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<!DOCTYPE airframe SYSTEM "../airframe.dtd"> | ||
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<!-- | ||
Viking Motorsports ECU example | ||
--> | ||
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<airframe name="ECU"> | ||
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<firmware name="fixedwing"> | ||
<target name="ap" board="vms_ecu_1.0_chibios"> | ||
<configure name="PERIODIC_FREQUENCY" value="120"/> | ||
<module name="radio_control" type="sbus"/> | ||
</target> | ||
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<!-- Communication --> | ||
<module name="telemetry" type="transparent"> | ||
<configure name="MODEM_PORT" value="UART3"/> | ||
<configure name="MODEM_BAUD" value="B57600"/> | ||
</module> | ||
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<!-- Sensors --> | ||
<module name="gps" type="ublox"> | ||
<configure name="GPS_PORT" value="UART6"/> | ||
<configure name="GPS_BAUD" value="B115200"/> | ||
</module> | ||
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<module name="imu" type="lisa_m_v2.1"/> | ||
<module name="ahrs" type="float_mlkf"/> | ||
<module name="ins"/> | ||
<module name="control"/> | ||
<module name="navigation"/> | ||
</firmware> | ||
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<modules> | ||
<module name="sys_mon"/> | ||
</modules> | ||
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<!-- commands section --> | ||
<!-- Servo Configuration --> | ||
<servos> | ||
<servo name="THROTTLE" no="0" min="1100" neutral="1100" max="1900"/> | ||
<servo name="AILERON_RIGHT" no="1" min="900" neutral="1500" max="2100"/> | ||
<servo name="AILERON_LEFT" no="2" min="2100" neutral="1500" max="900"/> | ||
<servo name="ELEVATOR" no="3" min="2100" neutral="1500" max="900"/> | ||
<servo name="RUDDER" no="4" min="2100" neutral="1500" max="900"/> | ||
<servo name="FLAP" no="5" min="900" neutral="1500" max="2100"/> | ||
</servos> | ||
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<!-- Servo Command Structure --> | ||
<commands> | ||
<axis name="THROTTLE" failsafe_value="0"/> | ||
<axis name="ROLL" failsafe_value="0"/> | ||
<axis name="PITCH" failsafe_value="0"/> | ||
<axis name="YAW" failsafe_value="0"/> | ||
<axis name="FLAP" failsafe_value="0"/> | ||
</commands> | ||
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<!-- RC Command Structure --> | ||
<rc_commands> | ||
<set command="THROTTLE" value="@THROTTLE"/> | ||
<set command="ROLL" value="@ROLL"/> | ||
<set command="PITCH" value="@PITCH"/> | ||
<set command="YAW" value="@YAW"/> | ||
<set command="FLAP" value="@FLAP"/> | ||
</rc_commands> | ||
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<!-- Define RC commands to Servo in Auto Mode --> | ||
<auto_rc_commands> | ||
<set command="YAW" value="@YAW"/> | ||
<set command="FLAP" value="@FLAP"/> | ||
</auto_rc_commands> | ||
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<!-- Define Mixing Parameters --> | ||
<section name="MIXER"> | ||
<define name="AILERON_AILERON_RATE" value="0.9"/> | ||
<define name="ELEV_ELEV_RATE" value="0.8"/> | ||
</section> | ||
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<!-- Define RC commands to Servos in Manual --> | ||
<command_laws> | ||
<let var="aileron" value="@ROLL * AILERON_AILERON_RATE"/> | ||
<let var="elevator" value="@PITCH * ELEV_ELEV_RATE"/> | ||
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<set servo="THROTTLE" value="@THROTTLE"/> | ||
<set servo="AILERON_RIGHT" value="$aileron"/> <!--flip signs if necessary --> | ||
<set servo="AILERON_LEFT" value=" - $aileron"/> | ||
<set servo="ELEVATOR" value="$elevator"/> | ||
<set servo="RUDDER" value="@YAW"/> | ||
<set servo="FLAP" value="@FLAP"/> | ||
</command_laws> | ||
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<!-- Define Max Roll and Pitch setpoints in Auto1 --> | ||
<section name="AUTO1" prefix="AUTO1_"> | ||
<define name="MAX_ROLL" value="0.7"/> | ||
<define name="MAX_PITCH" value="0.6"/> | ||
</section> | ||
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<section name="IMU" prefix="IMU_"> | ||
<define name="ACCEL_X_NEUTRAL" value="-50"/> | ||
<define name="ACCEL_Y_NEUTRAL" value="189"/> | ||
<define name="ACCEL_Z_NEUTRAL" value="270"/> | ||
<define name="ACCEL_X_SENS" value="0.59633793275" integer="16"/> | ||
<define name="ACCEL_Y_SENS" value="0.616609304777" integer="16"/> | ||
<define name="ACCEL_Z_SENS" value="0.624348656549" integer="16"/> | ||
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<define name="MAG_X_NEUTRAL" value="75"/> | ||
<define name="MAG_Y_NEUTRAL" value="-10"/> | ||
<define name="MAG_Z_NEUTRAL" value="7"/> | ||
<define name="MAG_X_SENS" value="4.12309023427" integer="16"/> | ||
<define name="MAG_Y_SENS" value="4.23759023915" integer="16"/> | ||
<define name="MAG_Z_SENS" value="4.61141601045" 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="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="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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<!-- Define current estimator and Battery Level Warnings --> | ||
<section name="BAT"> | ||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="50000"/> | ||
<define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.3"/> | ||
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<!-- Flight values --> | ||
<!-- | ||
<define name="MAX_BAT_LEVEL" value="16.5" unit="V" /> | ||
