194 changes: 0 additions & 194 deletions conf/airframes/testhardware/LisaL_v1.1_b2_v1.2_fw.xml
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227 changes: 0 additions & 227 deletions conf/airframes/testhardware/LisaL_v1.1_b2_v1.2_rc.xml
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18 changes: 0 additions & 18 deletions conf/airframes/tudelft/IMAV2013/calibrations/182_calib.xml
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1 change: 0 additions & 1 deletion conf/airframes/tudelft/ardrone2_indi.xml
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Expand Up @@ -103,7 +103,6 @@

<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2"/>
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
</section>


Expand Down
1 change: 0 additions & 1 deletion conf/airframes/tudelft/ardrone2_opticflow.xml
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Expand Up @@ -124,7 +124,6 @@

<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2"/>
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
</section>


Expand Down
1 change: 0 additions & 1 deletion conf/airframes/tudelft/bebop2_indi.xml
View file
Expand Up @@ -81,7 +81,6 @@

<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2"/>
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
</section>


Expand Down
1 change: 0 additions & 1 deletion conf/airframes/tudelft/bebop2_no_damping.xml
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Expand Up @@ -92,7 +92,6 @@

<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2"/>
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
</section>


Expand Down
1 change: 0 additions & 1 deletion conf/airframes/tudelft/bebop2_opticflow.xml
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Expand Up @@ -123,7 +123,6 @@
<define name="VFF_VZ_R_GPS" value="0.01"/>
<define name="SONAR_MIN_RANGE" value="0.0"/>
<define name="SONAR_MAX_RANGE" value="2.2"/>
<define name="SONAR_UPDATE_ON_AGL" value="FALSE"/>

</section>

Expand Down
1 change: 0 additions & 1 deletion conf/airframes/tudelft/bebop2_optitrack.xml
View file
Expand Up @@ -97,7 +97,6 @@
<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2"/>
<define name="SONAR_MIN_RANGE" value="0.2"/>
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
<define name="USE_GPS_ALT" value="1"/>
<define name="USE_GPS_ALT_SPEED" value="1"/>
<define name="VFF_R_GPS" value="0.01"/>
Expand Down
3 changes: 1 addition & 2 deletions conf/airframes/tudelft/bebop2_optitrack_visionfront.xml
View file
Expand Up @@ -132,8 +132,7 @@
</section>

<section name="INS" prefix="INS_">
<!--<define name="SONAR_MAX_RANGE" value="2.2"/>
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/> -->
<!--<define name="SONAR_MAX_RANGE" value="2.2"/ -->
<!-- Use GPS altitude measurments and set the R gain -->
<define name="USE_GPS_ALT" value="1"/>
<define name="VFF_R_GPS" value="0.01"/>
Expand Down
3 changes: 1 addition & 2 deletions conf/airframes/tudelft/bebop2_undistort_front.xml
View file
Expand Up @@ -121,8 +121,7 @@
</section>

<section name="INS" prefix="INS_">
<!--<define name="SONAR_MAX_RANGE" value="2.2"/>
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/> -->
<!--<define name="SONAR_MAX_RANGE" value="2.2"/ -->
<!-- Use GPS altitude measurments and set the R gain -->
<define name="USE_GPS_ALT" value="1"/>
<define name="VFF_R_GPS" value="0.01"/>
Expand Down
3 changes: 1 addition & 2 deletions conf/airframes/tudelft/bebop_OF_hover.xml
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Expand Up @@ -118,8 +118,7 @@
</section>

<section name="INS" prefix="INS_">
<!-- define name="SONAR_MAX_RANGE" value="2.2"/>
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/-->
<!-- define name="SONAR_MAX_RANGE" value="2.2"/ -->
<!-- Optitrack -->
<define name="USE_GPS_ALT" value="1"/>
<define name="VFF_R_GPS" value="0.01"/>
Expand Down
55 changes: 52 additions & 3 deletions conf/airframes/tudelft/bebop_autonomous_race_2018.xml
View file
Expand Up @@ -5,11 +5,14 @@
</description>

