_Z" value="0.0f" /> | ||
</section> | ||
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<section name="AUTO1" prefix="AUTO1_"> | ||
<define name="MAX_ROLL" value="RadOfDeg(75)"/> | ||
<define name="MAX_PITCH" value="RadOfDeg(45)"/> | ||
</section> | ||
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<section name="BAT"> | ||
<!-- <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/> --> | ||
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<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/> | ||
<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/> | ||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/> | ||
</section> | ||
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<section name="INS" prefix="INS_"> | ||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/> | ||
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/> | ||
</section> | ||
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<section name="MISC"> | ||
<define name="NOMINAL_AIRSPEED" value="14." unit="m/s"/> | ||
<define name="CARROT" value="5." unit="s"/> | ||
<define name="CONTROL_RATE" value="60" unit="Hz"/> | ||
<define name="XBEE_INIT" value=""ATPL2\rATRN5\rATTT80\r""/> | ||
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> --> | ||
<!-- <define name="ALT_KALMAN_ENABLED" value="TRUE"/> --> | ||
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<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> | ||
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<define name="GLIDE_AIRSPEED" value="10"/> | ||
<define name="GLIDE_VSPEED" value="3."/> | ||
<define name="GLIDE_PITCH" value="45" unit="deg"/> | ||
</section> | ||
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<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="-0.108000002801"/> | ||
<!-- outer loop saturation --> | ||
<define name="ALTITUDE_MAX_CLIMB" value="2."/> | ||
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<!-- auto throttle inner loop --> | ||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.57800000906"/> | ||
<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="0.108999997377" unit="%/(m/s)"/> | ||
<define name="AUTO_THROTTLE_PGAIN" value="0."/> | ||
<define name="AUTO_THROTTLE_IGAIN" value="0."/> | ||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.324999988079"/> | ||
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<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/> | ||
</section> | ||
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> | ||
<define name="COURSE_PGAIN" value="-1.20000004768"/> | ||
<define name="COURSE_DGAIN" value="0.300000011921"/> | ||
<define name="COURSE_PRE_BANK_CORRECTION" value="1.01600003242"/> | ||
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<define name="ROLL_MAX_SETPOINT" value="0.851999998093" unit="radians"/> | ||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/> | ||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/> | ||
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<define name="PITCH_PGAIN" value="-13476.5615234"/> | ||
<define name="PITCH_DGAIN" value="7.73400020599"/> | ||
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<define name="ELEVATOR_OF_ROLL" value="3007.81298828"/> | ||
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<define name="ROLL_SLEW" value="1."/> | ||
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<define name="ROLL_ATTITUDE_GAIN" value="-11718.75"/> | ||
<define name="ROLL_RATE_GAIN" value="-820.312011719"/> | ||
</section> | ||
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<section name="AGGRESSIVE" prefix="AGR_"> | ||
<define name="BLEND_START" value="30"/> | ||
<define name="BLEND_END" value="15"/> | ||
<define name="CLIMB_THROTTLE" value="1.00"/> | ||
<define name="CLIMB_PITCH" value="RadOfDeg(30)"/> | ||
<define name="DESCENT_THROTTLE" value="0.0"/> | ||
<define name="DESCENT_PITCH" value="RadOfDeg(-15)"/> | ||
<define name="CLIMB_NAV_RATIO" value="0.8"/> | ||
<define name="DESCENT_NAV_RATIO" value="1.0"/> | ||
</section> | ||
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<section name="FAILSAFE" prefix="FAILSAFE_"> | ||
<define name="DEFAULT_THROTTLE" value="0.35" unit="%"/> | ||
<define name="DEFAULT_ROLL" value="0.17" unit="rad"/> | ||
<define name="DEFAULT_PITCH" value="0.08" unit="rad"/> | ||
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<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/> | ||
<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/> | ||
<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/> | ||
</section> | ||
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<section name="DIGITAL_CAMERA" prefix="DC_"> | ||
<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/> | ||
<define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/> | ||
</section> | ||
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<modules> | ||
<load name="ins_xsens_MTiG_fixedwing.xml"> | ||
<configure name="XSENS_UART_NR" value="0"/> | ||
</load> | ||
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<load name="light.xml"> | ||
<define name="LIGHT_LED_STROBE" value="3"/> | ||
<define name="LIGHT_LED_NAV" value="2"/> | ||
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/> | ||
<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/> | ||
</load> | ||
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<!-- <load name="digital_cam_i2c.xml"/> --> | ||
<!-- <load name="ins_ppzuavimu.xml"/> --> | ||
<load name="digital_cam.xml"> | ||
<define name="DC_SHUTTER_LED" value="2"/> | ||
</load> | ||
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</modules> | ||
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<firmware name="fixedwing"> | ||
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<target name="ap" board="tiny_2.11"> | ||
<define name="STRONG_WIND"/> | ||
<define name="WIND_INFO"/> | ||
<define name="WIND_INFO_RET"/> | ||
<define name="LOITER_TRIM"/> | ||
</target> | ||
<target name="sim" board="pc"/> | ||
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<subsystem name="radio_control" type="ppm"/> | ||
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<!-- Communication --> | ||
<subsystem name="telemetry" type="xbee_api"> | ||
<configure name="MODEM_BAUD" value="B57600"/> | ||
</subsystem> | ||
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<!-- Actuators --> | ||
<subsystem name="control"/> | ||
<!-- Sensors --> | ||
<subsystem name="navigation"/> | ||
<subsystem name="gps" type="xsens"/> | ||
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<subsystem name="i2c"/> | ||
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</firmware> | ||
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</airframe> |
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