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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,260 @@ | ||
| <!-- this is a microkopter frame equiped with Lisa/L and generic china pwm motor controllers --> | ||
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| <airframe name="lisa_asctec"> | ||
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| <servos min="0" neutral="0" max="0xff"> | ||
| <servo name="FRONT" no="0" min="1000" neutral="1000" max="2000"/> | ||
| <servo name="BACK" no="1" min="1000" neutral="1000" max="2000"/> | ||
| <servo name="LEFT" no="2" min="1000" neutral="1000" max="2000"/> | ||
| <servo name="RIGHT" no="3" 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" value="0"/> | ||
| <set servo="BACK" value="1"/> | ||
| <set servo="LEFT" value="2"/> | ||
| <set servo="RIGHT" value="3"/> | ||
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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="MIN_MOTOR" value="1090"/> | ||
| <define name="MAX_MOTOR" value="2000"/> | ||
| <define name="TRIM_A" value="0"/> | ||
| <define name="TRIM_E" value="0"/> | ||
| <define name="TRIM_R" value="0"/> | ||
| <define name="NB_MOTOR" value="4"/> | ||
| <define name="SCALE" value="256"/> | ||
| <define name="ROLL_COEF" value="{ 0 , 0, 256, -256 }"/> | ||
| <define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/> | ||
| <define name="YAW_COEF" value="{ -256, -256, 256, 256 }"/> | ||
| <define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/> | ||
| </section> | ||
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| <section name="IMU" prefix="IMU_"> | ||
| <define name="GYRO_P_NEUTRAL" value="27"/> | ||
| <define name="GYRO_Q_NEUTRAL" value="-10"/> | ||
| <define name="GYRO_R_NEUTRAL" value="20"/> | ||
| <define name="GYRO_P_SENS" value="5.0" integer="16"/> | ||
| <define name="GYRO_Q_SENS" value="5.0" integer="16"/> | ||
| <define name="GYRO_R_SENS" value="5.0" integer="16"/> | ||
| <define name="GYRO_PQ_SENS" value="0.0" integer="16"/> | ||
| <define name="GYRO_PR_SENS" value="0.0" integer="16"/> | ||
| <define name="GYRO_QR_SENS" value="0.0" integer="16"/> | ||
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| <define name="ACCEL_X_NEUTRAL" value="4"/> | ||
| <define name="ACCEL_Y_NEUTRAL" value="-14"/> | ||
| <define name="ACCEL_Z_NEUTRAL" value="-5"/> | ||
| <define name="ACCEL_X_SENS" value="39" integer="16"/> | ||
| <define name="ACCEL_Y_SENS" value="39" integer="16"/> | ||
| <define name="ACCEL_Z_SENS" value="39" integer="16"/> | ||
| <define name="ACCEL_XY_SENS" value="0.0" integer="16"/> | ||
| <define name="ACCEL_XZ_SENS" value="0.0" integer="16"/> | ||
| <define name="ACCEL_YZ_SENS" value="0.0" integer="16"/> | ||
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| <define name="MAG_X_NEUTRAL" value="0"/> | ||
| <define name="MAG_Y_NEUTRAL" value="0"/> | ||
| <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="MAG_XY_SENS" value="0.0" integer="16"/> | ||
| <define name="MAG_XZ_SENS" value="0.0" integer="16"/> | ||
| <define name="MAG_YZ_SENS" value="0.0" integer="16"/> | ||
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| <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( 45. )"/> | ||
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| </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="MILLIAMP_PER_PERCENT" value="0.86"/> | ||
| <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/> | ||
| <define name="BATTERY_SENS" value="0.48" integer="16"/> | ||
| </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_R" value="RadOfDeg(90.)"/> | ||
| <define name="DEADBAND_R" value="250"/> | ||
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| <!-- reference --> | ||
| <define name="REF_OMEGA_P" value="RadOfDeg(600)"/> | ||
| <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(600)"/> | ||
| <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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| <!-- feedback --> | ||
| <define name="PHI_PGAIN" value="-550"/> | ||
| <define name="PHI_DGAIN" value="-210"/> | ||
| <define name="PHI_IGAIN" value="-200"/> | ||
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| <define name="THETA_PGAIN" value="-550"/> | ||
| <define name="THETA_DGAIN" value="-210"/> | ||
| <define name="THETA_IGAIN" value="-200"/> | ||
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| <define name="PSI_PGAIN" value="-600"/> | ||
| <define name="PSI_DGAIN" value="-200"/> | ||
| <define name="PSI_IGAIN" value="-10"/> | ||
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| <!-- feedforward --> | ||
| <define name="PHI_DDGAIN" value=" 200"/> | ||
| <define name="THETA_DDGAIN" value=" 200"/> | ||
| <define name="PSI_DDGAIN" value=" 200"/> | ||
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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="-500"/> | ||
| <define name="HOVER_KD" value="-200"/> | ||
| <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="INV_M" value ="0.2"/> | ||
| </section> | ||
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| <section name="GUIDANCE_H" prefix="GUIDANCE_H_"> | ||
| <define name="PGAIN" value="-100"/> | ||
| <define name="DGAIN" value="-100"/> | ||
| <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"/> | ||
| </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\}"/> | ||
| </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"/> | ||
| <subsystem name="gps" type="ublox"/> | ||
| <subsystem name="ahrs" type="cmpl"/> | ||
| </firmware> | ||
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| <firmware name="lisa_l_test_progs"> | ||
| <target name="test_led" board="lisa_l_1.1"/> | ||
| <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_baro" board="lisa_l_1.1"/> | ||
| <target name="test_imu_b2" board="lisa_l_1.1"/> | ||
| <target name="test_imu_b2_2" 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_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> | ||
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| <firmware name="lisa_passthrough"> | ||
| <target name="overo_test_passthrough" board="lisa_l_1.1" > | ||
| <param name="HOST" value="A7"/> | ||
| <param name="USER" value=""/> | ||
| <param name="TARGET_DIR" value="~"/> | ||
| <param name="PERIODIC_FREQ" value="512"/> | ||
| </target> | ||
| <target name="stm_passthrough" board="lisa_l_1.1"> | ||
| <subsystem name="radio_control" type="spektrum"/> | ||
| <subsystem name="imu" type="b2_v1.1"/> | ||
| </target> | ||
| </firmware> | ||
|
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| </airframe> |
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2 changes: 0 additions & 2 deletions
2
conf/autopilot/subsystems/rotorcraft/actuators_asctec.makefile
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7 changes: 7 additions & 0 deletions
7
conf/autopilot/subsystems/rotorcraft/actuators_pwm_supervision.makefile
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,7 @@ | ||
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| # add actuatos arch to include directories | ||
| ap.CFLAGS += -I$(SRC_FIRMWARE)/actuators/arch/$(ARCH) | ||
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| ap.srcs += $(SRC_FIRMWARE)/actuators/supervision.c | ||
| ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm_supervision.c | ||
| ap.srcs += $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c |
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