@@ -1,6 +1,6 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- This is a Nedderdrone
<!-- This is a Nedderdrone with Trailing edge motors
* Airframe: TUD00289
* Autopilot: Pixhawk 4
* Actuators: 12x T-Motor ESC + Motors and 8x Servos (all CAN)
Expand All
@@ -16,17 +16,23 @@
<target name =" ap" board =" px4fmu_5.0_chibios"
<configure name =" PERIODIC_FREQUENCY" value =" 500"
<configure name =" FLASH_MODE" value =" SWD"
<define name =" USE_BARO_BOARD" value =" 1"
<module name =" eff_scheduling_nederdrone"
<!-- Trims -->
<define name =" INDI_SCHEDULING_TRIM_ELEVATOR" value =" 840"
</module >
<module name =" radio_control" type =" sbus"
<configure name =" SBUS_PORT" value =" UART3"
</module >
<module name =" airspeed_ets.xml "
<configure name =" AIRSPEED_ETS_I2C_DEV " value = " I2C4 "
<define name =" AIRSPEED_ETS_SCALE " value =" 1.24 "
<module name =" airspeed " type = " ms45xx_i2c "
<define name =" USE_I2C4 "
<define name =" MS45XX_I2C_DEV " value =" i2c4 "
</module >
< module name = " scheduling_indi_simple " />
<!-- Forward FuelCell data back to the GCS -->
<!-- module name="generic_uart_sensor"/-->
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@@ -37,29 +43,37 @@
<module name =" logger" type =" sd_chibios"
<module name =" flight_recorder"
<!-- Chibios monitor -->
<module name =" sys_mon"
<define name =" ADC_CURRENT_DISABLE" value =" TRUE"
<module name =" adc_generic"
<configure name =" ADC_CHANNEL_GENERIC1" value =" ADC_5"
<configure name =" ADC_CHANNEL_GENERIC2" value =" ADC_6"
</module >
<define name =" RADIO_TH_HOLD" value =" RADIO_AUX1" <!-- Throttle hold in command laws -->
<define name =" RADIO_FMODE" value =" RADIO_AUX2" <!-- Throttle curve select -->
<define name =" RADIO_FBW_MODE" value =" RADIO_AUX3" <!-- Switch between AP and FBW control -->
<define name =" RADIO_KILL_SWITCH" value =" RADIO_AUX1"
<!-- Use the external mag (not in NPS target as then it needs to listen to all) -->
<!-- define name="INS_EKF2_MAG_ID" value="MAG_LIS3MDL_SENDER_ID"/-->
<!-- <module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="FALSE"/>
<define name="AHRS_USE_GPS_HEADING" value="TRUE"/>
<define name="AHRS_HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
</module> -->
<!-- module name="ins" type="extended">
<define name="INS_USE_GPS_ALT" value="1"/>
<define name="INS_USE_GPS_ALT_SPEED" value="1"/>
<define name="INS_VFF_R_GPS" value="0.01"/>
</module-->
</target >
<target name =" nps" board =" pc"
<module name =" eff_scheduling_nederdrone"
<module name =" radio_control" type =" datalink"
<module name =" fdm" type =" jsbsim"
<module name =" scheduling_indi_simple"
<module name =" logger_file"
<define name =" LOGGER_FILE_PATH " value =" /home/ewoud/Documents"
<define name =" FILE_LOGGER_PATH " value =" /home/ewoud/Documents"
</module >
<!-- Not dealing with these in the simulation-->
