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Merge pull request #209 'fixedwing_ins'
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tried to clean ins xsens subsystem up a little for fixedwings

* removed the AhrsEvent
* removed all ahrs things from ins_xsens
* added an InsEvent for fixedwings
* removed some gps stuff from ins_xsens and used the normal gps callbacks instead
* made baud rate for xsens configurable

To use the XSens MTi-G as a full INS (with the xsens GPS):
```xml
<subsystem name="ins" type="xsens">
    <configure name="XSENS_UART_NR" value="3"/>
    <configure name="XSENS_UART_BAUD" value="B115200"/>
</subsystem>
```
to use it only as an IMU (still need to add an AHRS algorithm and other GPS as usual)
```xml
<subsystem name="imu" type="xsens">
    <configure name="XSENS_UART_NR" value="3"/>
    <configure name="XSENS_UART_BAUD" value="B115200"/>
</subsystem>
```
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@flixr
flixr committed Jun 18, 2012
2 parents 9beb754 + 9884442 commit fa1f65c
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Showing 21 changed files with 704 additions and 236 deletions.
1 change: 0 additions & 1 deletion conf/airframes/CDW/LisaAspirin2.xml
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Expand Up @@ -209,7 +209,6 @@
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />

<configure name="AHRS_ALIGNER_LED" value="1"/>
<configure name="CPU_LED" value="1"/>
</target>
<target name="sim" board="pc"/>

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1 change: 0 additions & 1 deletion conf/airframes/CDW/yapa3_aspirin2.xml
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Expand Up @@ -233,7 +233,6 @@
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />

<configure name="AHRS_ALIGNER_LED" value="3"/>
<configure name="CPU_LED" value="3"/>
</target>
<target name="sim" board="pc"/>

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1 change: 0 additions & 1 deletion conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
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Expand Up @@ -225,7 +225,6 @@
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />

<configure name="AHRS_ALIGNER_LED" value="3"/>
<configure name="CPU_LED" value="3"/>
</target>
<target name="sim" board="pc"/>

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205 changes: 205 additions & 0 deletions conf/airframes/examples/microjet_imu_xsens.xml
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@@ -0,0 +1,205 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">

<!-- Microjet Multiplex (http://www.multiplex-rc.de/)
Lisa/M v1.0 board (http://paparazzi.enac.fr/wiki/Lisa/M_v10)
Xsens running as IMU
Xbee modem in transparent mode
-->

<airframe name="Microjet Lisa/M 1.0">

<firmware name="fixedwing">
<target name="sim" board="pc"/>
<target name="ap" board="lisa_m_1.0"/>

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

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

<!-- Communication -->
<subsystem name="telemetry" type="transparent"/>

<!-- Sensors -->
<subsystem name="imu" type="xsens">
<configure name="XSENS_UART_NR" value="3"/>
<configure name="XSENS_UART_BAUD" value="B115200"/>
</subsystem>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="control"/>
<subsystem name="navigation"/>
</firmware>

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

<servos>
<servo name="MOTOR" no="0" min="1290" neutral="1290" max="1810"/>
<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1510" max="1000"/>
<servo name="AILEVON_RIGHT" no="3" min="1000" neutral="1535" max="2000"/>
</servos>

<commands>
<axis name="THROTTLE" 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"/>
</rc_commands>

<section name="MIXER">
<define name="AILEVON_AILERON_RATE" value="0.75"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
</section>

<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"/>
</command_laws>

<section name="IMU" prefix="IMU_">

<define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_Q_SIGN" value="1"/>
<define name="GYRO_R_SIGN" value="1"/>

<define name="GYRO_P_NEUTRAL" value="0"/>
<define name="GYRO_R_NEUTRAL" value="0"/>
<define name="GYRO_Q_NEUTRAL" value="0"/>

<define name="GYRO_P_SENS" value="1" integer="16"/>
<define name="GYRO_R_SENS" value="1" integer="16"/>
<define name="GYRO_Q_SENS" value="1" integer="16"/>

<define name="ACCEL_X_SIGN" value="1"/>
<define name="ACCEL_Y_SIGN" value="1"/>
<define name="ACCEL_Z_SIGN" value="1"/>

<define name="ACCEL_X_SENS" value="1" integer="16"/>
<define name="ACCEL_Z_SENS" value="1" integer="16"/>
<define name="ACCEL_Y_SENS" value="1" integer="16"/>

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

<define name="MAG_X_SIGN" value="1"/>
<define name="MAG_Y_SIGN" value="1"/>
<define name="MAG_Z_SIGN" value="1"/>