<firmware name="rotorcraft">
<target name="ap" board="bebop"/>
<target name="ap" board="bebop">
<define name="CAMERA_ROTATED_90DEG_RIGHT" value="TRUE" />
</target>

<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="udp"/>
<define name="CAMERA_ROTATED_90DEG_RIGHT" value="TRUE" />
</target>

<define name="USE_SONAR" value="TRUE"/>
Expand All @@ -36,6 +39,7 @@

<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" value="TRUE"/>
</module>
<define name="USE_SONAR" value="TRUE"/>
<module name="ins" type="extended"/>

<!--module name="guidance" type="indi">
Expand All @@ -53,8 +57,46 @@
<module name="ctrl_module_outerloop_demo"/>
<module name="sonar_bebop"/>

<module name="jevois_mavlink"/>
<!--module name="jevois_mavlink"/-->

<module name="bebop_cam"/>

<module name="video_capture">
<define name="VIDEO_CAPTURE_CAMERA" value="front_camera"/>
<define name="VIDEO_CAPTURE_PATH" value="/data/ftp/internal_000/images/"/>
</module>

<module name="pose_history">
<define name="POSE_HISTORY_SIZE" value="128" />
</module>

<!-- For tuning the color filter: -->
<!--
<module name="cv_colorfilter">
<define name="COLORFILTER_CAMERA" value="front_camera"/>
<define name="COLORFILTER_FPS" value="0"/>
</module>
-->

<module name="cv_detect_gate">
<define name="DETECT_GATE_CAMERA" value="front_camera"/>
<define name="DETECT_GATE_FPS" value="0"/>
<define name="DETECT_GATE_Y_MIN" value="31"/>
<define name="DETECT_GATE_Y_MAX" value="130"/>
<define name="DETECT_GATE_U_MIN" value="62"/>
<define name="DETECT_GATE_U_MAX" value="138"/>
<define name="DETECT_GATE_V_MIN" value="148"/>
<define name="DETECT_GATE_V_MAX" value="221"/>
</module>

<module name="video_rtp_stream">
<define name="VIEWVIDEO_CAMERA" value="front_camera"/>
<!-- <define name="VIEWVIDEO_CAMERA2" value="bottom_camera"/> -->
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="4"/>
<define name="VIEWVIDEO_QUALITY_FACTOR" value="50"/>
</module>

<!--<module name="bebop_ae_awb"/>-->
</firmware>

<commands>
Expand Down Expand Up @@ -86,6 +128,14 @@
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
</command_laws>

<section name="BEBOP_FRONT_CAMERA" prefix="MT9F002_">
<define name="OUTPUT_HEIGHT" value="640" />
<define name="OUTPUT_WIDTH" value="640" />
<define name="OFFSET_X" value="0.15" />
<define name="TARGET_EXPOSURE" value="30" />
<define name="ZOOM" value="1.25"/>
</section>

<section name="AIR_DATA" prefix="AIR_DATA_">
<define name="CALC_AIRSPEED" value="FALSE"/>
<define name="CALC_TAS_FACTOR" value="FALSE"/>
Expand Down Expand Up @@ -117,7 +167,6 @@

<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="5"/>
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
</section>

<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
Expand Down
2 changes: 1 addition & 1 deletion conf/airframes/tudelft/bebop_course_orangeavoid.xml
View file
Expand Up @@ -9,6 +9,7 @@
<target name="ap" board="bebop">
<define name="VIDEO_CAPTURE_PATH" value="/data/ftp/internal_000/images"/>
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000/log"/>
<define name="MT9V117_TARGET_FPS" value="20"/>

<!-- Detect orange -->
<define name="COLOR_OBJECT_DETECTOR_LUM_MIN1" value="30"/>
Expand Down Expand Up @@ -148,7 +149,6 @@

