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[airframe] Cleaned up my airframe directory.
Removed all old long untested airframes. Added new currently active airframes and calibration files.
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<!-- Default Aspirin V2.1 values based on the datasheet --> | ||
<!-- You can also just leave out those defines then the defaults will be provided by imu_aspirin2.h --> | ||
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<airframe> | ||
<section name="IMU" prefix="IMU_"> | ||
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<!-- Calibration Neutral --> | ||
<define name="GYRO_P_NEUTRAL" value="0"/> | ||
<define name="GYRO_Q_NEUTRAL" value="0"/> | ||
<define name="GYRO_R_NEUTRAL" value="0"/> | ||
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<!-- SENS = 16.4 LSB/(deg/sec) * 57.6 deg/rad = 939.650 LSB/rad/sec / 12bit FRAC: 4096 / 939.65 --> | ||
<define name="GYRO_P_SENS" value="4.359" integer="16"/> | ||
<define name="GYRO_Q_SENS" value="4.359" integer="16"/> | ||
<define name="GYRO_R_SENS" value="4.359" integer="16"/> | ||
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<define name="ACCEL_X_NEUTRAL" value="73"/> | ||
<define name="ACCEL_Y_NEUTRAL" value="21"/> | ||
<define name="ACCEL_Z_NEUTRAL" value="105"/> | ||
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<!-- SENS = 2048 LSB/g / 9.81 ms2/g = 208.766564729 LSB/ms2 / 10bit FRAC: 1024 / 208.7665 --> | ||
<define name="ACCEL_X_SENS" value="4.92045228937" integer="16"/> | ||
<define name="ACCEL_Y_SENS" value="4.88903140733" integer="16"/> | ||
<define name="ACCEL_Z_SENS" value="4.83353418195" integer="16"/> | ||
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<define name="MAG_X_NEUTRAL" value="-154"/> | ||
<define name="MAG_Y_NEUTRAL" value="150"/> | ||
<define name="MAG_Z_NEUTRAL" value="-16"/> | ||
<define name="MAG_X_SENS" value="4.03002681028" integer="16"/> | ||
<define name="MAG_Y_SENS" value="4.07539365461" integer="16"/> | ||
<define name="MAG_Z_SENS" value="4.09839770829" integer="16"/> | ||
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</section> | ||
</airframe> |
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<airframe> | ||
<section name="IMU" prefix="IMU_"> | ||
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<!-- Calibration Neutral --> | ||
<define name="GYRO_P_NEUTRAL" value="-10"/> | ||
<define name="GYRO_Q_NEUTRAL" value="13"/> | ||
<define name="GYRO_R_NEUTRAL" value="-51"/> | ||
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<!-- SENS = 16.4 LSB/(deg/sec) * 57.6 deg/rad = 939.650 LSB/rad/sec / 12bit FRAC: 4096 / 939.65 --> | ||
<define name="GYRO_P_SENS" value="4.359" integer="16"/> | ||
<define name="GYRO_Q_SENS" value="4.359" integer="16"/> | ||
<define name="GYRO_R_SENS" value="4.359" integer="16"/> | ||
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<define name="ACCEL_X_NEUTRAL" value="43"/> | ||
<define name="ACCEL_Y_NEUTRAL" value="14"/> | ||
<define name="ACCEL_Z_NEUTRAL" value="-22"/> | ||
<define name="ACCEL_X_SENS" value="4.87086303697" integer="16"/> | ||
<define name="ACCEL_Y_SENS" value="4.90476669212" integer="16"/> | ||
<define name="ACCEL_Z_SENS" value="4.82960340615" integer="16"/> | ||
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<define name="MAG_X_NEUTRAL" value="59"/> | ||
<define name="MAG_Y_NEUTRAL" value="-36"/> | ||
<define name="MAG_Z_NEUTRAL" value="-12"/> | ||
<define name="MAG_X_SENS" value="4.0033942747" integer="16"/> | ||
<define name="MAG_Y_SENS" value="3.96136096593" integer="16"/> | ||
<define name="MAG_Z_SENS" value="4.39591729218" integer="16"/> | ||
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</section> | ||
</airframe> |
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<!-- this is a star hexacopter frame equiped with Lisa/L 1.1, Aspirin 2.1 and generic china pwm motor controllers --> | ||
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<!-- | ||
