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[paparazzi-commits] [4683] added a vehicle for some simulation tests
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From: |
antoine drouin |
|
Subject: |
[paparazzi-commits] [4683] added a vehicle for some simulation tests |
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Date: |
Mon, 15 Mar 2010 15:37:47 +0000 |
Revision: 4683
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4683
Author: poine
Date: 2010-03-15 15:37:47 +0000 (Mon, 15 Mar 2010)
Log Message:
-----------
added a vehicle for some simulation tests
Added Paths:
-----------
paparazzi3/trunk/conf/airframes/booz2_a1p.xml
paparazzi3/trunk/conf/simulator/nps/nps_sensors_params_booz2_a1p.h
Added: paparazzi3/trunk/conf/airframes/booz2_a1p.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_a1p.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/booz2_a1p.xml 2010-03-15 15:37:47 UTC
(rev 4683)
@@ -0,0 +1,230 @@
+<airframe name="BOOZ2_a1">
+
+ <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>
+
+ <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_CHAN" value="1"/>
+ <define name="GYRO_Q_CHAN" value="0"/>
+ <define name="GYRO_R_CHAN" value="2"/>
+
+ <define name="GYRO_P_NEUTRAL" value="33924"/>
+ <define name="GYRO_Q_NEUTRAL" value="33417"/>
+ <define name="GYRO_R_NEUTRAL" value="32809"/>
+
+ <define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
+ <define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
+ <define name="GYRO_R_SENS" value="-1.01" integer="16"/>
+
+ <define name="ACCEL_X_CHAN" value="3"/>
+ <define name="ACCEL_Y_CHAN" value="5"/>
+ <define name="ACCEL_Z_CHAN" value="6"/>
+
+ <define name="ACCEL_X_SENS" value="-2.50411474" integer="16"/>
+ <define name="ACCEL_Y_SENS" value="-2.48126183" integer="16"/>
+ <define name="ACCEL_Z_SENS" value="-2.51396167" integer="16"/>
+
+ <define name="ACCEL_X_NEUTRAL" value="32081"/>
+ <define name="ACCEL_Y_NEUTRAL" value="33738"/>
+ <define name="ACCEL_Z_NEUTRAL" value="32441"/>
+
+ <define name="MAG_X_CHAN" value="4"/>
+ <define name="MAG_Y_CHAN" value="0"/>
+ <define name="MAG_Z_CHAN" value="2"/>
+
+ <define name="MAG_X_NEUTRAL" value="2358"/>
+ <define name="MAG_Y_NEUTRAL" value="2362"/>
+ <define name="MAG_Z_NEUTRAL" value="2119"/>
+
+ <define name="MAG_X_SENS" value="-4.94075530" integer="16"/>
+ <define name="MAG_Y_SENS" value=" 5.10207664" integer="16"/>
+ <define name="MAG_Z_SENS" value="-4.90788848" integer="16"/>
+<!-- <define name="MAG_45_HACK" value="1"/> -->
+<!-- <define name="MAG_X_SENS" value="-4.94075530 * sqrt(2)/2"
integer="16"/> -->
+<!-- <define name="MAG_Y_SENS" value=" 5.10207664 * sqrt(2)/2"
integer="16"/> -->
+<!-- <define name="MAG_X_SENS" value="-3.4936416" integer="16"/> -->
+<!-- <define name="MAG_Y_SENS" value=" 3.607713" integer="16"/> -->
+
+ <define name="BODY_TO_IMU_PHI" value="RadOfDeg(4.)"/>
+ <define name="BODY_TO_IMU_THETA" value="RadOfDeg(3.)"/>
+ <define name="BODY_TO_IMU_PSI" value="RadOfDeg(0.)"/>
+
+ </section>
+
+ <section name="STABILIZATION_RATE" prefix="BOOZ_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="BOOZ_STABILIZATION_ATTITUDE_">
+
+ <!-- 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"/>
+
+ <!-- reference -->
+ <define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
+ <define name="REF_ZETA_P" value="0.9"/>
+ <define name="REF_MAX_P" value="RadOfDeg(300.)"/>
+ <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
+
+ <define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
+ <define name="REF_ZETA_Q" value="0.9"/>
+ <define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
+ <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
