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290 conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml
@@ -4,20 +4,282 @@
Powered via a plug 12V pack
Lisa/L v1.1 board
XBee connected to UART2 configured at 38400
- Aspirin v1.5
- overo
+ Booz2 v1.2
+ GPS connected to UART1 (Since this is inside in a metal box it won't ever get a solution)
-->
<airframe name="TestConfig">
- <firmware name="rotorcraft">
- <target name="sim" board="pc"/>
- <target name="ap" board="lisa_l_1.1"/>
-
- <subsystem name="radio_control" type="ppm"/>
- <subsystem name="telemetry" type="xbee_api">
- <configure name="MODEM_BAUD" value="B38400"/>
- </subsystem>
- <subsystem name="control"/>
- <subsystem name="navigation"/>
- </firmware>
-
+ <firmware name="rotorcraft">
+ <target name="ap" board="lisa_l_1.1">
+ <!--define name="NO_RC_THRUST_LIMIT"/-->
+ <subsystem name="radio_control" type="spektrum"/>
+ <define name="RADIO_MODE" value="RADIO_AUX1"/>
+ <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
+ <define name ="RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value = "UART5"/>
+ <define name ="OVERRIDE_UART5_IRQ_HANDLER"/>
+ <subsystem name="actuators" type="mkk"/>
+ <subsystem name="telemetry" type="transparent"/>
+ </target>
+
+ <target name="sim" board="pc">
+ <subsystem name="fdm" type="nps"/>
+ <subsystem name="radio_control" type="ppm"/>
+ <subsystem name="actuators" type="mkk"/>
+ </target>
+
+ <subsystem name="imu" type="aspirin_v1.5"/>
+ <subsystem name="gps" type="ublox">
+ <configure name="GPS_BAUD" value="B57600"/>
+ </subsystem>
+ <subsystem name="stabilization" type="euler"/>
+ <subsystem name="ahrs" type="int_cmpl_quat"/>
+ </firmware>
+
+ <!--
+ <firmware name="lisa_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>
+
+ <firmware name="lisa_passthrough">
+ <target name="overo_test_passthrough" board="lisa_l_1.1" >
+ <configure name="HOST" value="A7"/>
+ <configure name="USER" value=""/>
+ <configure name="TARGET_DIR" value="~"/>
+ <configure 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_v1.2"/>
+ </target>
+ </firmware>
+ -->
+
+ <servos min="0" neutral="0" max="0xff">
+ <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
+ <servo name="BACK" no="1" min="0" neutral="0" max="255"/>
+ <servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
+ <servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
+ </servos>
+
+ <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>
+
+ <!-- for the sim -->
+ <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+ <define name="NB" value="4"/>
+ <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
+ </section>
+
+
+ <section name="SUPERVISION" prefix="SUPERVISION_">
+ <define name="MIN_MOTOR" value="2"/>
+ <define name="MAX_MOTOR" value="210"/>
+ <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>
+
+ <section name="IMU" prefix="IMU_">
+ <define name="GYRO_P_NEUTRAL" value="32581"/>
+ <define name="GYRO_Q_NEUTRAL" value="32008"/>
+ <define name="GYRO_R_NEUTRAL" value="33207"/>
+ <define name="GYRO_P_SENS" value=".903" integer="16"/>
+ <define name="GYRO_Q_SENS" value=".905" integer="16"/>
+ <define name="GYRO_R_SENS" value=".893" 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"/>
+
+ <define name="ACCEL_X_NEUTRAL" value="25950"/>
+ <define name="ACCEL_Y_NEUTRAL" value="26351"/>
+ <define name="ACCEL_Z_NEUTRAL" value="25696"/>
+ <define name="ACCEL_X_SENS" value="1.86342150011" integer="16"/>
+ <define name="ACCEL_Y_SENS" value="1.88378993899" integer="16"/>
+ <define name="ACCEL_Z_SENS" value="1.86557913201" 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"/>
+
+ <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"/>
+
+ <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="AUTOPILOT">
+ <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
+ <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_Z_HOLD"/>
+ <define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/>
+ </section>
+
+ <section name="BAT">
+ <define name="CATASTROPHIC_BAT_LEVEL" value="12.4" unit="V"/>
