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[stereo_avoid] working demo
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@dewagter
dewagter committed Sep 8, 2015
1 parent fa05411 commit a5f176e
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Showing 11 changed files with 977 additions and 4 deletions.
8 changes: 4 additions & 4 deletions conf/airframes/BR/conf.xml
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<aircraft
name="LadyLisaBartBluegiga"
ac_id="233"
airframe="airframes/BR/ladybird_kit_bart_bluegiga.xml"
airframe="airframes/BR/ladybird_kit_bart_bluegiga_optitrack.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
telemetry="telemetry/default_rotorcraft_slow.xml"
flight_plan="flight_plans/rotorcraft_optitrack_stereoavoid.xml"
settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml"
settings_modules="modules/gps_ubx_ucenter.xml"
settings_modules=""
gui_color="blue"
/>
<aircraft
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2 changes: 2 additions & 0 deletions conf/airframes/BR/ladybird_kit_bart_bluegiga.xml
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Expand Up @@ -195,6 +195,8 @@
<modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/>
<load name="send_imu_mag_current.xml"/>
<load name="stereoavoid.xml"/>
<load name="mission_rotorcraft.xml"/>
</modules>

<firmware name="rotorcraft">
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254 changes: 254 additions & 0 deletions conf/airframes/BR/ladybird_kit_bart_bluegiga_optitrack.xml
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@@ -0,0 +1,254 @@
<!-- this is a LadyBird quadrotor frame equiped with Lisa/S 1.0 -->
<!-- The LadyBird frame comes with four brushed motors in an X configuration. -->

<!--
The motor and rotor configuration is the following:
Front
^
|
Motor3(NW) Motor0(NE)
CW CCW
\ /
,___,
| |
| |
|___|
/ \
CCW CW
Motor2(SW) Motor1(SE)
The Lisa/S is rotated by 13deg CCW against the frame.
-->

<!--
Applicable configuration:
airframe="airframes/examples/ladybird_lisa_s.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"
-->

<airframe name="quadrotor_lisa_s">

<servos driver="Pwm">
<servo name="NE" no="0" min="0" neutral="50" max="1000"/>
<servo name="SE" no="1" min="0" neutral="50" max="1000"/>
<servo name="SW" no="2" min="0" neutral="50" max="1000"/>
<servo name="NW" no="3" min="0" neutral="50" max="1000"/>
</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="NE" value="motor_mixing.commands[0]"/>
<set servo="SE" value="motor_mixing.commands[1]"/>
<set servo="SW" value="motor_mixing.commands[2]"/>
<set servo="NW" value="motor_mixing.commands[3]"/>
</command_laws>

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

<include href="conf/airframes/TUDelft/calibrations/ladybird18.xml" />

<section name="IMU" prefix="IMU_">
<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="-13." unit="deg"/>
</section>

<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<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_NAV"/>

<define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/>
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
</section>

<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="14000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="2.8" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="3.0" unit="V"/>
<define name="LOW_BAT_LEVEL" value="3.2" unit="V"/>
<define name="MAX_BAT_LEVEL" value="4.1" unit="V"/>
</section>

<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="15000"/>
<define name="SP_MAX_Q" value="15000"/>
<define name="SP_MAX_R" value="15000"/>

<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="418"/>

<define name="IGAIN_P" value="301"/>
<define name="IGAIN_Q" value="302"/>
<define name="IGAIN_R" value="303"/>
</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_PSI" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="SP_MAX_P" value="90." unit="deg/s"/>
<define name="DEADBAND_R" value="250"/>
<define name="DEADBAND_A" 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="400." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>

<define name="REF_OMEGA_Q" value="800" 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="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="400"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="100"/>

<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="100"/>

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

<!-- feedforward -->
<define name="PHI_DDGAIN" value="0"/>
<define name="THETA_DDGAIN" value="0"/>
<define name="PSI_DDGAIN" value=" 300"/>

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

<section name="INS" prefix="INS_">
<define name="USE_GPS_ALT" value="1"/>
</section>

<section name="GPS" prefix="GPS_">
<define name="USE_DATALINK_SMALL" value="1"/>
<define name="LOCAL_ECEF_ORIGIN_X" value="392433200"/>
<define name="LOCAL_ECEF_ORIGIN_Y" value="30036200"/>
<define name="LOCAL_ECEF_ORIGIN_Z" value="500219700"/>
</section>

<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="276"/>
<define name="HOVER_KD" value="455"/>
<define name="HOVER_KI" value="100"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.65"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
</section>

<section name="AHRS" prefix="AHRS_">
<!-- Delft magnetic field -->
<define name="H_X" value="0.39049610"/>
<define name="H_Y" value="0.00278894"/>
<define name="H_Z" value="0.92060036"/>
<define name="USE_GPS_HEADING" value="1"/>
</section>

<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="90"/>
<define name="DGAIN" value="50"/>
<define name="IGAIN" value="24"/>
<define name="REF_MAX_SPEED" value="0.5" />
</section>

<section name="NAVIGATION" prefix="NAV_">
<define name="CLIMB_VSPEED" value="1.0" />
<define name="DESCEND_VSPEED" value="-0.5" />
</section>

<section name="MISC">
<define name="ARRIVED_AT_WAYPOINT" value="0.2" />
</section>

<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;, &quot;nw_motor&quot;}"/>
<define name="JSBSIM_MODEL" value="&quot;simple_x_quad_ccw&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
</section>

<modules main_freq="512">
<load name="send_imu_mag_current.xml"/>
<load name="stereoavoid.xml"/>
<load name="mission_rotorcraft.xml"/>
</modules>

<firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0">
<subsystem name="radio_control" type="datalink">
</subsystem>
<configure name="USE_MAGNETOMETER" value="0"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
</target>

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

<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors.
-->
<!-- Setting the PWM timer base frequency to 36MHz -->
<define name="PWM_BASE_FREQ" value="36000000"/>
<!-- Setting the PWM interval to 36KHz -->
<define name="SERVO_HZ" value="36000"/>
<define name="USE_SERVOS_1AND2"/>
</subsystem>

<!--<subsystem name="telemetry" type="superbitrf"/>-->
<!-- Comment the previous line and uncomment the following one if you need
to use the debug serial interface for telemetry. -->
<subsystem name="telemetry" type="bluegiga"/>
<subsystem name="imu" type="lisa_s_v1.0">
<define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
</subsystem>
<subsystem name="gps" type="datalink"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins"/>
</firmware>
</airframe>

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