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<!DOCTYPE airframe SYSTEM "../airframe.dtd"> | ||
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<!-- no dampers --> | ||
<airframe name="bebop2_lum1_xbee"> | ||
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<firmware name="rotorcraft"> | ||
<target name="ap" board="bebop2"/> | ||
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<target name="nps" board="pc"> | ||
<module name="fdm" type="jsbsim"/> | ||
<module name="udp"/> | ||
</target> | ||
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<define name="UART4_DEV" value="/dev/ttyACM0"/> | ||
<define name="UART5_DEV" value="/dev/ttyACM1"/> | ||
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<define name="SENSOR_SYNC_SEND"/> | ||
<define name="IMU_TEMP_CTRL_DEBUG"/> | ||
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<module name="telemetry" type="xbee_api"> | ||
<configure name="MODEM_PORT" value="UART4"/> | ||
<configure name="MODEM_BAUD" value="B57600"/> | ||
</module> | ||
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<!--module name="telemetry" type="transparent_udp"/--> | ||
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<module name="radio_control" type="datalink"/> | ||
<module name="motor_mixing"/> | ||
<module name="actuators" type="bebop"/> | ||
<module name="imu" type="bebop"/> | ||
<module name="gps" type="ublox"/> | ||
<module name="stabilization" type="indi_simple"/> | ||
<module name="ahrs" type="int_cmpl_quat"> | ||
<configure name="USE_MAGNETOMETER" value="TRUE"/> | ||
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/> | ||
</module> | ||
<module name="ins" type="extended"/> | ||
</firmware> | ||
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<modules main_freq="512"> | ||
<!--module name="wind_estimator"/--> | ||
<module name="geo_mag"/> | ||
<module name="air_data"/> | ||
<module name="send_imu_mag_current"/> | ||
<module name="gps" type="ubx_ucenter"/> | ||
<module name="logger_file"> | ||
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/> | ||
</module> | ||
<module name="humid_sht_uart"> | ||
<configure name="SHT_UART" value="UART5"/> | ||
</module> | ||
<module name="imu_temp_ctrl"/> | ||
</modules> | ||
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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="6000"/> | ||
</commands> | ||
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<servos driver="Default"> | ||
<servo name="TOP_LEFT" no="0" min="2500" neutral="2500" max="12000"/> | ||
<servo name="TOP_RIGHT" no="1" min="2500" neutral="2500" max="12000"/> | ||
<servo name="BOTTOM_RIGHT" no="2" min="2500" neutral="2500" max="12000"/> | ||
<servo name="BOTTOM_LEFT" no="3" min="2500" neutral="2500" max="12000"/> | ||
</servos> | ||
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<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="REVERSE" value="TRUE"/> | ||
<define name="TYPE" value="QUAD_X"/> | ||
</section> | ||
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<command_laws> | ||
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/> | ||
<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/> | ||
<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/> | ||
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/> | ||
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/> | ||
</command_laws> | ||
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<section name="AIR_DATA" prefix="AIR_DATA_"> | ||
<define name="CALC_AIRSPEED" value="FALSE"/> | ||
<define name="CALC_TAS_FACTOR" value="FALSE"/> | ||
<define name="CALC_AMSL_BARO" value="TRUE"/> | ||
</section> | ||
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<section name="IMU" prefix="IMU_"> | ||
<!-- Magnetometer still needs to be calibrated --> | ||
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<!--red LM/--> | ||
<define name="MAG_X_NEUTRAL" value="-12"/> | ||
<define name="MAG_Y_NEUTRAL" value="123"/> | ||
<define name="MAG_Z_NEUTRAL" value="239"/> | ||
<define name="MAG_X_SENS" value="6.56662079024" integer="16"/> | ||
<define name="MAG_Y_SENS" value="6.56528562457" integer="16"/> | ||
<define name="MAG_Z_SENS" value="6.89245853894" integer="16"/> | ||
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<define name= "MAG_X_CURRENT_COEF" value="0.00349278666278"/> | ||
<define name= "MAG_Y_CURRENT_COEF" value="-0.00294581023579"/> | ||
<define name= "MAG_Z_CURRENT_COEF" value="0.00744261463196"/> | ||
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</section> | ||
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<!-- local magnetic field --> | ||
<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field --> | ||
<section name="AHRS" prefix="AHRS_"> | ||
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module --> | ||
<!-- Toulouse --> | ||
<!--define name="H_X" value="0.513081"/> | ||
<define name="H_Y" value="-0.00242783"/> | ||
<define name="H_Z" value="0.858336"/--> | ||
<!-- Delft --> | ||
<!--define name="H_X" value="0.3892503"/> | ||
<define name="H_Y" value="0.0017972"/> | ||
<define name="H_Z" value="0.9211303"/--> | ||
<!-- Gross Lobke --> | ||
<!--define name="H_X" value="0.382151"/> | ||
<define name="H_Y" value="0.01674"/> | ||
<define name="H_Z" value="0.923948"/--> | ||
<!-- Longyearbyen --> | ||
<!--define name="H_X" value="0.133047"/> | ||
<define name="H_Y" value="0.019769"/> | ||
<define name="H_Z" value="0.990913"/--> | ||
<!-- Andenes HAF --> | ||
<!--define name="H_X" value="0.20751"/> | ||
<define name="H_Y" value="-0.0244116"/> | ||
<define name="H_Z" value="0.977928"/--> | ||
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<!-- Hailuoto --> | ||
<define name="H_X" value="0.236568"/> | ||
<define name="H_Y" value="0.0424621"/> | ||
