From 97cf9c84fb39d6b9995d806ed61726592c9a2da6 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Tue, 11 Dec 2012 14:53:05 +0100
Subject: [PATCH] [conf/example] add airframe example using NavGo board

---
 conf/airframes/examples/quadrotor_navgo.xml | 266 ++++++++++++++++++++
 conf/conf.xml.example                       |  12 +-
 conf/tests_conf.xml                         |  10 +
 3 files changed, 287 insertions(+), 1 deletion(-)
 create mode 100644 conf/airframes/examples/quadrotor_navgo.xml

diff --git a/conf/airframes/examples/quadrotor_navgo.xml b/conf/airframes/examples/quadrotor_navgo.xml
new file mode 100644
index 00000000000..4c1893ced55
--- /dev/null
+++ b/conf/airframes/examples/quadrotor_navgo.xml
@@ -0,0 +1,266 @@
+<!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>
diff --git a/conf/conf.xml.example b/conf/conf.xml.example
index 097ba33e63d..8f45c26362c 100644
--- a/conf/conf.xml.example
+++ b/conf/conf.xml.example
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <conf>
 
-  <!-- booz2 -->
+  <!-- booz2 / navgo -->
   <aircraft
     name="BOOZ2"
     ac_id="150"
@@ -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
diff --git a/conf/tests_conf.xml b/conf/tests_conf.xml
index bf8a59b4245..04d709baede 100644
--- a/conf/tests_conf.xml
+++ b/conf/tests_conf.xml
@@ -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