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[boards] add driver for KroozSD BigRotorcraftEdition
- IMU with memsic MXR9500 accelerometer - set mag correct freq to 75Hz for krooz_sd_x closes #586
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conf/airframes/examples/krooz_sd/krooz_sd_bre_hexa_mkk.xml
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| <!DOCTYPE airframe SYSTEM "../../airframe.dtd"> | ||
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| <airframe name="Hexarotor KroozSD Big Rotorcraft Edition Mkk"> | ||
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| <firmware name="rotorcraft"> | ||
| <target name="ap" board="krooz_sd"/> | ||
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| <subsystem name="radio_control" type="ppm"/> | ||
| <subsystem name="telemetry" type="transparent"/> | ||
| <subsystem name="motor_mixing"/> | ||
| <subsystem name="actuators" type="mkk"> | ||
| <define name="I2C_TRANSACTION_QUEUE_LEN" value="10"/> | ||
| <define name="I2C1_CLOCK_SPEED" value="42000"/> | ||
| </subsystem> | ||
| <subsystem name="stabilization" type="int_euler"/> | ||
| <subsystem name="gps" type="ublox"/> | ||
| <subsystem name="imu" type="krooz_sd_memsic"/> | ||
| <subsystem name="ahrs" type="int_cmpl_quat"/> | ||
| <subsystem name="ins" type="hff"/> | ||
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| <define name="NO_RC_THRUST_LIMIT"/> | ||
| <define name="FAILSAFE_GROUND_DETECT" value="1"/> | ||
| <define name="THRESHOLD_GROUND_DETECT" value="12."/> | ||
| <define name="USE_GPS_ACC4R" value="1"/> | ||
| <define name="HFF_R_POS_MIN" value="2.5"/> | ||
| <define name="HFF_R_SPEED_MIN" value="2."/> | ||
| <define name="VF_FLOAT_MEAS_NOISE" value="2."/> | ||
| <define name="USE_ADC_2" value="1"/> | ||
| </firmware> | ||
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| <modules main_freq="512"> | ||
| <load name="gps_ubx_ucenter.xml"/> | ||
| <load name="geo_mag.xml"/> | ||
| <load name="osd_max7456.xml"/> | ||
| </modules> | ||
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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="ACTUATORS_MKK" prefix="ACTUATORS_MKK_"> | ||
| <define name="NB" value="6"/> | ||
| <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 , 0x5A , 0x5C }"/> | ||
| </section> | ||
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| <servos driver="Mkk"> | ||
| <servo name="FF" no="0" min="0" neutral="3" max="210"/> | ||
| <servo name="FR" no="1" min="0" neutral="3" max="210"/> | ||
| <servo name="DR" no="2" min="0" neutral="3" max="210"/> | ||
| <servo name="DD" no="3" min="0" neutral="3" max="210"/> | ||
| <servo name="DL" no="4" min="0" neutral="3" max="210"/> | ||
| <servo name="FL" no="5" min="0" neutral="3" max="210"/> | ||
| </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="6"/> | ||
| <define name="SCALE" value="256"/> | ||
| <define name="ROLL_COEF" value="{ 0, -256, -256, 0, 256, 256 }"/> | ||
| <define name="PITCH_COEF" value="{ 256, 128, -128, -256, -128, 128 }"/> | ||
| <define name="YAW_COEF" value="{ -256, 249, -249, 256, -249, 249 }"/> | ||
| <define name="THRUST_COEF" value="{ 256, 256, 256, 256, 256, 256 }"/> | ||
| </section> | ||
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| <command_laws> | ||
| <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/> | ||
| <set servo="FF" value="motor_mixing.commands[SERVO_FF]"/> | ||
| <set servo="FR" value="motor_mixing.commands[SERVO_FR]"/> | ||
| <set servo="DR" value="motor_mixing.commands[SERVO_DR]"/> | ||
| <set servo="DD" value="motor_mixing.commands[SERVO_DD]"/> | ||
| <set servo="DL" value="motor_mixing.commands[SERVO_DL]"/> | ||
| <set servo="FL" value="motor_mixing.commands[SERVO_FL]"/> | ||
| </command_laws> | ||
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| <section name="IMU" prefix="IMU_"> | ||
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| <!-- replace this with your own calibration --> | ||
| <define name="GYRO_P_NEUTRAL" value="0"/> | ||
| <define name="GYRO_Q_NEUTRAL" value="0"/> | ||
| <define name="GYRO_R_NEUTRAL" value="0"/> | ||
| <define name="GYRO_P_SENS" value="0.5454" integer="16"/> | ||
| <define name="GYRO_Q_SENS" value="0.5454" integer="16"/> | ||
| <define name="GYRO_R_SENS" value="0.5454" integer="16"/> | ||
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| <define name="ACCEL_X_NEUTRAL" value="-48"/> | ||
| <define name="ACCEL_Y_NEUTRAL" value="86"/> | ||
| <define name="ACCEL_Z_NEUTRAL" value="-479"/> | ||
| <define name="ACCEL_X_SENS" value="0.6131" integer="16"/> | ||