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@@ -69,40 +83,61 @@
<define name =" RADIO_KILL_SWITCH" value =" 0"
</target >
<!-- module name="follow_me">
<define name="FOLLOW_ME_DISTANCE" value="60"/>
<define name="FOLLOW_ME_HEIGHT" value="40"/>
</module-->
<module name =" telemetry" type =" transparent"
<configure name =" MODEM_BAUD" value =" B115200 "
<configure name =" MODEM_BAUD" value =" B460800 "
</module >
<module name =" approach_moving_target"
<define name =" AMT_ERR_SLOWDOWN_GAIN" value =" 0.25"
</module >
<module name =" ins" type =" ekf2"
<module name =" actuators" type =" uavcan"
<configure name =" UAVCAN_USE_CAN1" value =" TRUE"
<configure name =" UAVCAN_USE_CAN2" value =" TRUE"
</module >
<module name =" imu" type =" mpu6000"
<module name =" imu" type =" heater"
<module name =" gps" type =" ublox"
<module name =" gps" type =" ubx_ucenter"
<module name =" stabilization" type =" indi_simple"
<!-- module name="gps" type="datalink"/-->
<module name =" gps" type =" ublox"
<configure name =" UBX_GPS_BAUD" value =" B460800"
<define name =" USE_GPS_UBX_RTCM" value =" TRUE"
</module >
<module name =" stabilization" type =" indi"
<configure name =" INDI_NUM_ACT" value =" 8"
<define name =" TILT_TWIST_CTRL" value =" TRUE"
</module >
<module name =" stabilization" type =" rate_indi"
<module name =" ins" type =" ekf2"
<module name =" air_data"
<module name =" air_data"
<define name =" AIR_DATA_CALC_AMSL_BARO" value =" TRUE"
</module >
<module name =" AOA_pwm"
<define name =" USE_PWM_INPUT1" value =" PWM_PULSE_TYPE_ACTIVE_LOW"
<define name =" AOA_ANGLE_OFFSET" value =" 3.1415"
<define name =" AOA_PWM_PERIOD" value =" 1024"
<define name =" AOA_PWM_OFFSET" value =" 1"
<configure name =" AOA_PWM_CHANNEL" value =" PWM_INPUT1"
</module >
<!-- Internal MAG -->
<module name =" mag_ist8310"
<!-- module name="mag_ist8310">
<define name="MODULE_IST8310_UPDATE_AHRS" value="TRUE"/>
<configure name="MAG_IST8310_I2C_DEV" value="I2C3"/>
</module >
</module-- >
<!-- External MAG on GPS -->
<!-- module name="mag_lis3mdl">
<module name =" mag_lis3mdl"
<define name =" MODULE_LIS3MDL_UPDATE_AHRS" value =" TRUE"
<configure name =" MAG_LIS3MDL_I2C_DEV" value =" I2C1"
<define name =" LIS3MDL_CHAN_X_SIGN" value =" -"
<define name =" LIS3MDL_CHAN_Y_SIGN" value =" -"
</module-- >
</module >
<!-- module name="lidar" type="tfmini">
<configure name="TFMINI_PORT" value="UART4"/>
<configure name="USE_TFMINI_AGL" value="FALSE"/>
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@@ -114,24 +149,38 @@
<module name =" guidance" type =" indi_hybrid"
<define name =" GUIDANCE_INDI_RC_DEBUG" value =" FALSE"
<define name =" GUIDANCE_INDI_POS_GAIN" value =" 0.2 "
<define name =" GUIDANCE_INDI_SPEED_GAIN" value =" 1.0 "
<define name =" GUIDANCE_INDI_POS_GAINZ" value =" 0.2 "
<define name =" GUIDANCE_INDI_SPEED_GAINZ" value =" 1.0 "
<define name =" GUIDANCE_INDI_POS_GAIN" value =" 0.3 "
