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[conf/example] add airframe example using NavGo board
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@gautierhattenberger
gautierhattenberger committed Dec 11, 2012
1 parent c66d844 commit 97cf9c8
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266 changes: 266 additions & 0 deletions conf/airframes/examples/quadrotor_navgo.xml
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">

<airframe name="Blender">

<modules main_freq="512">
<load name="servo_switch.xml"/>
<load name="rotorcraft_cam.xml"/>
</modules>

<firmware name="rotorcraft">
<define name="USE_INS_NAV_INIT"/>
<!--define name="GUIDANCE_H_USE_REF"/-->

<target name="ap" board="navgo_1.0">
<define name="FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R"/>
<define name="ACTUATORS_START_DELAY" value="3"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
</target>

<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="mkk">
<define name="MKK_I2C_SCL_TIME" value="25"/>
</subsystem>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<define name="USE_PWM0"/>
</subsystem>
<subsystem name="imu" type="navgo"/>
<subsystem name="gps" type="ublox">
<configure name="GPS_BAUD" value="B57600"/>
</subsystem>
<subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="hff"/>
</firmware>

<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="256"/>
<define name="ROLL_COEF" value="{ 0, -256, 0, 256}"/>
<define name="PITCH_COEF" value="{ 256, 0, -256, 0}"/>
<define name="YAW_COEF" value="{ -256, 256, -256, 256}"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
</section>

<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<define name="NB" value="4"/>
<!-- FRONT, BACK, RIGHT, LEFT -->
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
</section>

<servos driver="Mkk">
<servo name="FRONT" no="0" min="0" neutral="2" max="255"/>
<servo name="RIGHT" no="1" min="0" neutral="2" max="255"/>
<servo name="BACK" no="2" min="0" neutral="2" max="255"/>
<servo name="LEFT" no="3" min="0" neutral="2" max="255"/>
</servos>

<servos driver="Pwm">
<servo name="DROP" no="0" min="1000" neutral="1500" max="2000"/>
</servos>

<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>

<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<set servo="FRONT" value="motor_mixing.commands[SERVO_FRONT]"/>
<set servo="BACK" value="motor_mixing.commands[SERVO_BACK]"/>
<set servo="RIGHT" value="motor_mixing.commands[SERVO_RIGHT]"/>
<set servo="LEFT" value="motor_mixing.commands[SERVO_LEFT]"/>
</command_laws>

<section name="IMU" prefix="IMU_">

<define name="GYRO_P_NEUTRAL" value="10"/>
<define name="GYRO_Q_NEUTRAL" value="-32"/>
<define name="GYRO_R_NEUTRAL" value="11"/>

<!-- SENS ITG3200 1/14.375 (deg/s)/LSB, rate frac 12bit => 1/14.375 * pi / 180 * 2^12 -->
<define name="GYRO_P_SENS" value="4.97312" integer="16"/>
<define name="GYRO_Q_SENS" value="4.97312" integer="16"/>
<define name="GYRO_R_SENS" value="4.97312" integer="16"/>

<define name="ACCEL_X_NEUTRAL" value="9"/>
<define name="ACCEL_Y_NEUTRAL" value="14"/>
<define name="ACCEL_Z_NEUTRAL" value="-16"/>

<!-- SENS ADXL345 16G 31.2 mg/LSB, accel frac 10bit => 31.2 * 2^10 / 1000 = 31.9488-->
<define name="ACCEL_X_SENS" value="38.5866088465" integer="16"/>
<define name="ACCEL_Y_SENS" value="38.7212932023" integer="16"/>
<define name="ACCEL_Z_SENS" value="39.403098907" integer="16"/>

<define name="MAG_X_NEUTRAL" value="80"/>
<define name="MAG_Y_NEUTRAL" value="-271"/>
<define name="MAG_Z_NEUTRAL" value="112"/>
<define name="MAG_X_SENS" value="4.44131219218" integer="16"/>
<define name="MAG_Y_SENS" value="4.56234629213" integer="16"/>
<define name="MAG_Z_SENS" value="5.298653926" 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>

<!-- Magnetic field for Toulouse (declination -16°) -->
<section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="PROPAGATE_LOW_PASS_RATES" value="1"/>
<define name="H_X" value=" 0.513081"/>
<define name="H_Y" value="-0.00242783"/>
<define name="H_Z" value=" 0.858336"/>
</section>