<define name="H_Z" value="0.970687"/> | ||
</section> | ||
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<section name="INS" prefix="INS_"> | ||
<define name="SONAR_MAX_RANGE" value="2.2"/> | ||
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/> | ||
</section> | ||
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<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_"> | ||
<!-- setpoint limits for attitude stabilization rc flight --> | ||
<define name="SP_MAX_PHI" value="45" unit="deg"/> | ||
<define name="SP_MAX_THETA" value="45" unit="deg"/> | ||
<define name="SP_MAX_R" value="300" unit="deg/s"/> | ||
<define name="DEADBAND_A" value="0"/> | ||
<define name="DEADBAND_E" value="0"/> | ||
<define name="DEADBAND_R" value="50"/> | ||
</section> | ||
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<section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_"> | ||
<!-- attitude reference generation model --> | ||
<define name="REF_OMEGA_P" value="450" unit="deg/s"/> | ||
<define name="REF_ZETA_P" value="0.9"/> | ||
<define name="REF_MAX_P" value="600." unit="deg/s"/> | ||
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/> | ||
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<define name="REF_OMEGA_Q" value="450" unit="deg/s"/> | ||
<define name="REF_ZETA_Q" value="0.9"/> | ||
<define name="REF_MAX_Q" value="600." unit="deg/s"/> | ||
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/> | ||
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<define name="REF_OMEGA_R" value="450" unit="deg/s"/> | ||
<define name="REF_ZETA_R" value="0.9"/> | ||
<define name="REF_MAX_R" value="600." unit="deg/s"/> | ||
<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/> | ||
</section> | ||
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<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_"> | ||
<!-- control effectiveness --> | ||
<define name="G1_P" value="0.05"/> | ||
<define name="G1_Q" value="0.04"/> | ||
<define name="G1_R" value="0.0022"/> | ||
<define name="G2_R" value="0.20"/> | ||
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<!-- Here it is assumed that your removed the damping from your bebop2! | ||
The dampers do not really damp, but cause oscillation. By removing/ | ||
fixing them, the bebop2 will fly much better--> | ||
<define name="FILTER_ROLL_RATE" value="FALSE"/> | ||
<define name="FILTER_PITCH_RATE" value="FALSE"/> | ||
<define name="FILTER_YAW_RATE" value="FALSE"/> | ||
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<!-- reference acceleration for attitude control --> | ||
<define name="REF_ERR_P" value="600.0"/> | ||
<define name="REF_ERR_Q" value="600.0"/> | ||
<define name="REF_ERR_R" value="600.0"/> | ||
<define name="REF_RATE_P" value="28.0"/> | ||
<define name="REF_RATE_Q" value="28.0"/> | ||
<define name="REF_RATE_R" value="28.0"/> | ||
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<!-- second order filter parameters --> | ||
<define name="FILT_OMEGA" value="20.0"/> | ||
<define name="FILT_ZETA" value="0.7"/> | ||
<define name="FILT_OMEGA_R" value="20.0"/> | ||
<define name="FILT_ZETA_R" value="0.7"/> | ||
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<!-- second order filter parameters --> | ||
<define name="FILT_CUTOFF" value="3.2"/> | ||
<define name="FILT_CUTOFF_R" value="3.2"/> | ||
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<!-- first order actuator dynamics --> | ||
<define name="ACT_DYN_P" value="0.06"/> | ||
<define name="ACT_DYN_Q" value="0.06"/> | ||
<define name="ACT_DYN_R" value="0.06"/> | ||
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<!-- Adaptive Learning Rate --> | ||
<define name="USE_ADAPTIVE" value="FALSE"/> | ||
<define name="ADAPTIVE_MU" value="0.0001"/> | ||
</section> | ||
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_"> | ||
<define name="HOVER_KP" value="350"/> | ||
<define name="HOVER_KD" value="85"/> | ||
<define name="HOVER_KI" value="20"/> | ||
<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/> | ||
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/> | ||
</section> | ||
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> | ||
<define name="REF_MAX_SPEED" value="2" unit="m/s"/> | ||
<define name="MAX_BANK" value="32" unit="deg"/> | ||
<define name="PGAIN" value="60"/> | ||
<define name="DGAIN" value="170"/> | ||
<define name="IGAIN" value="30"/> | ||
</section> | ||
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<section name="NAVIGATION" prefix="NAV_"> | ||
<define name="CLIMB_VSPEED" value="4.5"/> | ||
<define name="DESCEND_VSPEED" value="-1.0"/> | ||
</section> | ||
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<section name="SIMULATOR" prefix="NPS_"> | ||
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/> | ||
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/> | ||
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/> | ||
</section> | ||
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<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_RC_CLIMB"/> | ||
<define name="MODE_AUTO2" value="AP_MODE_NAV"/> | ||
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<define name="NO_RC_THRUST_LIMIT" value="TRUE"/> | ||
</section> | ||
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<section name="BAT"> | ||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/> | ||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/> | ||
<define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/> | ||
<define name="LOW_BAT_LEVEL" value="11.1" unit="V"/> | ||
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/> | ||
</section> | ||
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<section name="GCS"> | ||
<define name="AC_ICON" value="quadrotor_xi"/> | ||
</section> | ||
</airframe> |