<define name =" GUIDANCE_INDI_SPEED_GAIN" value =" 0.5 "
<define name =" GUIDANCE_INDI_POS_GAINZ" value =" 0.3 "
<define name =" GUIDANCE_INDI_SPEED_GAINZ" value =" 0.5 "
<define name =" GUIDANCE_INDI_PITCH_LIFT_EFF" value =" 0.12"
<define name =" GUIDANCE_INDI_PITCH_EFF_SCALING" value =" 1.0"
<define name =" GUIDANCE_H_REF_MAX_SPEED" value =" 18.0" <!-- not used-->
<define name =" GUIDANCE_INDI_MAX_AIRSPEED" value =" 16.0"
<define name =" GUIDANCE_INDI_MAX_AIRSPEED" value =" 17.0"
<define name =" GUIDANCE_HEADING_IS_FREE" value =" FALSE" <!-- heading can not be set by navigation-->
<define name =" GUIDANCE_INDI_HEADING_BANK_GAIN" value =" 5"
<define name =" GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value =" -943.0"
<!-- define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-943.0"/>
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN_45" value="-500.0"/>
<define name =" GUIDANCE_INDI_SPECIFIC_FORCE_GAIN_FWD" value =" -1600.0"
<define name =" GUIDANCE_INDI_FILTER_CUTOFF" value =" 0.5"
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN_FWD" value="-1600.0"/-- >
<!-- < define name="GUIDANCE_INDI_FILTER_CUTOFF" value="0.5"/> -- >
<define name =" GUIDANCE_INDI_LINE_GAIN" value =" 0.2"
<define name =" GUIDANCE_INDI_MIN_THROTTLE" value =" 2500"
<define name =" GUIDANCE_INDI_MIN_THROTTLE" value =" 1500"
<define name =" GUIDANCE_INDI_MIN_THROTTLE_FWD" value =" 1500"
<define name =" GUIDANCE_INDI_LIFTD_P50" value =" 6.0"
<define name =" GUIDANCE_INDI_LIFTD_P80" value =" 10.0"
<define name =" GUIDANCE_INDI_LIFTD_ASQ" value =" 0.15"
</module >
<module name =" motor_mixing"
<!-- module name="sys_id_doublet">
<define name="DOUBLET_AXES" value="{0,1,2,3,4,5,6,7}"/>
<define name="DOUBLET_RADIO_CHANNEL" value="9"/>
</module-->
<!-- <module name="sys_id_chirp">
<define name="CHIRP_AXES" value="{0,1,2,3,4,5,6,7}"/>
<define name="CHIRP_RADIO_CHANNEL" value="9"/>
</module>-->
</firmware >
<!-- CAN BUS 1 (Front Wing) -->
Expand All
@@ -142,10 +191,8 @@
<servo name =" MOTOR_4" no =" 3" min =" -8191" neutral =" 1500" max =" 8191"
<servo name =" MOTOR_5" no =" 4" min =" -8191" neutral =" 1500" max =" 8191"
<servo name =" MOTOR_6" no =" 5" min =" -8191" neutral =" 1500" max =" 8191"
<servo name =" AIL_1" no =" 6" min =" 6000" neutral =" 0" max =" -6000"
<servo name =" FLAP_1" no =" 7" min =" 6000" neutral =" 0" max =" -6000"
<servo name =" FLAP_2" no =" 8" min =" -6000" neutral =" 0" max =" 6000"
<servo name =" AIL_2" no =" 9" min =" -6000" neutral =" 0" max =" 6000"
<servo name =" AIL_1" no =" 6" min =" -6000" neutral =" 0" max =" 6000"
<servo name =" AIL_2" no =" 7" min =" 6000" neutral =" 0" max =" -6000"
</servos >
<!-- CAN BUS 2 (Back Wing) -->
Expand All
@@ -156,10 +203,10 @@
<servo name =" MOTOR_10" no =" 3" min =" -8191" neutral =" 1500" max =" 8191"