<define name="LOW_BAT_LEVEL" value="14.1" unit="V"/> | ||
<define name="CRITIC_BAT_LEVEL" value="13.8" unit="V"/> | ||
<define name="CATASTROPHIC_BAT_LEVEL" value="13.5" unit="V"/> | ||
--> | ||
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<!-- Simulator values --> | ||
<define name="MAX_BAT_LEVEL" value="5.0" unit="V" /> | ||
<define name="LOW_BAT_LEVEL" value="4.0" unit="V"/> | ||
<define name="CRITIC_BAT_LEVEL" value="3.5" unit="V"/> | ||
<define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/> | ||
</section> | ||
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<section name="MISC"> | ||
<define name="NOMINAL_AIRSPEED" value="16." unit="m/s"/> <!-- GCS only --> | ||
<define name="CARROT" value="5." unit="s"/> <!-- GCS only --> | ||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/> | ||
<define name="DEFAULT_CIRCLE_RADIUS" value="120."/> | ||
</section> | ||
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<section name="VERTICAL CONTROL" prefix="V_CTL_"> | ||
<!-- TODO: double check the power controls settings, this value seems to be outdated --> | ||
<!--define name="POWER_CTL_BAT_NOMINAL" value="23.2" unit="volt"/--> | ||
<!-- outer loop proportional gain --> | ||
<define name="ALTITUDE_PGAIN" value="0.136"/> | ||
<!-- outer loop saturation --> | ||
<define name="ALTITUDE_MAX_CLIMB" value="3."/> | ||
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<!-- auto throttle inner loop --> | ||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.40"/> | ||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.20"/> | ||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.70"/> | ||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/> | ||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/> | ||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.05" unit="%/(m/s)"/> | ||
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/> | ||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/> | ||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.142"/> | ||
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/> | ||
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<!-- auto pitch inner loop --> | ||
<define name="AUTO_PITCH_PGAIN" value="0.1"/> | ||
<define name="AUTO_PITCH_IGAIN" value="0.025"/> | ||
<define name="AUTO_PITCH_MAX_PITCH" value="0.31415" unit="rad"/> | ||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.31415" unit="rad"/> | ||
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<!-- landing control loop --> | ||
<define name="LANDING_THROTTLE_PGAIN" value="600.0"/> | ||
<define name="LANDING_THROTTLE_IGAIN" value="10.0"/> | ||
<define name="LANDING_THROTTLE_MAX" value="0.65"/> | ||
<define name="LANDING_DESIRED_SPEED" value="18" unit="m/s"/> | ||
<define name="LANDING_PITCH_PGAIN" value="0.1"/> | ||
<define name="LANDING_PITCH_IGAIN" value="0.1"/> | ||
<define name="LANDING_PITCH_LIMITS" value="0.2" unit="rad"/> | ||
<define name="LANDING_PITCH_FLARE" value="0.06"/> | ||
<define name="LANDING_ALT_THROTTLE_KILL" value="15" unit="m"/> | ||
<define name="LANDING_ALT_FLARE" value="5" unit="m"/> | ||
</section> | ||
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> | ||
<define name="COURSE_PGAIN" value="1.135"/> | ||
<define name="COURSE_DGAIN" value="0.35"/> | ||
<define name="ROLL_MAX_SETPOINT" value="0.5" unit="rad"/> | ||
<define name="PITCH_MAX_SETPOINT" value="0.35" unit="rad"/> | ||
<define name="PITCH_MIN_SETPOINT" value="-0.2" unit="rad"/> | ||
<define name="PITCH_PGAIN" value="12900."/> | ||
<!-- ORIGINAL GAIN | ||
<define name="PITCH_DGAIN" value="1.5"/> | ||
--> | ||
<!-- SIMULATOR GAIN --> | ||
<define name="PITCH_DGAIN" value="151.5"/> | ||
<define name="ELEVATOR_OF_ROLL" value="1250"/> | ||
<define name="ROLL_ATTITUDE_GAIN" value="9000"/> | ||
<define name="ROLL_RATE_GAIN" value="1600"/> | ||
<define name="ROLL_SLEW" value="0.1"/> | ||
</section> | ||
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<section name="AGGRESSIVE" prefix="AGR_"> | ||
<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!--> | ||
<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!--> | ||
<define name="CLIMB_THROTTLE" value="0.75"/><!-- Gaz for Aggressive Climb --> | ||
<define name="CLIMB_PITCH" value="0.13"/><!-- Pitch for Aggressive Climb --> | ||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent --> | ||
<define name="DESCENT_PITCH" value="-0.1"/><!-- 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> | ||
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<section name="FAILSAFE" prefix="FAILSAFE_"> | ||
<define name="DELAY_WITHOUT_GPS" value="5" unit="s"/> | ||
<define name="DEFAULT_THROTTLE" value="0" unit="%"/> | ||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/> | ||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/> | ||
<define name="HOME_RADIUS" value="100" unit="m"/> | ||
</section> | ||
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<!-- Launcher Takeoff Configuration --> | ||
<section name="LAUNCHER" prefix="LAUNCHER_TAKEOFF_"> | ||
<define name="PITCH" value="0.23" unit="rad"/> | ||
<define name="HEIGHT" value="70" unit="m"/> | ||
<define name="MIN_SPEED_CIRCLE" value="8" unit="m/s"/> | ||
<define name="DISTANCE" value="30" unit="m"/> | ||
<define name="MIN_SPEED_LINE" value="5" unit="m/s"/> | ||
</section> | ||
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</airframe> |
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