<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2"/>
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>

<!-- Use GPS altitude measurments and set the R gain -->
<define name="USE_GPS_ALT" value="1"/>
Expand Down
2 changes: 1 addition & 1 deletion conf/airframes/tudelft/bebop_course_orangeavoid_guided.xml
View file
Expand Up @@ -8,6 +8,7 @@
<target name="ap" board="bebop">
<define name="VIDEO_CAPTURE_PATH" value="/data/ftp/internal_000/images"/>
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000/log"/>
<define name="MT9V117_TARGET_FPS" value="20"/>

<!-- Detect orange -->
<define name="COLOR_OBJECT_DETECTOR_LUM_MIN1" value="30"/>
Expand Down Expand Up @@ -166,7 +167,6 @@

<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2"/>
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>

<!-- Use GPS altitude measurments and set the R gain -->
<define name="USE_GPS_ALT" value="1"/>
Expand Down
1 change: 0 additions & 1 deletion conf/airframes/tudelft/bebop_flip.xml
View file
Expand Up @@ -123,7 +123,6 @@

<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2"/>
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
</section>


Expand Down
1 change: 0 additions & 1 deletion conf/airframes/tudelft/bebop_indi.xml
View file
Expand Up @@ -103,7 +103,6 @@

<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2"/>
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
</section>

<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
Expand Down
1 change: 0 additions & 1 deletion conf/airframes/tudelft/bebop_indi_actuators.xml
View file
Expand Up @@ -94,7 +94,6 @@

<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2"/>
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
</section>

<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
Expand Down
179 changes: 95 additions & 84 deletions ...ames/tudelft/bebop2_detect_gate_front.xml → ...mes/tudelft/bebop_mav_course_exercise.xml
View file
@@ -1,79 +1,77 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">

<airframe name="bebop2_optitrack_visionfront">
<description>Bebop2: Detects Autonomous-Drone-Race-Gates</description>
<airframe name="bebop_avoider">
<description>MAVLAB Course TUDelft
</description>

<firmware name="rotorcraft">
<target name="ap" board="bebop2">
<define name="SIMULATE" value="FALSE"/>
<define name="CAMERA_ROTATED_90DEG_RIGHT" value="TRUE" />
<target name="ap" board="bebop">
<define name="VIDEO_CAPTURE_PATH" value="/data/ftp/internal_000/images"/>
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000/log"/>
<define name="MT9V117_TARGET_FPS" value="20"/>

<!-- Detect orange -->
<define name="COLOR_OBJECT_DETECTOR_LUM_MIN1" value="40"/>
<define name="COLOR_OBJECT_DETECTOR_LUM_MAX1" value="145"/>
<define name="COLOR_OBJECT_DETECTOR_CB_MIN1" value="65"/>
<define name="COLOR_OBJECT_DETECTOR_CB_MAX1" value="140"/>
<define name="COLOR_OBJECT_DETECTOR_CR_MIN1" value="160"/>
<define name="COLOR_OBJECT_DETECTOR_CR_MAX1" value="225"/>
</target>
<target name="nps" board="pc">
<module name="fdm" type="gazebo"/>
<define name="CAMERA_ROTATED_90DEG_RIGHT" value="FALSE" />
<define name="VIDEO_CAPTURE_PATH" value="/tmp/paparazzi/images"/>
<define name="FILE_LOGGER_PATH" value="/tmp/paparazzi/log"/>

<!-- Detect orange -->
<define name="COLOR_OBJECT_DETECTOR_LUM_MIN1" value="41"/>
<define name="COLOR_OBJECT_DETECTOR_LUM_MAX1" value="183"/>
<define name="COLOR_OBJECT_DETECTOR_CB_MIN1" value="53"/>
<define name="COLOR_OBJECT_DETECTOR_CB_MAX1" value="121"/>
<define name="COLOR_OBJECT_DETECTOR_CR_MIN1" value="134"/>
<define name="COLOR_OBJECT_DETECTOR_CR_MAX1" value="249"/>
</target>

