Skip to content

Commit

Permalink
[conf] add HooperFly airframes and JSBSim models
Browse files Browse the repository at this point in the history
  • Loading branch information
@hooperfly @flixr
hooperfly authored and flixr committed Feb 7, 2015
1 parent 5016dbe commit 9d49af3
Show file tree
Hide file tree
Showing 11 changed files with 3,599 additions and 0 deletions.
57 changes: 57 additions & 0 deletions conf/airframes/HooperFly/conf_hooperfly.xml
View file
@@ -0,0 +1,57 @@
<conf>
<aircraft
name="Teensy_Fly_Quad"
ac_id="218"
airframe="airframes/HooperFly/teensyfly_quad_lisa_mx_20.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/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml"
gui_color="white"
/>
<aircraft
name="Teensy_Fly_Hexa"
ac_id="219"
airframe="airframes/HooperFly/teensyfly_hexa_lisa_mx_20.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/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml"
gui_color="red"
/>
<aircraft
name="Racer_PEX_Quad"
ac_id="220"
airframe="airframes/HooperFly/racerpex_quad_lisa_mx_20.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/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml"
gui_color="blue"
/>
<aircraft
name="Racer_PEX_Hexa"
ac_id="221"
airframe="airframes/HooperFly/racerpex_hexa_lisa_mx_20.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/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml"
gui_color="green"
/>
<aircraft
name="Racer_PEX_Octo"
ac_id="222"
airframe="airframes/HooperFly/racerpex_octo_lisa_mx_20.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/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml"
gui_color="yellow"
/>
</conf>
232 changes: 232 additions & 0 deletions conf/airframes/HooperFly/racerpex_hexa_lisa_mx_20.xml
View file
@@ -0,0 +1,232 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">

<!-- this is a hexacopter frame in x-configuration equiped with
* Autopilot: Lisa/MX 2.0 with STM32F4 http://wiki.paparazziuav.org/wiki/Lisa/M_v20
* IMU: Integrated Aspirin 2.2 http://wiki.paparazziuav.org/wiki/AspirinIMU
* Actuators: PWM motor controllers http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
* GPS: Ublox http://wiki.paparazziuav.org/wiki/Subsystem/gps
* RC: two Spektrum sats http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
-->

<airframe name="RacerPEX Hexa LisaMX_2.0 pwm">

<firmware name="rotorcraft">
<target name="ap" board="lisa_mx_2.0">
<!-- MPU6000 is configured to output data at 2kHz, but polled at 512Hz PERIODIC_FREQUENCY -->
</target>

<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
</target>

<subsystem name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_AUX1"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</subsystem>

<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
</subsystem>

<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.2"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="hff"/>

<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
</firmware>

<modules>
<load name="adc_generic.xml">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
</load>
<load name="gps_ubx_ucenter.xml"/>
<load name="geo_mag.xml"/>
<load name="air_data.xml"/>
</modules>

<servos driver="Pwm">
<servo name="FRONT_LEFT" no="0" min="1000" neutral="1100" max="1900"/>
<servo name="FRONT_RIGHT" no="1" min="1000" neutral="1100" max="1900"/>
<servo name="RIGHT" no="2" min="1000" neutral="1100" max="1900"/>
<servo name="BACK_RIGHT" no="3" min="1000" neutral="1100" max="1900"/>
<servo name="BACK_LEFT" no="4" min="1000" neutral="1100" max="1900"/>
<servo name="LEFT" no="5" min="1000" neutral="1100" max="1900"/>
</servos>

<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>

<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"/>
<!-- order (and rotation direction) : FL(CW), FR(CCW), R(CW), BR(CCW), BL(CW), L(CCW) -->
<define name="ROLL_COEF" value="{ 128, -128, -256, -128, 128, 256 }"/>
<define name="PITCH_COEF" value="{ 256, 256, 0, -256, -256, 0 }"/>
<define name="YAW_COEF" value="{ -256, 256, -256, 256, -256, 256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256, 256, 256 }"/>
</section>

<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<set servo="FRONT_LEFT" value="motor_mixing.commands[0]"/>
<set servo="FRONT_RIGHT" value="motor_mixing.commands[1]"/>
<set servo="RIGHT" value="motor_mixing.commands[2]"/>
<set servo="BACK_RIGHT" value="motor_mixing.commands[3]"/>
<set servo="BACK_LEFT" value="motor_mixing.commands[4]"/>
<set servo="LEFT" value="motor_mixing.commands[5]"/>
</command_laws>

<section name="IMU" prefix="IMU_">
<define name="ACCEL_X_NEUTRAL" value="11"/>
<define name="ACCEL_Y_NEUTRAL" value="11"/>
<define name="ACCEL_Z_NEUTRAL" value="-25"/>

<!-- replace this with your own calibration -->
<define name="MAG_X_NEUTRAL" value="-179"/>
<define name="MAG_Y_NEUTRAL" value="-21"/>
<define name="MAG_Z_NEUTRAL" value="79"/>
<define name="MAG_X_SENS" value="4.17334785618" integer="16"/>
<define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
<define name="MAG_Z_SENS" value="4.40442339014" 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>

<section name="AHRS" prefix="AHRS_">
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
<define name="H_X" value="0.3770441"/>
<define name="H_Y" value="0.0193986"/>
<define name="H_Z" value="0.9259921"/>
</section>

<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"/>

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

<define name="IGAIN_P" value="75"/>
<define name="IGAIN_Q" value="75"/>
<define name="IGAIN_R" value="50"/>

<!-- feedforward -->
<define name="DDGAIN_P" value="300"/>
<define name="DDGAIN_Q" value="300"/>
<define name="DDGAIN_R" value="300"/>
</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_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="250"/>

<!-- reference -->
<define name="REF_OMEGA_P" value="400" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="400." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>

<define name="REF_OMEGA_Q" value="400" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>

<define name="REF_OMEGA_R" value="250" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>

<!-- feedback -->
<define name="PHI_PGAIN" value="1000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>

<define name="THETA_PGAIN" value="1000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>

<define name="PSI_PGAIN" value="500"/>
<define name="PSI_DGAIN" value="300"/>
<define name="PSI_IGAIN" value="10"/>

<!-- feedforward -->
<define name="PHI_DDGAIN" value="300"/>
<define name="THETA_DDGAIN" value="300"/>
<define name="PSI_DDGAIN" value="300"/>
</section>

<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section>

<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="20" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="AGAIN" value="70"/>
<define name="IGAIN" value="20"/>
</section>

<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;fl_motor&quot;, &quot;fr_motor&quot;, &quot;r_motor&quot;, &quot;br_motor&quot;, &quot;bl_motor&quot;, &quot;l_motor&quot;}"/>
<define name="JSBSIM_MODEL" value="&quot;HooperFly/racerpex_hexa&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_AXIS_MODE" value="4"/>
</section>

<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>

<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>

<section name="GCS">
<define name="ALT_SHIFT_PLUS_PLUS" value="30"/>
<define name="ALT_SHIFT_PLUS" value="5"/>
<define name="ALT_SHIFT_MINUS" value="-5"/>
<define name="SPEECH_NAME" value="Racer PEX Hexa"/>
<define name="AC_ICON" value="hexarotor_x"/>
</section>

</airframe>

0 comments on commit 9d49af3

Please sign in to comment.