Applicable configuration: | ||
airframe="airframes/esden/hexy_ll11a2pwm.xml" | ||
radio="radios/cockpitSX.xml" | ||
telemetry="telemetry/telemetry_booz2.xml" | ||
flight_plan="flight_plans/dummy.xml" | ||
settings="settings/settings_booz2.xml" | ||
--> | ||
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<airframe name="hexy_ll11a2pwm"> | ||
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<servos min="0" neutral="0" max="0xff"> | ||
<servo name="FRONT_LEFT" no="0" min="1000" neutral="1000" max="2000"/> | ||
<servo name="FRONT_RIGHT" no="1" min="1000" neutral="1000" max="2000"/> | ||
<servo name="RIGHT" no="2" min="1000" neutral="1000" max="2000"/> | ||
<servo name="BACK_RIGHT" no="3" min="1000" neutral="1000" max="2000"/> | ||
<servo name="BACK_LEFT" no="4" min="1000" neutral="1000" max="2000"/> | ||
<servo name="LEFT" no="5" min="1000" neutral="1000" max="2000"/> | ||
</servos> | ||
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<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> | ||
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<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="FRONT_LEFT" value="0"/> | ||
<set servo="FRONT_RIGHT" value="1"/> | ||
<set servo="RIGHT" value="2"/> | ||
<set servo="BACK_RIGHT" value="3"/> | ||
<set servo="BACK_LEFT" value="4"/> | ||
<set servo="LEFT" value="5"/> | ||
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</command_laws> | ||
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<!-- for the sim --> | ||
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_"> | ||
<define name="NB" value="4"/> | ||
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/> | ||
</section> | ||
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<section name="SUPERVISION" prefix="SUPERVISION_"> | ||
<define name="STOP_MOTOR" value="1000"/> | ||
<define name="MIN_MOTOR" value="1100"/> | ||
<define name="MAX_MOTOR" value="1920"/> | ||
<define name="TRIM_A" value="0"/> | ||
<define name="TRIM_E" value="0"/> | ||
<define name="TRIM_R" value="0"/> | ||
<define name="NB_MOTOR" value="6"/> | ||
<define name="SCALE" value="256"/> | ||
<define name="ROLL_COEF" value="{ 256, -256, -256, -256, 256, 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 }"/> | ||
<!--define name="MOTOR_INERTIA_COMPENSATION_FACTOR" value="2"/--> | ||
</section> | ||
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<include href="conf/airframes/esden/calib/asp21-001.xml"/> | ||
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<section name="IMU" prefix="IMU_"> | ||
<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0. )"/> | ||
<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0. )"/> | ||
<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 180. )"/> | ||
</section> | ||
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<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_HOVER_Z_HOLD"/> | ||
</section> | ||
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<section name="BAT"> | ||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/> | ||
</section> | ||
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<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_"> | ||
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<define name="SP_MAX_P" value="10000"/> | ||
<define name="SP_MAX_Q" value="10000"/> | ||
<define name="SP_MAX_R" value="10000"/> | ||
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<define name="GAIN_P" value="400"/> | ||
<define name="GAIN_Q" value="400"/> | ||
<define name="GAIN_R" value="350"/> | ||
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</section> | ||
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<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_"> | ||
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<!-- setpoints --> | ||
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/> | ||
<define name="SP_MAX_THETA" value="RadOfDeg(45.)"/> | ||