<define name="ARRIVED_AT_WAYPOINT" value="0.5"/><!-- Detect arrival at waypoint when within 0.5m -->

<!-- Subsystem section -->
<module name="telemetry" type="transparent_udp"/>
<module name="radio_control" type="datalink"/>
<module name="motor_mixing"/>
<module name="actuators" type="bebop"/>
<module name="imu" type="bebop"/>
<module name="gps" type="datalink"/>
<module name="stabilization" type="indi_simple"/>
<module name="stabilization" type="rate_indi"/>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="FALSE"/>
<!-- <define name="AHRS_USE_GPS_HEADING" value="TRUE"/> -->
<define name="AHRS_USE_GPS_HEADING" value="TRUE"/>
</module>
<define name="USE_SONAR" value="TRUE"/>
<module name="ins" type="extended"/>

<module name="geo_mag"/>
<module name="air_data"/>
<module name="send_imu_mag_current"/>
<module name="logger_file">
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</module>
<module name="logger_file"/>

<!-- Video/Camera modules -->
<module name="bebop_cam"/>

<!--module name="bebop_ae_awb">
<define name="CV_AE_AWB_AV" value="1" />
<define name="CV_AE_AWB_VERBOSE" value="0" />
</module-->
<module name="video_capture">
<define name="VIDEO_CAPTURE_CAMERA" value="front_camera"/>
<define name="VIDEO_CAPTURE_PATH" value="/data/ftp/internal_000/images/"/>
</module>

<module name="pose_history">
<define name="POSE_HISTORY_SIZE" value="128" />
</module>

<!-- For tuning the color filter: -->
<!--
<module name="cv_colorfilter">
<define name="COLORFILTER_CAMERA" value="front_camera"/>
<define name="COLORFILTER_FPS" value="0"/>
<define name="VIDEO_CAPTURE_FPS" value="10"/>
</module>
-->

<module name="ctrl_module_outerloop_demo"/>

<module name="cv_detect_gate">
<define name="DETECT_GATE_CAMERA" value="front_camera"/>
<define name="DETECT_GATE_FPS" value="0"/>
<define name="DETECT_GATE_Y_MIN" value="31"/>
<define name="DETECT_GATE_Y_MAX" value="130"/>
<define name="DETECT_GATE_U_MIN" value="62"/>
<define name="DETECT_GATE_U_MAX" value="138"/>
<define name="DETECT_GATE_V_MIN" value="148"/>
<define name="DETECT_GATE_V_MAX" value="221"/>
<module name="cv_detect_color_object">
<define name="COLOR_OBJECT_DETECTOR_CAMERA1" value="front_camera"/>
<define name="COLOR_OBJECT_DETECTOR_FPS1" value="0"/>
<define name="COLOR_OBJECT_DETECTOR_DRAW1" value="1"/>
</module>

<module name="video_rtp_stream">
<define name="VIEWVIDEO_CAMERA" value="front_camera"/>
<!-- <define name="VIEWVIDEO_CAMERA2" value="bottom_camera"/> -->
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="4"/>
<define name="VIEWVIDEO_QUALITY_FACTOR" value="50"/>
<define name="VIEWVIDEO_CAMERA2" value="bottom_camera"/>
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
<define name="VIEWVIDEO_QUALITY_FACTOR" value="40"/>
</module>

