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add ou planes
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@martinmm
martinmm committed Sep 9, 2014
1 parent 304c72e commit b53073a
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228 changes: 228 additions & 0 deletions conf/airframes/campaign/sumoou01.xml
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">

<!-- Funjet Multiplex, Jeti ECO 25
Umarim Lite v2
XBee modem
HK NEO-6M / ublox 6
-->

<airframe name="SUMO OU 01">

<firmware name="fixedwing">
<define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<define name="STRONG_WIND"/>

<target name="ap" board="umarim_lite_2.0">

<configure name="PERIODIC_FREQUENCY" value="120"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>

<define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
<define name="USE_AHRS_GPS_ACCELERATIONS" />
<define name="USE_I2C0"/>
<define name="USE_I2C1"/>
<define name="SENSOR_SYNC_SEND"/>
</target>

<target name="sim" board="pc">
</target>

<subsystem name="radio_control" type="ppm"/>

<!-- Communication -->
<subsystem name="telemetry" type="xbee_api"/>

<!-- Actuators are automatically chosen according to board-->
<subsystem name="imu" type="umarim"/>
<subsystem name="ahrs" type="float_dcm"/>
<subsystem name="control"/>
<subsystem name="navigation"/>
<!-- Sensors -->
<subsystem name="gps" type="ublox"/>
<!-- Interfaces -->
<subsystem name="spi"/>
</firmware>

<firmware name="setup">
<target name="usb_tunnel_0" board="tiny_2.11"/>
</firmware>

<!-- modules -->
<modules>
<load name="gps_ubx_ucenter.xml"/>
<load name="baro_ms5611_i2c.xml"/>
<load name="temp_temod.xml"/>
<load name="ir_mlx.xml"/>
<load name="airspeed_ets.xml"/>
<load name="humid_sht.xml">
<define name="DAT_PIN" value="15"/>
<define name="SCK_PIN" value="13"/>
</load>
<load name="log_sd_spi.xml"/>
</modules>

<!-- commands section -->
<servos>
<servo name="LIGHT" no="2" min="1000" neutral="1900" max="2000"/>
<servo name="AILEVON_LEFT" no="3" min="1900" neutral="1468" max="1100"/>
<servo name="AILEVON_RIGHT" no="4" min="1100" neutral="1517" max="1900"/>
<servo name="MOTOR" no="5" min="1000" neutral="1000" max="2000"/>
</servos>

<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="LIGHT" failsafe_value="0"/>
</commands>

<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
</rc_commands>

<section name="MIXER">
<define name="AILEVON_AILERON_RATE" value="0.45"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
</section>

<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="MOTOR" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
<set servo="LIGHT" value="1900"/>
</command_laws>

<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.85"/>
<define name="MAX_PITCH" value="0.6"/>
</section>

<section name="IMU" prefix="IMU_">
<!-- Calibration Neutral -->
<define name="GYRO_P_NEUTRAL" value="0"/>
<define name="GYRO_Q_NEUTRAL" value="1"/>
<define name="GYRO_R_NEUTRAL" value="2"/>

<!-- 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="0"/>
<define name="ACCEL_Y_NEUTRAL" value="1"/>
<define name="ACCEL_Z_NEUTRAL" value="2"/>

<!-- SENS ADXL345 16G 31.2 mg/LSB, accel frac 10bit => 31.2 * 2^10 / 1000 -->
<define name="ACCEL_X_SENS" value="37.91" integer="10"/>
<define name="ACCEL_Y_SENS" value="37.91" integer="10"/>
<define name="ACCEL_Z_SENS" value="39.24" integer="10"/>
<!-- Just to compile -->
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>

<define name="BODY_TO_IMU_PHI" value="0"/>
<define name="BODY_TO_IMU_THETA" value="0"/>
<define name="BODY_TO_IMU_PSI" value="0"/>
</section>

<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="5." unit="deg"/>
</section>

<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="15000."/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>

<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
</section>

<section name="VERTICAL CONTROL" prefix="V_CTL_">

<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="0.06"/> <!-- -0.024 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>

<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.023"/> <!-- -0.012 -->
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>

<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>

<define name="THROTTLE_SLEW" value="0.1"/>

</section>

<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="1.0"/>
<define name="ROLL_MAX_SETPOINT" value="0.85" unit="rad"/> <!-- 0.5 -->
<define name="PITCH_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.6" unit="rad"/>

<define name="ROLL_PGAIN" value="10000."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="16000."/>
<define name="PITCH_DGAIN" value="0.4"/>

<define name="ELEVATOR_OF_ROLL" value="2000"/>
<define name="ROLL_SLEW" value="0.7"/>

<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="1500"/>

</section>

<section name="NAV">
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>

<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive Decent -->
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
<define name="DESCENT_NAV_RATIO" value="1.0"/>
</section>

<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>

</airframe>

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