<define name="SP_MAX_PSI" value="RadOfDeg(45.)"/> | ||
<define name="SP_MAX_R" value="RadOfDeg(90.)"/> | ||
<define name="SP_MAX_P" value="RadOfDeg(90.)"/> | ||
<define name="DEADBAND_R" value="250"/> | ||
<define name="DEADBAND_A" value="250"/> | ||
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<!-- reference --> | ||
<define name="REF_OMEGA_P" value="RadOfDeg(800)"/> | ||
<define name="REF_ZETA_P" value="0.85"/> | ||
<define name="REF_MAX_P" value="RadOfDeg(400.)"/> | ||
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/> | ||
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<define name="REF_OMEGA_Q" value="RadOfDeg(800)"/> | ||
<define name="REF_ZETA_Q" value="0.85"/> | ||
<define name="REF_MAX_Q" value="RadOfDeg(400.)"/> | ||
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/> | ||
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<define name="REF_OMEGA_R" value="RadOfDeg(500)"/> | ||
<define name="REF_ZETA_R" value="0.85"/> | ||
<define name="REF_MAX_R" value="RadOfDeg(180.)"/> | ||
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/> | ||
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<!-- simonk esc firmware gains light quad? --> | ||
<!-- feedback --> | ||
<define name="PHI_PGAIN" value="570"/> | ||
<define name="PHI_DGAIN" value="400"/> | ||
<define name="PHI_IGAIN" value="100"/> | ||
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<define name="THETA_PGAIN" value="570"/> | ||
<define name="THETA_DGAIN" value="400"/> | ||
<define name="THETA_IGAIN" value="100"/> | ||
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<define name="PSI_PGAIN" value="1300"/> | ||
<define name="PSI_DGAIN" value="1000"/> | ||
<define name="PSI_IGAIN" value="10"/> | ||
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<!-- feedforward --> | ||
<define name="PHI_DDGAIN" value=" 530"/> | ||
<define name="THETA_DDGAIN" value=" 530"/> | ||
<define name="PSI_DDGAIN" value=" 300"/> | ||
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<!-- simonk esc firmware gains light quad? --> | ||
<!-- feedback --> | ||
<!--define name="PHI_PGAIN" value="1300"/> | ||
<define name="PHI_DGAIN" value="1000"/> | ||
<define name="PHI_IGAIN" value="100"/> | ||
<define name="THETA_PGAIN" value="1300"/> | ||
<define name="THETA_DGAIN" value="1000"/> | ||
<define name="THETA_IGAIN" value="100"/> | ||
<define name="PSI_PGAIN" value="1300"/> | ||
<define name="PSI_DGAIN" value="1000"/> | ||
<define name="PSI_IGAIN" value="10"/--> | ||
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<!-- feedforward --> | ||
<!--define name="PHI_DDGAIN" value=" 300"/> | ||
<define name="THETA_DDGAIN" value=" 300"/> | ||
<define name="PSI_DDGAIN" value=" 300"/--> | ||
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<!-- stock china esc firmware gains --> | ||
<!-- feedback --> | ||
<!--define name="PHI_PGAIN" value="390"/> | ||
<define name="PHI_DGAIN" value="260"/> | ||
<define name="PHI_IGAIN" value="50"/> | ||
<define name="THETA_PGAIN" value="390"/> | ||
<define name="THETA_DGAIN" value="260"/> | ||
<define name="THETA_IGAIN" value="50"/> | ||
<define name="PSI_PGAIN" value="780"/> | ||
<define name="PSI_DGAIN" value="520"/> | ||
<define name="PSI_IGAIN" value="10"/--> | ||
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<!-- feedforward --> | ||
<!--define name="PHI_DDGAIN" value=" 300"/> | ||
<define name="THETA_DDGAIN" value=" 300"/> | ||
<define name="PSI_DDGAIN" value=" 300"/--> | ||
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</section> | ||
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<section name="INS" prefix="INS_"> | ||
<define name="BARO_SENS" value="10." integer="16"/> | ||
</section> | ||
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<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="HOVER_KP" value="830"/> | ||
<define name="HOVER_KD" value="650"/> | ||
<define name="HOVER_KI" value="100"/> | ||
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) --> | ||
