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[examples] actually add MentorEnergy example
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@flixr
flixr committed Oct 13, 2012
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257 changes: 257 additions & 0 deletions conf/airframes/examples/MentorEnergy.xml
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">

<!--
Lisa + Aspirin v2 using SPI only
-->

<airframe name="LisaAspirin2">

<firmware name="fixedwing">
<target name="ap" board="lisa_m_1.0">
<define name="LISA_M_LONGITUDINAL_X"/>
<define name="SENSOR_SYNC_SEND"/>

<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="AIRSPEED_ETS_I2C_DEV" value="i2c2"/>
<define name="USE_I2C2"/>

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

<define name="USE_AIRSPEED"/>
<define name="AGR_CLIMB"/>
<define name="STRONG_WIND"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<define name="SENSOR_SYNC_SEND"/>
<!-- Sensors -->
<!--
<subsystem name="ahrs" type="int_cmpl_quat">
<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" />
</subsystem>
-->
<subsystem name="imu" type="aspirin_v2.1"/>
<subsystem name="ahrs" type="float_dcm">
<!-- <define name="USE_MAGNETOMETER" /> -->
</subsystem>

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

<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B57600"/>
<configure name="MODEM_PORT" value="UART2"/>
</subsystem>

<!-- Actuators -->
<subsystem name="control" type="energy"/>
<!-- Sensors -->
<subsystem name="navigation"/>
<subsystem name="gps" type="ublox">
<configure name="GPS_PORT" value="UART1"/>
</subsystem>
</firmware>

<modules>
<load name="gps_ubx_ucenter.xml"/>
<load name="airspeed_ets.xml"/>
<load name="adc_generic.xml">
<configure name="ADC_CHANNEL_GENERIC1" value="0"/>
<configure name="ADC_CHANNEL_GENERIC2" value="1"/>
</load>

<load name="light.xml">
<define name="LIGHT_LED_STROBE" value="2"/>
<define name="LIGHT_LED_NAV" value="3"/>
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
</load>

<load name="digital_cam.xml">
<define name="DC_SHUTTER_LED" value="3"/>
</load>

<load name="nav_catapult.xml"/>
</modules>

<servos>
<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILEVON_LEFT" no="1" min="1200" neutral="1500" max="1800"/>
<servo name="ELEVATOR" no="2" min="2000" neutral="1500" max="1000"/>
<servo name="RUDDER" no="3" min="1100" neutral="1500" max="1900"/>
<servo name="AILEVON_RIGHT" no="4" min="1800" neutral="1500" max="1200"/>
</servos>

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

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

<command_laws>
<set servo="AILEVON_LEFT" value="@ROLL"/>
<set servo="AILEVON_RIGHT" value="-@ROLL"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="ELEVATOR" value="@PITCH"/>
<set servo="RUDDER" value="@YAW"/>
</command_laws>

<!-- Local magnetic field -->
<section name="AHRS" prefix="AHRS_">
<define name="H_X" value="0.51562740288882"/>
<define name="H_Y" value="-0.05707735220832"/>
<define name="H_Z" value="0.85490967783446"/>
</section>

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

<!-- 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"/>

<define name="ACCEL_X_NEUTRAL" value="0"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="0"/>

<!-- SENS = 2048 LSB/g / 9.81 ms2/g = 208.766564729 LSB/ms2 / 10bit FRAC: 1024 / 208.7665 -->
<define name="ACCEL_X_SENS" value="9.81" integer="16"/>
<define name="ACCEL_Y_SENS" value="9.81" integer="16"/>
<define name="ACCEL_Z_SENS" value="9.81" integer="16"/>

<define name="MAG_X_NEUTRAL" value="((-320+140)/2)"/>
<define name="MAG_Y_NEUTRAL" value="((-320+140)/2)"/>
<define name="MAG_Z_NEUTRAL" value="0"/>

<define name="MAG_X_SENS" value="1" integer="16"/>
<define name="MAG_Y_SENS" value="1" integer="16"/>
<define name="MAG_Z_SENS" value="1" integer="16"/>

<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="0.0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="5.9" unit="deg"/>
</section>

<section name="TRIM" prefix="COMMAND_">
<define name="ROLL_TRIM" value="0"/>
<define name="PITCH_TRIM" value="788."/>
</section>


<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.8"/>
<define name="MAX_PITCH" value="0.8"/>
</section>

<section name="BAT">
<define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/>

<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
</section>

<section name="MISC">
<define name="CLIMB_AIRSPEED" value="14." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="16." unit="m/s"/>
<define name="GLIDE_AIRSPEED" value="12." unit="m/s"/>
<define name="RACE_AIRSPEED" value="25." unit="m/s"/>

<define name="CARROT" value="5." unit="s"/>

<define name="ALT_KALMAN_ENABLED" value="TRUE"/>

<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>

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

<section name="CATAPULT" prefix="NAV_CATAPULT_">
<define name="MOTOR_DELAY" value="45"/>
<define name="HEADING_DELAY" value="(60*3)"/>
<define name="ACCELERATION_THRESHOLD" value="1.75"/>
<define name="INITIAL_PITCH" value="(15.0/57.0)"/>
<define name="INITIAL_THROTTLE" value="1.0"/>
</section>

<section name="GLS_APPROACH" prefix="APP_">
<define name="ANGLE" value="5"/>
<define name="INTERCEPT_AF_TOD" value="10"/>
<define name="TARGET_SPEED" value="13"/>
</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="0.104999996722"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/>

<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.36700001359"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.626999974251"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.518000006676" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.307000011206"/>

<define name="THROTTLE_SLEW_LIMITER" value="1" unit="s"/>
</section>

<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="0.89200001955"/>
<define name="COURSE_DGAIN" value="0.273000001907"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="1.00800001621"/>

<define name="ROLL_MAX_SETPOINT" value="33.57" unit="deg"/>
<define name="PITCH_MAX_SETPOINT" value="28.65" unit="deg"/>
<define name="PITCH_MIN_SETPOINT" value="-28.65" unit="deg"/>

<define name="PITCH_PGAIN" value="12587.4130859"/>
<define name="PITCH_DGAIN" value="1.5"/>

<define name="ELEVATOR_OF_ROLL" value="1273.88500977"/>

<define name="ROLL_SLEW" value="1."/>

<define name="ROLL_ATTITUDE_GAIN" value="7972.02783203"/>
<define name="ROLL_RATE_GAIN" value="500."/>
</section>


<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
<define name="DEFAULT_ROLL" value="10.0" unit="deg"/>
<define name="DEFAULT_PITCH" value="5.0" unit="deg"/>

<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
</section>

<section name="DIGITAL_CAMERA" prefix="DC_">
<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
<define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
</section>

</airframe>

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