<servo name =" MOTOR_11" no =" 4" min =" -8191" neutral =" 1500" max =" 8191"
<servo name =" MOTOR_12" no =" 5" min =" -8191" neutral =" 1500" max =" 8191"
<servo name =" AIL_3" no =" 6" min =" 6000" neutral =" 0" max =" - 6000"
<servo name =" FLAP_3" no =" 7" min =" 6000" neutral =" 0" max =" - 6000"
<servo name =" FLAP_4" no =" 8" min =" - 6000" neutral =" 0" max =" 6000"
<servo name =" AIL_4" no =" 9" min =" - 6000" neutral =" 0" max =" 6000"
<servo name =" AIL_3" no =" 6" min =" - 6000" neutral =" 0" max =" 6000"
<servo name =" FLAP_3" no =" 7" min =" - 6000" neutral =" 0" max =" 6000"
<servo name =" FLAP_4" no =" 8" min =" 6000" neutral =" 0" max =" - 6000"
<servo name =" AIL_4" no =" 9" min =" 6000" neutral =" 0" max =" - 6000"
</servos >
<commands >
Expand All
@@ -181,50 +228,56 @@
<!-- backleft left (CW), backleft mid (CCW), backleft right (CW), backright left (CCW), backright mid (CW), backright right (CCW) -->
<define name =" NB_MOTOR" value =" 12"
<define name =" SCALE" value =" 256"
<define name =" ROLL_COEF" value =" {256, 157 , 56, -56 , -157 , -256, 256, 157, 56, -56, -157, -256}"
<define name =" ROLL_COEF" value =" {256, 253 , 159, -159 , -253 , -256, 256, 157, 56, -56, -157, -256}"
<define name =" PITCH_COEF" value =" {256, 256, 256, 256, 256, 256, -256, -256, -256, -256, -256, -256}"
<define name =" YAW_COEF" value =" {256 , -256, 256 , -256 , 256, -256 , -256, 256 , -256 , 256 , -256 , 256}"
<define name =" YAW_COEF" value =" {251 , -256, 252 , -252 , 256, -251 , -256, 252 , -254 , 254 , -252 , 256}"
<!-- <define name="YAW_COEF" value="{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}"/>-->
<define name =" THRUST_COEF" value =" {256, 256, 256, 256, 256, 256, 256, 256, 256, 256, 256, 256}"
</section >
<command_laws >
<call fun =" motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"
<let var =" th_hold" value =" LessThan(RadioControlValues(RADIO_TH_HOLD), -4800)"
<set servo =" MOTOR_1" value =" ($th_hold? -9600 : motor_mixing.commands[0])"
<set servo =" MOTOR_2" value =" ($th_hold? -9600 : motor_mixing.commands[1])"
<set servo =" MOTOR_3" value =" ($th_hold? -9600 : motor_mixing.commands[2])"
<set servo =" MOTOR_4" value =" ($th_hold? -9600 : motor_mixing.commands[3])"
<set servo =" MOTOR_5" value =" ($th_hold? -9600 : motor_mixing.commands[4])"
<set servo =" MOTOR_6" value =" ($th_hold? -9600 : motor_mixing.commands[5])"
<set servo =" MOTOR_7" value =" ($th_hold? -9600 : motor_mixing.commands[6])"
<set servo =" MOTOR_8" value =" ($th_hold? -9600 : motor_mixing.commands[7])"
<set servo =" MOTOR_9" value =" ($th_hold? -9600 : motor_mixing.commands[8])"
<set servo =" MOTOR_10" value =" ($th_hold? -9600 : motor_mixing.commands[9])"
<set servo =" MOTOR_11" value =" ($th_hold? -9600 : motor_mixing.commands[10])"
<set servo =" MOTOR_12" value =" ($th_hold? -9600 : motor_mixing.commands[11])"