<define name="MAG_X_NEUTRAL" value="-45"/>
<define name="MAG_Y_NEUTRAL" value="334"/>
<define name="MAG_Z_NEUTRAL" value="7"/>

<define name="MAG_X_SENS" value="4.47647816128" integer="16"/>
<define name="MAG_Y_SENS" value="4.71085671542" integer="16"/>
<define name="MAG_Z_SENS" value="4.41585354498" integer="16"/>

<define name="BODY_TO_IMU_PHI" value="0" unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0" unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0" unit="deg"/>
</section>

<section name="AHRS" prefix="AHRS_">
<!-- replace this with your local magnetic field -->
<define name="H_X" value="0.3770441"/>
<define name="H_Y" value="0.0193986"/>
<define name="H_Z" value="0.9259921"/>
</section>

<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" 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"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>

<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
<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"/>
</section>

<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="1.0"/>
<define name="COURSE_DGAIN" value="0.3"/>

<define name="ROLL_MAX_SETPOINT" value="35" unit="deg"/>
<define name="PITCH_MAX_SETPOINT" value="30" unit="deg"/>
<define name="PITCH_MIN_SETPOINT" value="-30" unit="deg"/>

<define name="PITCH_PGAIN" value="12000."/>
<define name="PITCH_DGAIN" value="1.5"/>

<define name="ELEVATOR_OF_ROLL" value="1250"/>

<define name="ROLL_SLEW" value="0.1"/>

<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="1500"/>
</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_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
<define name="DESCENT_NAV_RATIO" value="1.0"/>
</section>

<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
</section>

<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="40." unit="deg"/>
<define name="MAX_PITCH" value="35." unit="deg"/>
</section>

<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="2000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>

<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="13." 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="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
</section>

</airframe>
160 changes: 160 additions & 0 deletions conf/airframes/examples/microjet_lisa_m_xsens.xml
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@@ -0,0 +1,160 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">

<!-- Microjet Multiplex (http://www.multiplex-rc.de/)
Lisa/M v1.0 board (http://paparazzi.enac.fr/wiki/Lisa/M_v10)
Xsens as full INS
Xbee modem in transparent mode
-->

<airframe name="Microjet Lisa/M 1.0">

<firmware name="fixedwing">
<target name="sim" board="pc"/>
<target name="ap" board="lisa_m_1.0"/>

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

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

<!-- Communication -->
<subsystem name="telemetry" type="transparent"/>

<!-- Sensors -->
<subsystem name="ins" type="xsens">
<configure name="XSENS_UART_NR" value="3"/>
<configure name="XSENS_UART_BAUD" value="B115200"/>
</subsystem>

<subsystem name="control"/>
<subsystem name="navigation"/>
</firmware>

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

<servos>
<servo name="MOTOR" no="0" min="1290" neutral="1290" max="1810"/>
<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1510" max="1000"/>
<servo name="AILEVON_RIGHT" no="3" min="1000" neutral="1535" max="2000"/>
</servos>

<commands>
<axis name="THROTTLE" 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"/>
</rc_commands>

<section name="MIXER">
<define name="AILEVON_AILERON_RATE" value="0.75"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
</section>

<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"/>
</command_laws>

<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="0" unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0" unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0" unit="deg"/>
</section>

<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" 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"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>

<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
<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"/>
</section>

<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="1.0"/>
<define name="COURSE_DGAIN" value="0.3"/>

<define name="ROLL_MAX_SETPOINT" value="35" unit="deg"/>
<define name="PITCH_MAX_SETPOINT" value="30" unit="deg"/>
<define name="PITCH_MIN_SETPOINT" value="-30" unit="deg"/>

<define name="PITCH_PGAIN" value="12000."/>
<define name="PITCH_DGAIN" value="1.5"/>

<define name="ELEVATOR_OF_ROLL" value="1250"/>

<define name="ROLL_SLEW" value="0.1"/>

<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="1500"/>
</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_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
<define name="DESCENT_NAV_RATIO" value="1.0"/>
</section>

<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
</section>

<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="40." unit="deg"/>
<define name="MAX_PITCH" value="35." unit="deg"/>
</section>

<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="2000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>

<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="13." 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="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
</section>

</airframe>
1 change: 0 additions & 1 deletion conf/airframes/flixr_discovery.xml
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Expand Up @@ -13,7 +13,6 @@
<configure name="AHRS_PROPAGATE_FREQUENCY" value="120"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="60"/>
<configure name="AHRS_ALIGNER_LED" value="2"/>
<!--configure name="CPU_LED" value="2"/-->
<configure name="SYS_TIME_LED" value="1"/>
<configure name="GPS_LED" value="none"/>
<!-- for airspeed sensor
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