<!--<module name="bebop_ae_awb"/>-->
</firmware>

<commands>
Expand All @@ -84,17 +82,16 @@
</commands>

<servos driver="Default">
<servo name="TOP_LEFT" no="0" min="2500" neutral="2500" max="12000"/>
<servo name="TOP_RIGHT" no="1" min="2500" neutral="2500" max="12000"/>
<servo name="BOTTOM_RIGHT" no="2" min="2500" neutral="2500" max="12000"/>
<servo name="BOTTOM_LEFT" no="3" min="2500" neutral="2500" max="12000"/>
<servo name="TOP_LEFT" no="0" min="3000" neutral="3000" max="9800" />
<servo name="TOP_RIGHT" no="1" min="3000" neutral="3000" max="9800" />
<servo name="BOTTOM_RIGHT" no="2" min="3000" neutral="3000" max="9800" />
<servo name="BOTTOM_LEFT" no="3" min="3000" neutral="3000" max="9800" />
</servos>

<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<define name="REVERSE" value="TRUE"/>
<define name="TYPE" value="QUAD_X"/>
</section>

Expand All @@ -107,11 +104,18 @@
</command_laws>

<section name="BEBOP_FRONT_CAMERA" prefix="MT9F002_">
<define name="OUTPUT_HEIGHT" value="640" />
<define name="OUTPUT_WIDTH" value="640" />
<define name="OFFSET_X" value="0.15" />
<define name="TARGET_EXPOSURE" value="30" />
<define name="OUTPUT_HEIGHT" value="520" />
<define name="OUTPUT_WIDTH" value="240" />
<define name="OFFSET_X" value="0.09" />
<define name="OFFSET_Y" value="0.00" />
<define name="ZOOM" value="1.25"/>
<define name="GAIN_GREEN1" value="10.0"/>
<define name="GAIN_GREEN2" value="10.0"/>
<define name="GAIN_BLUE" value="12.5"/>
<define name="GAIN_RED" value="9.0"/>
<define name="TARGET_EXPOSURE" value="20" />
<define name="OUTPUT_SCALER" value="0.25"/>
<define name="TARGET_FPS" value="30" />
</section>

<section name="AIR_DATA" prefix="AIR_DATA_">
Expand All @@ -120,14 +124,14 @@
<define name="CALC_AMSL_BARO" value="TRUE"/>
</section>

<!-- Magnetometer still needs to be calibrated -->
<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"/>
<!-- Magneto calibration -->
<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="7.28514789391" integer="16"/>
<define name="MAG_Y_SENS" value="7.33022132691" integer="16"/>
<define name="MAG_Z_SENS" value="7.57102035692" integer="16"/>
</section>

<!-- local magnetic field -->
Expand All @@ -138,25 +142,25 @@
<define name="H_X" value="0.3892503"/>
<define name="H_Y" value="0.0017972"/>
<define name="H_Z" value="0.9211303"/>
<!-- Use GPS heading instead of magneto -->
<define name="USE_GPS_HEADING" value="FALSE"/>

<define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
<define name="GRAVITY_HEURISTIC_FACTOR" value="0"/>
</section>

<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2"/>
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>

<!-- Use GPS altitude measurments and set the R gain -->
<define name="USE_GPS_ALT" value="0"/>
<!-- <define name="VFF_R_GPS" value="0.01"/> -->
<define name="USE_GPS_ALT" value="1"/>
<define name="VFF_R_GPS" value="0.01"/>
</section>


<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoint limits for attitude stabilization rc flight -->
<define name="SP_MAX_PHI" value="45" unit="deg"/>
<define name="SP_MAX_THETA" value="45" unit="deg"/>
<define name="SP_MAX_R" value="300" unit="deg/s"/>
<define name="SP_MAX_R" value="120" unit="deg/s"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="50"/>
Expand All @@ -174,13 +178,13 @@
<define name="REF_MAX_Q" value="600." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>

<define name="REF_OMEGA_R" value="450" unit="deg/s"/>
<define name="REF_OMEGA_R" value="200" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.9"/>
<define name="REF_MAX_R" value="600." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
<define name="REF_MAX_R" value="300." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(4000.)"/>
</section>

<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
<!-- control effectiveness -->
<define name="G1_P" value="0.0397"/>
<define name="G1_Q" value="0.0299"/>
Expand Down Expand Up @@ -212,39 +216,46 @@
<define name="ADAPTIVE_MU" value="0.0001"/>
</section>