<define name="RC_CLIMB_COEF" value ="163"/> | ||
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% --> | ||
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/> | ||
<!--define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/--> | ||
</section> | ||
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<section name="AHRS" prefix="AHRS_"> | ||
<define name="PROPAGATE_FREQUENCY" value="512"/> | ||
<define name="H_X" value=" 0.47577"/> | ||
<define name="H_Y" value=" 0.11811"/> | ||
<define name="H_Z" value=" 0.87161"/> | ||
</section> | ||
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> | ||
<define name="PGAIN" value="50"/> | ||
<define name="DGAIN" value="50"/> | ||
<define name="IGAIN" value="0"/> | ||
</section> | ||
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<section name="MISC"> | ||
<define name="FACE_REINJ_1" value="1024"/> | ||
</section> | ||
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<section name="SIMULATOR" prefix="NPS_"> | ||
<define name="ACTUATOR_NAMES" value="{"front_motor", "back_motor", "right_motor", "left_motor"}"/> | ||
<define name="INITIAL_CONDITITONS" value=""reset00""/> | ||
<define name="SENSORS_PARAMS" value=""nps_sensors_params_booz2_a1.h""/> | ||
</section> | ||
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<modules main_freq="512"> | ||
<!--load name="vehicle_interface_overo_link.xml"/--> | ||
<load name="gps_ubx_ucenter.xml"/> | ||
</modules> | ||
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<firmware name="rotorcraft"> | ||
<target name="ap" board="lisa_l_1.1"> | ||
<!-- <define name="BOOZ_START_DELAY" value="1"/> --> | ||
<subsystem name="radio_control" type="spektrum"/> | ||
<subsystem name="actuators" type="pwm_supervision"/> | ||
<subsystem name="telemetry" type="transparent"/> | ||
<define name="SERVO_HZ" value="400"/> | ||
<define name="RADIO_MODE" value="RADIO_AUX2"/> | ||
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/> | ||
<!--define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/--> | ||
<!--define name = "RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value = "UART5"/--> | ||
</target> | ||
<target name="sim" board="pc"> | ||
<subsystem name="fdm" type="nps"/> | ||
<subsystem name="radio_control" type="ppm"/> | ||
<subsystem name="actuators" type="mkk"/> | ||
</target> | ||
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<subsystem name="imu" type="aspirin_v2.1"/> | ||
<subsystem name="gps" type="ublox"/> | ||
<subsystem name="stabilization" type="int_quat"/> | ||
<subsystem name="ahrs" type="int_cmpl_quat"/> | ||
<!--define name="USE_INS_NAV_INIT"/--> | ||
<!--subsystem name="stabilization" type="euler"/> | ||
<subsystem name="ahrs" type="int_cmpl_euler"/--> | ||
</firmware> | ||
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<firmware name="lisa_test_progs"> | ||
<target name="test_led" board="lisa_l_1.1"> | ||
<configure name="SYS_TIME_LED" value="none"/> | ||
</target> | ||
<target name="test_uart" board="lisa_l_1.1"/> | ||
<target name="test_servos" board="lisa_l_1.1"/> | ||
<target name="test_telemetry" board="lisa_l_1.1"/> | ||
<target name="test_imu_aspirin" board="lisa_l_1.1"/> | ||
<target name="test_rc_spektrum" board="lisa_l_1.1"/> | ||
<target name="test_baro" board="lisa_l_1.1"/> | ||
<!--<target name="test_imu" board="lisa_l_1.1"/> | ||
<target name="test_rc_ppm" board="lisa_l_1.1"/> | ||
<target name="test_adc" board="lisa_l_1.1"/> | ||
<target name="test_hmc5843" board="lisa_l_1.1"/> | ||
<target name="test_itg3200" board="lisa_l_1.1"/> | ||
<target name="test_adxl345" board="lisa_l_1.1"/> | ||
<target name="test_esc_mkk_simple" board="lisa_l_1.1"/> | ||
<target name="test_esc_asctecv1_simple" board="lisa_l_1.1"/> | ||
<target name="test_actuators_mkk" board="lisa_l_1.1"/> | ||
<target name="test_actuators_asctecv1" board="lisa_l_1.1"/--> | ||
</firmware> | ||
</airframe> |
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