<let var =" th_hold" value =" Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), !autopilot_get_motors_on())"
<!-- Tip props always at 80% -->
<call fun =" actuators_pprz[8] = (Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), 0.01 > sched_ratio_tip_props)? -9600 : 9600/100*85*sched_ratio_tip_props);"
<!-- call fun="sys_id_doublet_add_values(autopilot_get_motors_on(),FALSE,actuators_pprz)"/-->
<!-- <call fun="sys_id_chirp_add_values(autopilot_get_motors_on(),FALSE,actuators_pprz)"/>-->
<set servo =" MOTOR_1" value =" ($th_hold? -9600 : actuators_pprz[8])"
<set servo =" MOTOR_2" value =" ($th_hold? -9600 : actuators_pprz[0])"
<set servo =" MOTOR_3" value =" ($th_hold? -9600 : actuators_pprz[0])"
<set servo =" MOTOR_4" value =" ($th_hold? -9600 : actuators_pprz[1])"
<set servo =" MOTOR_5" value =" ($th_hold? -9600 : actuators_pprz[1])"
<set servo =" MOTOR_6" value =" ($th_hold? -9600 : actuators_pprz[8])"
<set servo =" MOTOR_7" value =" ($th_hold? -9600 : actuators_pprz[2])"
<set servo =" MOTOR_8" value =" ($th_hold? -9600 : actuators_pprz[2])"
<set servo =" MOTOR_9" value =" ($th_hold? -9600 : actuators_pprz[2])"
<set servo =" MOTOR_10" value =" ($th_hold? -9600 : actuators_pprz[3])"
<set servo =" MOTOR_11" value =" ($th_hold? -9600 : actuators_pprz[3])"
<set servo =" MOTOR_12" value =" ($th_hold? -9600 : actuators_pprz[3])"
<!-- Removed ApplyDiff for differential control -->
<set servo =" AIL_1" value =" -2*@PITCH + ( 2*@YAW)"
<set servo =" AIL_2" value =" -2*@PITCH + (- 2*@YAW)"
<set servo =" AIL_3" value =" 2*@PITCH + ( 2*@YAW)"
<set servo =" AIL_4" value =" 2*@PITCH + (- 2*@YAW)"
<set servo =" FLAP_1" value =" -2*@PITCH + ( 2*@YAW)"
<set servo =" FLAP_2" value =" -2*@PITCH + (- 2*@YAW)"
<set servo =" FLAP_3" value =" 2*@PITCH + ( 2*@YAW)"
<set servo =" FLAP_4" value =" 2*@PITCH + (- 2*@YAW)"
<set servo =" AIL_1" value =" ($th_hold? 9600 : actuators_pprz[4])"
<set servo =" AIL_2" value =" ($th_hold? 9600 : actuators_pprz[5])"
<set servo =" AIL_3" value =" actuators_pprz[6]"
<set servo =" AIL_4" value =" actuators_pprz[7]"
<set servo =" FLAP_3" value =" actuators_pprz[6]"
<set servo =" FLAP_4" value =" actuators_pprz[7]"
</command_laws >
<section name =" MISC"
<define name =" VoltageOfAdc(adc)" value =" ((3.3f/4096.0f) * 17.9024749557 * adc)" <!-- TODO: verify/calibrate -->
<define name =" VoltageOfAdc(adc)" value =" ((3.3f/4096.0f) * 18.1 * adc)" <!-- TODO: verify/calibrate -->
<define name =" NO_RC_THRUST_LIMIT" value =" TRUE"
<!-- Basic navigation settings -->
<define name =" NAV_CLIMB_VSPEED" value =" 3.5"
<define name =" NAV_DESCEND_VSPEED" value =" -0.5"
<define name =" ARRIVED_AT_WAYPOINT" value =" 50.0"
<!-- Settings for circle -->
<define name =" DEFAULT_CIRCLE_RADIUS" value =" 700"
<define name =" NAV_CARROT_DIST" value =" 200"
<!-- Avoid GPS loss behavior when having RC or datalink -->