+ <define name="MAX_BAT_LEVEL" value="16.8" unit="V" />
+ <define name="CRITIC_BAT_LEVEL" value="13.0" unit="V" />
+ <define name="LOW_BAT_LEVEL" value="14.0" unit="V" />
+ </section>
+
+ <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
+
+ <define name="SP_MAX_P" value="10000"/>
+ <define name="SP_MAX_Q" value="10000"/>
+ <define name="SP_MAX_R" value="10000"/>
+
+ <define name="GAIN_P" value="-400"/>
+ <define name="GAIN_Q" value="-400"/>
+ <define name="GAIN_R" value="-350"/>
+
+ </section>
+
+ <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
+
+ <!-- setpoints -->
+ <define name="SP_MAX_PHI" value="45." unit="deg"/>
+ <define name="SP_MAX_THETA" value="45." unit="deg"/>
+ <define name="SP_MAX_R" value="90." unit="deg/s"/>
+ <define name="DEADBAND_R" value="250"/>
+
+ <!-- reference -->
+ <define name="REF_OMEGA_P" value="800" unit="deg/s"/>
+ <define name="REF_ZETA_P" value="0.9"/>
+ <define name="REF_MAX_P" value="300." unit="deg/s"/>
+ <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
+
+ <define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
+ <define name="REF_ZETA_Q" value="0.9"/>
+ <define name="REF_MAX_Q" value="300." unit="deg/s"/>
+ <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
+
+ <define name="REF_OMEGA_R" value="500" unit="deg/s"/>
+ <define name="REF_ZETA_R" value="0.9"/>
+ <define name="REF_MAX_R" value="180." unit="deg/s"/>
+ <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
+
+ <!--
+ <define name="PHI_PGAIN" value="-2000"/>
+ <define name="PHI_DGAIN" value="-400"/>
+ <define name="PHI_IGAIN" value="-200"/>
+
+ <define name="THETA_PGAIN" value="-2000"/>
+ <define name="THETA_DGAIN" value="-400"/>
+ <define name="THETA_IGAIN" value="-200"/>
+
+ <define name="PSI_PGAIN" value="-2000"/>
+ <define name="PSI_DGAIN" value="-400"/>
+ <define name="PSI_IGAIN" value="-10"/>
+
+
+ <define name="PHI_DDGAIN" value=" 300"/>
+ <define name="THETA_DDGAIN" value=" 300"/>
+ <define name="PSI_DDGAIN" value=" 300"/>
+ -->
+
+ <!-- feedback -->
+ <define name="PHI_PGAIN" value="-900"/>
+ <define name="PHI_DGAIN" value="-200"/>
+ <define name="PHI_IGAIN" value="-200"/>
+
+ <define name="THETA_PGAIN" value="-900"/>
+ <define name="THETA_DGAIN" value="-200"/>
+ <define name="THETA_IGAIN" value="-200"/>
+
+ <define name="PSI_PGAIN" value="-900"/>
+ <define name="PSI_DGAIN" value="-200"/>
+ <define name="PSI_IGAIN" value="-10"/>
+
+ <!-- feedforward -->
+ <define name="PHI_DDGAIN" value=" 200"/>
+ <define name="THETA_DDGAIN" value=" 200"/>
+ <define name="PSI_DDGAIN" value=" 200"/>
+
+ </section>
+
+ <section name="AHRS" prefix="AHRS_">
+ <define name="PROPAGATE_FREQUENCY" value="512"/>
+ <define name="H_X" value=" 0.3723657"/>
+ <define name="H_Y" value=" 0.1515225"/>
+ <define name="H_Z" value="-0.9156335"/>
+ </section>
+
+ <section name="INS" prefix="INS_">
+ <define name="BARO_SENS" value="10." integer="16"/>
+ </section>
+
+ <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="-150"/>
+ <define name="HOVER_KD" value="-80"/>
+ <define name="HOVER_KI" value="0"/>
+
+ <!--
+ <define name="HOVER_KP" value="-150"/>
+ <define name="HOVER_KD" value="-80"/>
+ <define name="HOVER_KI" value="0"/>
+ -->
+
+ <!-- 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>
+
+
+ <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+ <define name="PGAIN" value="-100"/>
+ <define name="DGAIN" value="-100"/>
+ <define name="IGAIN" value="-0"/>
+ <define name="NGAIN" value="-0"/>
+ </section>
+
+ <section name="MISC">
+ <define name="FACE_REINJ_1" value="1024"/>
+ </section>
+
+ <section name="SIMULATOR" prefix="NPS_">
+ <define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
+ <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
+ <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+ </section>
+
</airframe>
View
2  conf/conf.xml.example
@@ -91,7 +91,7 @@
/>
<aircraft
name="LisaLv11_Aspirinv15_Overo_RC"
- ac_id="9"
+ ac_id="10"
airframe="airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/telemetry_booz2.xml"

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