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MicroJet IMU Flights
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@dewagter
dewagter committed Feb 25, 2011
1 parent 7c3d445 commit ebce59b
Showing 1 changed file with 58 additions and 60 deletions.
118 changes: 58 additions & 60 deletions conf/airframes/TU_Delft/MicrojetCDW.xml
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Expand Up @@ -4,21 +4,21 @@

<!-- commands section -->
<servos>
<servo name="THROTTLE" no="0" min="1050" neutral="1050" max="1900"/>
<servo name="THROTTLE" no="0" min="1050" neutral="1050" max="1900"/>
<servo name="AILEVON_RIGHT" no="1" min="1850" neutral="1480" max="1100"/> <!-- 400 - 380 -->
<servo name="AILEVON_LEFT" no="2" min="1250" neutral="1580" max="1980"/> <!-- 300 - 400 -->
<servo name="AILEVON_LEFT" no="2" min="1250" neutral="1580" max="1980"/> <!-- 300 - 400 -->
</servos>

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

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

<section name="MIXER">
Expand All @@ -27,17 +27,17 @@
</section>

<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>

<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
</command_laws>

<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.7"/>
<define name="MAX_PITCH" value="0.6"/>
<define name="MAX_ROLL" value="0.8"/>
<define name="MAX_PITCH" value="0.7"/>
</section>


Expand All @@ -61,12 +61,12 @@
<define name="GYRO_Q_SENS" value="2.234" integer="16"/>
<define name="GYRO_R_SENS" value="2.234" integer="16"/>

<define name="GYRO_P_Q" value="0." />
<define name="GYRO_P_R" value="(1.0f/75.0f)" />
<define name="GYRO_Q_P" value="0." />
<define name="GYRO_Q_R" value="0." />
<define name="GYRO_R_P" value="0." />
<define name="GYRO_R_Q" value="0." />
<define name="GYRO_P_Q" value="0."/>
<define name="GYRO_P_R" value="(1.0f/75.0f)"/>
<define name="GYRO_Q_P" value="0."/>
<define name="GYRO_Q_R" value="0."/>
<define name="GYRO_R_P" value="0."/>
<define name="GYRO_R_Q" value="0."/>

<define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_Q_SIGN" value="-1"/>
Expand Down Expand Up @@ -100,79 +100,77 @@
<define name="BODY_TO_IMU_PSI" value="0"/>
</section>

<section name="INS" prefix="INS_" >
<define name="ROLL_NEUTRAL_DEFAULT" value="0"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0"/>
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0."/>
<define name="PITCH_NEUTRAL_DEFAULT" value="-0.0570000000298"/>
</section>


<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>

<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="14.5" 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="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>

<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="75."/>

<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
<define name="GLIDE_PITCH" value="0." unit="deg"/>
</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="-0.03"/>
<define name="ALTITUDE_PGAIN" value="-0.01"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<define name="ALTITUDE_MAX_CLIMB" value="4."/>

<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.33"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.60"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>

<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0."/>
<define name="AUTO_THROTTLE_IGAIN" value="0."/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
<define name="THROTTLE_SLEW_LIMITER" value="1" unit="s"/>
</section>

<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.4"/>
<define name="COURSE_PGAIN" value="-1.39999997616"/>

<define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
<define name="ROLL_MAX_SETPOINT" value="0.703999996185" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="0.4" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.4" unit="radians"/>

<define name="PITCH_PGAIN" value="-6000."/>
<define name="PITCH_DGAIN" value="5."/>
<define name="PITCH_DGAIN" value="0."/>

<define name="ELEVATOR_OF_ROLL" value="1200."/>

<define name="ROLL_SLEW" value="0."/>
<define name="ROLL_ATTITUDE_GAIN" value="-6000."/>
<define name="ROLL_RATE_GAIN" value="-600."/>

<define name="ROLL_ATTITUDE_GAIN" value="-5000."/>
<define name="ROLL_RATE_GAIN" value="500."/>
<define name="ROLL_SLEW" value="0.02"/> <!-- Maximal roll angle change per 1/60 of second: 0.02 rad/loop * 180/pi * 60 loop/sec = 60 deg/sec -->
</section>

<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_THROTTLE" value="1.00"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
<define name="CLIMB_PITCH" value="0.6"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.0"/><!-- 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>
Expand All @@ -190,39 +188,39 @@
</section>

<firmware name="fixedwing">
<target name="ap" board="tiny_1.1">
<configure name="PERIODIC_FREQUENCY" value="960" /> <!-- IMU FREQ -->
<configure name="AHRS_PROPAGATE_FREQUENCY" value="240" />
<configure name="AHRS_CORRECT_FREQUENCY" value="60" />
<configure name="AHRS_ALIGNER_LED" value="1" />
<configure name="CPU_LED" value="2" />
<target name="ap" board="tiny_1.1">
<configure name="PERIODIC_FREQUENCY" value="960"/> <!-- IMU FREQ -->
<configure name="AHRS_PROPAGATE_FREQUENCY" value="240"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="60"/>
<configure name="AHRS_ALIGNER_LED" value="1"/>
<configure name="CPU_LED" value="2"/>
</target>
<target name="sim" board="pc" />
<target name="sim" board="pc"/>

<define name="AGR_CLIMB" />
<define name="LOITER_TRIM" />
<define name="ALT_KALMAN" />
<define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>

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

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

<subsystem name="control"/>

<!-- Sensors -->
<subsystem name="imu" type="booz"/>
<subsystem name="attitude" type="dcm"/>
<subsystem name="gps" type="ublox_lea4p"/>
<subsystem name="imu" type="booz"/>
<subsystem name="attitude" type="dcm"/>
<subsystem name="gps" type="ublox_lea4p"/>
<subsystem name="navigation"/>

</firmware>


<firmware name="setup">
<target name="tunnel" board="tiny_1.1" />
<target name="tunnel" board="tiny_1.1"/>
</firmware>

<modules>
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