Bebops

paparazzi · Dec 14, 2023 · c0d49a5 · c0d49a5
1 parent 6f5df22
commit c0d49a5
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Showing 4 changed files with 37 additions and 19 deletions.
diff --git a/conf/airframes/tudelft/bebop_indi_actuators.xml b/conf/airframes/tudelft/bebop_indi_actuators.xml
@@ -45,7 +45,13 @@
     </module-->
   </firmware>
 
-  <commands>
+  <commands><!-- Order must match the INDI ctrl_eff: INDI_NUM_ACT -->
+    <axis name="TOP_LEFT"     failsafe_value="0"/>
+    <axis name="TOP_RIGHT"    failsafe_value="0"/>
+    <axis name="BOTTOM_RIGHT" failsafe_value="0"/>
+    <axis name="BOTTOM_LEFT"  failsafe_value="0"/>
+
+    <!-- default commands: can not be removed -->
     <axis name="PITCH" failsafe_value="0"/>
     <axis name="ROLL" failsafe_value="0"/>
     <axis name="YAW" failsafe_value="0"/>
@@ -60,10 +66,10 @@
   </servos>
 
   <command_laws>
-    <set servo="TOP_LEFT"     value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
-    <set servo="TOP_RIGHT"    value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
-    <set servo="BOTTOM_RIGHT" value="autopilot_get_motors_on() ? actuators_pprz[2] : -MAX_PPRZ"/>
-    <set servo="BOTTOM_LEFT"  value="autopilot_get_motors_on() ? actuators_pprz[3] : -MAX_PPRZ"/>
+    <set servo="TOP_LEFT"     value="autopilot_get_motors_on() ? @TOP_LEFT     : -MAX_PPRZ"/>
+    <set servo="TOP_RIGHT"    value="autopilot_get_motors_on() ? @TOP_RIGHT    : -MAX_PPRZ"/>
+    <set servo="BOTTOM_RIGHT" value="autopilot_get_motors_on() ? @BOTTOM_RIGHT : -MAX_PPRZ"/>
+    <set servo="BOTTOM_LEFT"  value="autopilot_get_motors_on() ? @BOTTOM_LEFT  : -MAX_PPRZ"/>
   </command_laws>
 
   <section name="AIR_DATA" prefix="AIR_DATA_">
@@ -128,7 +134,7 @@
     <define name="FILT_CUTOFF" value="5.0"/>
 
     <!-- first order actuator dynamics -->
-    <define name="ACT_DYN" value="{0.1, 0.1, 0.1, 0.1}"/>
+    <define name="ACT_FREQ" value="{53.9, 53.9, 53.9, 53.9}"/>
 
     <!-- Adaptive Learning Rate -->
     <define name="USE_ADAPTIVE" value="TRUE"/>

diff --git a/conf/airframes/tudelft/bebop_opticflow_indoor.xml b/conf/airframes/tudelft/bebop_opticflow_indoor.xml
@@ -66,7 +66,13 @@
     </module>
   </firmware>
 
-  <commands>
+  <commands><!-- Order must match the INDI ctrl_eff: INDI_NUM_ACT -->
+    <axis name="TOP_LEFT"     failsafe_value="0"/>
+    <axis name="TOP_RIGHT"    failsafe_value="0"/>
+    <axis name="BOTTOM_RIGHT" failsafe_value="0"/>
+    <axis name="BOTTOM_LEFT"  failsafe_value="0"/>
+
+    <!-- default commands: can not be removed -->
     <axis name="PITCH" failsafe_value="0"/>
     <axis name="ROLL" failsafe_value="0"/>
     <axis name="YAW" failsafe_value="0"/>
@@ -81,10 +87,10 @@
   </servos>
 