<define name =" NO_GPS_LOST_WITH_DATALINK_TIME" value =" 20"
<define name =" NO_GPS_LOST_WITH_RC_VALID" value =" TRUE"
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Expand Up
@@ -253,15 +306,24 @@
<define name =" MPU_Z_SIGN" value =" -1"
<!-- Calibrated in the MAVLab 14-05-2020 -->
<define name =" ACCEL_CALIB" value =" {{.abi_id=9, .neutral={-423,18,-28}, .scale={{28111,6328,61706},{6151,1291,12775}}}}"
<define name =" ACCEL_X_NEUTRAL" value =" -337"
<define name =" ACCEL_Y_NEUTRAL" value =" 64"
<define name =" ACCEL_Z_NEUTRAL" value =" -25"
<define name =" ACCEL_X_SENS" value =" 4.670307671109528" integer =" 16"
<define name =" ACCEL_Y_SENS" value =" 4.9016250738902425" integer =" 16"
<define name =" ACCEL_Z_SENS" value =" 4.846689188075245" integer =" 16"
<!-- Calibrated at valkenburg 20-05-2020 (external magnetometer) -->
<define name =" MAG_CALIB" value =" {{.abi_id=4, .neutral={12,113,49}, .scale={{42598,47669,16336},{3039,3365,1153}}}}"
<define name =" MAG_X_NEUTRAL" value =" 866"
<define name =" MAG_Y_NEUTRAL" value =" -1530"
<define name =" MAG_Z_NEUTRAL" value =" -3313"
<define name =" MAG_X_SENS" value =" 0.6067461130451115" integer =" 16"
<define name =" MAG_Y_SENS" value =" 0.6544292255627779" integer =" 16"
<define name =" MAG_Z_SENS" value =" 0.6352539557433349" integer =" 16"
<!-- Define axis in hover frame -->
<define name =" BODY_TO_IMU_PHI" value =" 0." unit =" deg"
<define name =" BODY_TO_IMU_THETA" value =" 90. " unit =" deg"
<define name =" BODY_TO_IMU_THETA" value =" 82.8 " unit =" deg"
<define name =" BODY_TO_IMU_PSI" value =" 0." unit =" deg"
</section >
Expand All
@@ -275,16 +337,25 @@
</section >
<section name =" STABILIZATION_ATTITUDE_INDI" prefix =" STABILIZATION_INDI_"
<!-- control effectiveness (hover) -->
<define name =" G1_P" value =" 0.0030"
<define name =" G1_Q" value =" 0.0035"
<define name =" G1_R" value =" 0.0004"
<define name =" G2_R" value =" 0.00015"
<!-- control effectiveness (forward) -->
<define name =" FORWARD_G1_P" value =" 0.0020"
<define name =" FORWARD_G1_Q" value =" 0.0077"
<define name =" FORWARD_G1_R" value =" 0.004"
<!-- Nederdrone4 without fuel cell-->
<define name =" G1_ROLL" value =" { 0.422, -0.422, 1.14, -1.14, 0.0, 0.0, 0.0, 0.0}"
<define name =" G1_PITCH" value =" { 0.5, 0.5, -1.0, - 1.0, -0.5, -0.5, -0.5, -0.5}"
<define name =" G1_YAW" value =" { 0.0, 0.0, 0.0, 0.0, 0.09, -0.09, -0.09, 0.09}"
<!-- with big battery -->
<!-- <define name="G1_THRUST" value="{-0.3, -0.3, -0.45, -0.45, 0.0, 0.0, 0.0, 0.0}"/> -->
<!-- without big battery -->
<define name =" G1_THRUST" value =" {-0.37, -0.37, -0.55, -0.55, 0.0, 0.0, 0.0, 0.0}"
<!-- Counter torque effect of spinning up a rotor-->
<define name =" G2" value =" {0, 0, 0, 0, 0, 0, 0, 0}"
<!-- Forward gains -->
<define name =" G1_ROLL_FWD" value =" { 0.253, -0.253, 0.684, -0.684, 0.0, 0.0, 0.0, 0.0}"