<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="350"/>
<define name="HOVER_KD" value="85"/>
<define name="HOVER_KP" value="283"/>
<define name="HOVER_KD" value="82"/>
<define name="HOVER_KI" value="20"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.68"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>

<define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.68" />
<define name="ADAPT_MIN_HOVER_THROTTLE" value="0.55" />
<define name="ADAPT_MAX_HOVER_THROTTLE" value="0.72" />
<!-- <define name="ADAPT_NOISE_FACTOR" value="0.8" /> -->
</section>

<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="REF_MAX_SPEED" value="2" unit="m/s"/>
<define name="MAX_BANK" value="32" unit="deg"/>
<define name="PGAIN" value="220"/>
<define name="DGAIN" value="160"/>
<define name="IGAIN" value="15"/>
<!-- Good weather -->
<define name="MAX_BANK" value="20" unit="deg"/>
<define name="REF_MAX_SPEED" value="0.5" unit="m/s"/>
<!-- Bad weather -->
<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
<define name="PGAIN" value="120"/>
<define name="DGAIN" value="230"/>
<define name="IGAIN" value="40"/>
</section>

<section name="NAVIGATION" prefix="NAV_">
<define name="CLIMB_VSPEED" value="1.0"/>
<define name="DESCEND_VSPEED" value="-1.0"/>
<define name="DESCEND_VSPEED" value="-0.75"/>
</section>

<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<define name="JSBSIM_MODEL" value="bebop" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<define name="MT9F002_SENSOR_RES_DIVIDER" value="4"/>
</section>
<include href="conf/simulator/gazebo/airframes/bebop.xml"/>

<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_MODULE"/>
<!-- <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/> -->
<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_NAV"/>

Expand All @@ -254,7 +265,7 @@
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="10.8" unit="V"/>
<define name="LOW_BAT_LEVEL" value="11.1" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
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1 change: 0 additions & 1 deletion conf/airframes/tudelft/bebop_mavlink.xml
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Expand Up @@ -133,7 +133,6 @@

<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2"/>
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
</section>


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1 change: 0 additions & 1 deletion conf/airframes/tudelft/bebop_opticflow.xml
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Expand Up @@ -106,7 +106,6 @@

<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2"/>
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
<!--define name="USE_HFF"/-->
</section>

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1 change: 0 additions & 1 deletion conf/airframes/tudelft/bebop_opticflow_indoor.xml
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Expand Up @@ -88,7 +88,6 @@

<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2"/>
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
</section>

<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
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1 change: 0 additions & 1 deletion conf/airframes/tudelft/bebop_ralphthesis2020_stereo.xml
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Expand Up @@ -163,7 +163,6 @@

<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2"/>
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>

<!-- Use GPS altitude measurments and set the R gain -->
<define name="USE_GPS_ALT" value="1"/>
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21 changes: 0 additions & 21 deletions conf/airframes/tudelft/calibrations/bebop2_23.xml
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8 changes: 3 additions & 5 deletions ...ames/tudelft/IMAV2013/chouchou_lisa_s.xml → conf/airframes/tudelft/chouchou_lisa_s.xml
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Expand Up @@ -159,11 +159,6 @@
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>

<modules main_freq="512">
<module name="gps" type="ubx_ucenter"/>
<module name="send_imu_mag_current"/>
</modules>

<firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0">
<module name="radio_control" type="superbitrf_rc">
Expand Down Expand Up @@ -192,5 +187,8 @@
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins"/>

<module name="gps" type="ubx_ucenter"/>
<module name="send_imu_mag_current"/>
</firmware>
</airframe>
1 change: 0 additions & 1 deletion conf/airframes/tudelft/fan_demo.xml
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Expand Up @@ -108,7 +108,6 @@

<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2"/>
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>