   <command_laws>
-    <set servo="TOP_LEFT"     value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
-    <set servo="TOP_RIGHT"    value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
-    <set servo="BOTTOM_RIGHT" value="autopilot_get_motors_on() ? actuators_pprz[2] : -MAX_PPRZ"/>
-    <set servo="BOTTOM_LEFT"  value="autopilot_get_motors_on() ? actuators_pprz[3] : -MAX_PPRZ"/>
+    <set servo="TOP_LEFT"     value="autopilot_get_motors_on() ? @TOP_LEFT     : -MAX_PPRZ"/>
+    <set servo="TOP_RIGHT"    value="autopilot_get_motors_on() ? @TOP_RIGHT    : -MAX_PPRZ"/>
+    <set servo="BOTTOM_RIGHT" value="autopilot_get_motors_on() ? @BOTTOM_RIGHT : -MAX_PPRZ"/>
+    <set servo="BOTTOM_LEFT"  value="autopilot_get_motors_on() ? @BOTTOM_LEFT  : -MAX_PPRZ"/>
   </command_laws>
 
   <section name="IMU" prefix="IMU_">
@@ -146,7 +152,7 @@
     <define name="FILT_CUTOFF" value="5.0"/>
 
     <!-- first order actuator dynamics -->
-    <define name="ACT_DYN" value="{0.1, 0.1, 0.1, 0.1}"/>
+    <define name="ACT_FREQ" value="{53.9, 53.9, 53.9, 53.9}"/>
 
     <!-- Adaptive Learning Rate -->
     <define name="USE_ADAPTIVE" value="FALSE"/>

diff --git a/conf/airframes/tudelft/bebop_optitrack.xml b/conf/airframes/tudelft/bebop_optitrack.xml
@@ -33,7 +33,13 @@
     </module>
   </firmware>
 
-  <commands>
+  <commands><!-- Order must match the INDI ctrl_eff: INDI_NUM_ACT -->
+    <axis name="TOP_LEFT"     failsafe_value="0"/>
+    <axis name="TOP_RIGHT"    failsafe_value="0"/>
+    <axis name="BOTTOM_RIGHT" failsafe_value="0"/>
+    <axis name="BOTTOM_LEFT"  failsafe_value="0"/>
+
+    <!-- default commands: can not be removed -->
     <axis name="PITCH" failsafe_value="0"/>
     <axis name="ROLL" failsafe_value="0"/>
     <axis name="YAW" failsafe_value="0"/>
@@ -48,10 +54,10 @@
   </servos>
 
   <command_laws>
-    <set servo="TOP_LEFT"     value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
-    <set servo="TOP_RIGHT"    value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
-    <set servo="BOTTOM_RIGHT" value="autopilot_get_motors_on() ? actuators_pprz[2] : -MAX_PPRZ"/>
-    <set servo="BOTTOM_LEFT"  value="autopilot_get_motors_on() ? actuators_pprz[3] : -MAX_PPRZ"/>
+    <set servo="TOP_LEFT"     value="autopilot_get_motors_on() ? @TOP_LEFT     : -MAX_PPRZ"/>
+    <set servo="TOP_RIGHT"    value="autopilot_get_motors_on() ? @TOP_RIGHT    : -MAX_PPRZ"/>
+    <set servo="BOTTOM_RIGHT" value="autopilot_get_motors_on() ? @BOTTOM_RIGHT : -MAX_PPRZ"/>
+    <set servo="BOTTOM_LEFT"  value="autopilot_get_motors_on() ? @BOTTOM_LEFT  : -MAX_PPRZ"/>
   </command_laws>
 
   <section name="IMU" prefix="IMU_">
@@ -120,7 +126,7 @@
     <define name="FILT_CUTOFF" value="5.0"/>
 
     <!-- first order actuator dynamics -->
-    <define name="ACT_DYN" value="{0.1, 0.1, 0.1, 0.1}"/>
+    <define name="ACT_FREQ" value="{53.9, 53.9, 53.9, 53.9}"/>
 
     <!-- Adaptive Learning Rate -->
     <define name="USE_ADAPTIVE" value="FALSE"/>

diff --git a/conf/userconf/tudelft/conf.xml b/conf/userconf/tudelft/conf.xml
@@ -304,7 +304,7 @@
    telemetry="telemetry/highspeed_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/nederdrone_valkenburg.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/eff_scheduling_nederdrone.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_indi.xml modules/target_pos.xml"
+   settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/eff_scheduling_nederdrone.xml modules/ekf_aw.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_indi.xml modules/target_pos.xml"
    gui_color="blue"
   />
   <aircraft