<define name =" G1_PITCH_FWD" value =" { 0.3, 0.3, -0.6, -0.6, -1.4, -1.4, -1.4, -1.4}"
<define name =" G1_YAW_FWD" value =" { 0.0, 0.0, 0.0, 0.0, 0.94, -0.94, -0.94, 0.94}"
<!-- with big battery -->
<!-- <define name="G1_THRUST_FWD" value="{-0.18 -0.18, -0.27, -0.27, 0.0, 0.0, 0.0, 0.0}"/> -->
<!-- without big battery -->
<define name =" G1_THRUST_FWD" value =" {-0.22 -0.22, -0.33, -0.33, 0.0, 0.0, 0.0, 0.0}"
<!-- reference acceleration for attitude control -->
<define name =" REF_ERR_P" value =" 30.0"
Expand All
@@ -295,7 +366,7 @@
<define name =" REF_RATE_R" value =" 6.0"
<!-- Maxium yaw rate, to avoid instability-->
<define name =" MAX_R" value =" 50 .0" unit =" deg/s"
<define name =" MAX_R" value =" 180 .0" unit =" deg/s"
<!-- Maximum rate setpoint in rate control mode -->
<define name =" MAX_RATE" value =" 3.0" unit =" rad/s"
Expand All
@@ -304,12 +375,14 @@
<define name =" FILT_CUTOFF" value =" 1.5"
<define name =" FILT_CUTOFF_RDOT" value =" 0.5"
<define name =" ESTIMATION_FILT_CUTOFF" value =" 5.0"
<define name =" FILT_CUTOFF_P" value =" 20."
<define name =" FILT_CUTOFF_Q" value =" 20."
<define name =" FILT_CUTOFF_R" value =" 4.0"
<!-- first order actuator dynamics -->
<define name =" ACT_DYN_P " value =" 0.0354"
<define name =" ACT_DYN_Q " value =" 0.0354 "
<define name =" ACT_DYN_R " value =" 0.0354 "
<define name =" ACT_DYN " value =" { 0.0354, 0.0354, 0.0354, 0.0354, 0.05, 0.05, 0.05, 0.05} "
<define name =" ACT_RATE_LIMIT " value =" {9600, 9600, 9600, 9600, 170, 170, 170, 170} "
<define name =" ACT_IS_SERVO " value =" {0, 0, 0, 0, 1, 1, 1, 1} "
<!-- Adaptive Learning Rate -->
<define name =" USE_ADAPTIVE" value =" FALSE"
Expand All
@@ -325,7 +398,7 @@
</section >
<section name =" GUIDANCE_H" prefix =" GUIDANCE_H_"
<define name =" MAX_BANK" value =" 30 " unit =" deg"
<define name =" MAX_BANK" value =" 28 " unit =" deg"
<define name =" USE_SPEED_REF" value =" TRUE"
<define name =" PGAIN" value =" 60"
<define name =" DGAIN" value =" 100"
Expand All
@@ -334,10 +407,14 @@
</section >
<section name =" SIMULATOR" prefix =" NPS_"
<define name =" ACTUATOR_NAMES" value =" m1,m2,m3,m4,m5,m6,m7,m8,m9,m10,m11,m12,ail1,ail2,ail3,ail4,flap1,flap2,flap3,flap4" type =" string[]"
<define name =" JSBSIM_MODEL" value =" nederdrone" type =" string"
<define name =" ACTUATOR_NAMES" value =" a0,a1,a2,a3,a4,a5,a6,a7,a8" type =" string[]"
<define name =" JSBSIM_MODEL" value =" nederdrone4_tem" type =" string"
<define name =" NO_MOTOR_MIXING" value =" TRUE"
<define name =" COMMANDS_NB" value =" 9"
<define name =" SENSORS_PARAMS" value =" nps_sensors_params_default.h" type =" string"
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name =" JS_AXIS_MODE" value =" 4"
<define name =" DEBUG_SPEED_SP" value =" false"
</section >
<section name =" AUTOPILOT"
Expand All
@@ -355,4 +432,4 @@
<define name =" BAT_NB_CELLS" value =" 6"
</section >
</airframe >
</airframe >