| <define name="ACCEL_Y_SENS" value="0.6131" integer="16"/> | ||
| <define name="ACCEL_Z_SENS" value="0.6131" integer="16"/> | ||
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| <define name="MAG_X_NEUTRAL" value="-282"/> | ||
| <define name="MAG_Y_NEUTRAL" value="-78"/> | ||
| <define name="MAG_Z_NEUTRAL" value="109"/> | ||
| <define name="MAG_X_SENS" value="3.33430456557" integer="16"/> | ||
| <define name="MAG_Y_SENS" value="3.53180739126" integer="16"/> | ||
| <define name="MAG_Z_SENS" value="3.68297143457" 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="GRAVITY_HEURISTIC_FACTOR" value="30"/> | ||
| <define name="H_X" value="0.3586845"/> | ||
| <define name="H_Y" value="0.0168651"/> | ||
| <define name="H_Z" value="0.933303"/> | ||
| </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="50." 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="450" unit="deg/s"/> | ||
| <define name="REF_ZETA_P" value="0.85"/> | ||
| <define name="REF_MAX_P" value="180." unit="deg/s"/> | ||
| <define name="REF_MAX_PDOT" value="RadOfDeg(400.)"/> | ||
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| <define name="REF_OMEGA_Q" value="450" unit="deg/s"/> | ||
| <define name="REF_ZETA_Q" value="0.85"/> | ||
| <define name="REF_MAX_Q" value="180." unit="deg/s"/> | ||
| <define name="REF_MAX_QDOT" value="RadOfDeg(400.)"/> | ||
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| <define name="REF_OMEGA_R" value="400" unit="deg/s"/> | ||
| <define name="REF_ZETA_R" value="0.85"/> | ||
| <define name="REF_MAX_R" value="70." unit="deg/s"/> | ||
| <define name="REF_MAX_RDOT" value="RadOfDeg(360.)"/> | ||
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| <!-- feedback --> | ||
| <define name="PHI_PGAIN" value="1500"/> | ||
| <define name="PHI_DGAIN" value="600"/> | ||
| <define name="PHI_IGAIN" value="200"/> | ||
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| <define name="THETA_PGAIN" value="1500"/> | ||
| <define name="THETA_DGAIN" value="600"/> | ||
| <define name="THETA_IGAIN" value="200"/> | ||
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| <define name="PSI_PGAIN" value="4000"/> | ||
| <define name="PSI_DGAIN" value="1500"/> | ||
| <define name="PSI_IGAIN" value="300"/> | ||
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| <!-- feedforward --> | ||
| <define name="PHI_DDGAIN" value="300"/> | ||
| <define name="THETA_DDGAIN" value="300"/> | ||
| <define name="PSI_DDGAIN" value="2000"/> | ||
| </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="REF_MIN_ZDD" value="-0.2*9.81"/> <!-- max descent acceleration in m/s2 --> | ||
| <define name="REF_MAX_ZDD" value="0.2*9.81"/> <!-- max climb acceleration in m/s2 --> | ||
| <define name="REF_MIN_ZD" value="-3."/> <!-- max descent speed in m/s --> | ||
| <define name="REF_MAX_ZD" value="3."/> <!-- max climb speed in m/s --> | ||
| <define name="ADAPT_NOISE_FACTOR" value="0.7"/> | ||
| <define name="HOVER_KP" value="130"/> | ||
| <define name="HOVER_KD" value="150"/> | ||
| <define name="HOVER_KI" value="10"/> | ||
| </section> | ||
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| <section name="GUIDANCE_H" prefix="GUIDANCE_H_"> | ||
| <define name="USE_REF" value="1"/> | ||
| <define name="USE_SPEED_REF" value="1"/> <!-- using RC to control horizontal setpoint --> | ||
| <define name="MAX_BANK" value="27" unit="deg"/> | ||
| <define name="REF_MAX_ACCEL" value="7."/> <!-- max reference horizontal acceleration in m/s2 --> | ||
| <define name="REF_MAX_SPEED" value="2."/> <!-- max reference horizontal speed in m/s --> | ||
| <define name="PGAIN" value="100"/> | ||
| <define name="DGAIN" value="120"/> | ||
| <define name="IGAIN" value="10"/> | ||
| <define name="AGAIN" value="10"/> | ||
| </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="SENSORS_PARAMS" value=""nps_sensors_params_default.h""/> | ||
| </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="CRITIC_BAT_LEVEL" value="14.0" unit="V"/> | ||
| <define name="LOW_BAT_LEVEL" value="14.3" unit="V"/> | ||
| <define name="MAX_BAT_LEVEL" value="16.8" unit="V"/> | ||
| <!--uncomment next two lines together with a corresponding USE_ADC_2 define on the top of this file to use a current sensor | ||
| (more about is here http://paparazzi.enac.fr/wiki/Sensors/Current) --> | ||
| <!-- | ||
| <define name="ADC_CHANNEL_CURRENT" value="ADC_2"/> | ||
| <define name="MilliAmpereOfAdc(adc)" value="Max(0,(3100 - adc)*20)"/> | ||
| --> | ||
| </section> | ||
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| </airframe> |
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