<section name="INS" prefix="INS_">
<!-- datasheet 1.4 mm/LSB : 0.0014*2^8 = 0.3584 -->
<!-- calibration SENS = 1.156 :( -->
<define name="BARO_SENS" value="1.156" integer="16"/>
<define name="SONAR_SENS" value="0.0128633" integer="16"/>
<define name="SONAR_OFFSET" value="7"/>
<define name="SONAR_MAX_RANGE" value="4.0"/>
</section>


<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">

<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>

<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>

</section>

<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="90." unit="deg/s"/>
<define name="DEADBAND_R" value="250"/>

<!-- reference -->
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="300." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>

<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="300." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>

<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="90." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>

<!-- feedback -->
<define name="PHI_PGAIN" value="1800"/>
<define name="PHI_DGAIN" value="240"/>
<define name="PHI_IGAIN" value="200"/>

<define name="THETA_PGAIN" value="1800"/>
<define name="THETA_DGAIN" value="240"/>
<define name="THETA_IGAIN" value="200"/>

<define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="350"/>
<define name="PSI_IGAIN" value="20"/>

<!-- feedforward -->
<define name="PHI_DDGAIN" value="170"/>
<define name="THETA_DDGAIN" value="170"/>
<define name="PSI_DDGAIN" value="170"/>

<define name="PHI_AGAIN" value="0"/>
<define name="THETA_AGAIN" value="0"/>
<define name="PSI_AGAIN" value="0"/>
</section>

<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="-0.5*9.81"/>
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="130"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/>
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="ADAPT_NOISE_FACTOR" value="1.5"/>
</section>

<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="30" unit="deg"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="80"/>
<define name="IGAIN" value="20"/>
<define name="NGAIN" value="0"/>
<!-- feedforward -->
<define name="AGAIN" value="0"/>
</section>

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

<section name="AUTOPILOT">
<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_ATTITUDE_Z_HOLD"/-->
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>

<section name="FMS">
<define name="BOOZ_FMS_TIMEOUT" value="0"/>
</section>

<section name="CAM" prefix="ROTORCRAFT_CAM_">
<define name="DEFAULT_MODE" value="ROTORCRAFT_CAM_MODE_MANUAL"/>
<define name="ON" value="{}"/>
<define name="OFF" value="{}"/>
</section>

<section name="SERVO_SWITCH">
<define name="SERVO_SWITCH_SERVO" value="DROP"/>
<define name="SERVO_SWITCH_ON_VALUE" value="SERVO_DROP_MIN"/>
<define name="SERVO_SWITCH_OFF_VALUE" value="SERVO_DROP_MAX"/>
<define name="DropOpen()" value="ServoSwitchOn()"/>
<define name="DropClose()" value="ServoSwitchOff()"/>
</section>

<section name="MISC">
<define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
</section>

<section name="GCS">
<define name="ALT_SHIFT_PLUS_PLUS" value="5"/>
<define name="ALT_SHIFT_PLUS" value="1"/>
<define name="ALT_SHIFT_MINUS" value="-1"/>
</section>

</airframe>
12 changes: 11 additions & 1 deletion conf/conf.xml.example
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<?xml version="1.0"?>
<conf>

<!-- booz2 -->
<!-- booz2 / navgo -->
<aircraft
name="BOOZ2"
ac_id="150"
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settings="settings/rotorcraft_basic.xml"
gui_color="white"
/>
<aircraft
name="Quad_NavGo"
ac_id="151"
airframe="airframes/examples/quadrotor_navgo.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/modules/rotorcraft_cam.xml settings/modules/servo_switch.xml"
gui_color="white"
/>

<!-- LISA -->
<aircraft
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10 changes: 10 additions & 0 deletions conf/tests_conf.xml
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Expand Up @@ -12,6 +12,16 @@
settings="settings/rotorcraft_basic.xml"
gui_color="white"
/>
<aircraft
name="Quad_NavGo"
ac_id="151"
airframe="airframes/examples/quadrotor_navgo.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/modules/rotorcraft_cam.xml settings/modules/servo_switch.xml"
gui_color="white"
/>

<!-- LISA -->
<aircraft
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