<!-- Use GPS altitude measurments and set the R gain -->
<define name="USE_GPS_ALT" value="1"/>
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46 changes: 0 additions & 46 deletions conf/airframes/tudelft/guido_conf.xml
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1 change: 0 additions & 1 deletion conf/airframes/tudelft/iris_indi.xml
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Expand Up @@ -164,7 +164,6 @@
</section>
<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2" />
<define name="SONAR_UPDATE_ON_AGL" value="TRUE" />
</section>
<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoint limits for attitude stabilization rc flight -->
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291 changes: 0 additions & 291 deletions conf/airframes/tudelft/mavshot.xml
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196 changes: 0 additions & 196 deletions conf/airframes/tudelft/mavtec4.xml
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1 change: 0 additions & 1 deletion conf/airframes/tudelft/origami_lisamxs_wifi_indi_stereoboard.xml
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Expand Up @@ -178,7 +178,6 @@
<define name="USE_GPS_SPEED" value="true"/>
<define name="INS_VFF_R_GPS" value="0.1"/>
<define name="INS_VFF_VZ_R_GPS" value="0.1"/>
<define name="SONAR_UPDATE_ON_AGL" value="true"/>
</section>

<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
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1 change: 0 additions & 1 deletion conf/airframes/tudelft/robird.xml
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Expand Up @@ -150,7 +150,6 @@ Flapping wing frame equiped with
</section>
<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2" />
<define name="SONAR_UPDATE_ON_AGL" value="TRUE" />
</section>
<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoint limits for attitude stabilization rc flight -->
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0 conf/airframes/tudelft/splash3.xml → conf/airframes/tudelft/splash_pixracer.xml
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File renamed without changes.
1 change: 0 additions & 1 deletion conf/airframes/tudelft/splash.xml → conf/airframes/tudelft/splash_px4.xml
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Expand Up @@ -135,7 +135,6 @@
</section>
<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2" />
<define name="SONAR_UPDATE_ON_AGL" value="TRUE" />
</section>
<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoint limits for attitude stabilization rc flight -->
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7 changes: 3 additions & 4 deletions ...mes/tudelft/IMAV2013/walkera_V120D02S.xml → conf/airframes/tudelft/walkera_V120D02S.xml
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Expand Up @@ -142,10 +142,6 @@
<define name="IGAIN" value="6"/>
</section>

<modules main_freq="512">
<module name="gps" type="ubx_ucenter"/>
</modules>

<firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0">
<module name="radio_control" type="superbitrf_rc">
Expand All @@ -169,5 +165,8 @@
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins"/>

<module name="gps" type="ubx_ucenter"/>

</firmware>
</airframe>
8 changes: 3 additions & 5 deletions ...es/tudelft/IMAV2013/walkera_genius_v1.xml → conf/airframes/tudelft/walkera_genius_v1.xml
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Expand Up @@ -147,11 +147,6 @@
<define name="IGAIN" value="0"/>
</section>

<modules main_freq="512">
<module name="gps" type="ubx_ucenter"/>
<module name="send_imu_mag_current"/>
</modules>

<firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0">
<module name="radio_control" type="superbitrf_rc">
Expand All @@ -175,5 +170,8 @@
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins"/>

<module name="gps" type="ubx_ucenter"/>
<module name="send_imu_mag_current"/>
</firmware>
</airframe>
209 changes: 0 additions & 209 deletions conf/airframes/tudelft/yapa_xsens.xml
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44 changes: 0 additions & 44 deletions conf/airframes/untested/beagle_bone_black.xml
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156 changes: 0 additions & 156 deletions conf/airframes/untested/delta_wing_minimal.xml
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150 changes: 0 additions & 150 deletions conf/airframes/untested/demo.xml
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58 changes: 0 additions & 58 deletions conf/airframes/untested/demo_cc3d.xml
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190 changes: 0 additions & 190 deletions conf/airframes/untested/easy_glider.xml
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