+
+ <define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
+ <define name="REF_ZETA_R" value="0.9"/>
+ <define name="REF_MAX_R" value="RadOfDeg(180.)"/>
+ <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
+
+ <!-- feedback -->
+ <define name="PHI_PGAIN" value="-400"/>
+ <define name="PHI_DGAIN" value="-300"/>
+ <define name="PHI_IGAIN" value="-100"/>
+
+ <define name="THETA_PGAIN" value="-400"/>
+ <define name="THETA_DGAIN" value="-300"/>
+ <define name="THETA_IGAIN" value="-100"/>
+
+ <define name="PSI_PGAIN" value="-380"/>
+ <define name="PSI_DGAIN" value="-320"/>
+ <define name="PSI_IGAIN" value="-75"/>
+
+ <!-- feedforward -->
+ <define name="PHI_DDGAIN" value=" 300"/>
+ <define name="THETA_DDGAIN" value=" 300"/>
+ <define name="PSI_DDGAIN" value=" 300"/>
+
+ </section>
+
+ <section name="ARHS" prefix="AHRS_">
+ <define name="H_X" value="0.4912"/>
+ <define name="H_Y" value="0.1225"/>
+ <define name="H_Z" value="0.8624"/>
+ </section>
+
+ <section name="INS" prefix="BOOZ_INS_">
+ <define name="BARO_SENS" value="15." integer="16"/>
+ </section>
+
+ <section name="GUIDANCE_V" prefix="BOOZ2_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>
+
+
+ <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
+ <define name="PGAIN" value="-100"/>
+ <define name="DGAIN" value="-100"/>
+ <define name="IGAIN" value="-0"/>
+ </section>
+
+ <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>
+
+ <section name="AUTOPILOT">
+ <define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
+ <define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
+ <define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
+ </section>
+
+ <section name="FMS">
+
+ </section>
+
+ <section name="MISC">
+ <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
+ </section>
+
+
+ <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_a1p.h""/>
+ </section>
+
+
+
+
+ <makefile>
+ARCH=lpc21
+BOARD_CFG = \"boards/booz2_v1_0.h\"
+
+# prevents motors from ever starting
+#ap.CFLAGS += -DKILL_MOTORS
+ap.CFLAGS += -DMODEM_BAUD=B57600
+
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(CFG_BOOZ)/booz2_autopilot.makefile
+include $(CFG_BOOZ)/booz2_test_progs.makefile
+
+include $(CFG_BOOZ)/booz2_simulator_nps.makefile
+
+include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
+include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
+include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1.makefile
+include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
+
+include $(CFG_BOOZ)/subsystems/booz_ahrs_mlkf.makefile
+
+include $(CFG_BOOZ)/subsystems/booz2_fms_test_signal.makefile
+
+ </makefile>
+
+</airframe>
Added: paparazzi3/trunk/conf/simulator/nps/nps_sensors_params_booz2_a1p.h
===================================================================
--- paparazzi3/trunk/conf/simulator/nps/nps_sensors_params_booz2_a1p.h
(rev 0)
+++ paparazzi3/trunk/conf/simulator/nps/nps_sensors_params_booz2_a1p.h
2010-03-15 15:37:47 UTC (rev 4683)
@@ -0,0 +1,173 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2009 Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+#ifndef NPS_SENSORS_PARAMS_H
+#define NPS_SENSORS_PARAMS_H
+
+#include "airframe.h"
+
+#if 1
+#define NPS_BODY_TO_IMU_PHI IMU_BODY_TO_IMU_PHI
+#define NPS_BODY_TO_IMU_THETA IMU_BODY_TO_IMU_THETA
+#define NPS_BODY_TO_IMU_PSI IMU_BODY_TO_IMU_PSI
+#else
+#define NPS_BODY_TO_IMU_PHI RadOfDeg(0.)
+#define NPS_BODY_TO_IMU_THETA RadOfDeg(0.)
+#define NPS_BODY_TO_IMU_PSI RadOfDeg(0.)
+#endif
+
+/*
+ * Accelerometer
+ */
+#define NPS_ACCEL_RESOLUTION (65536)
+/* ms-2 */
+/* aka 2^10/ACCEL_X_SENS */
+#define NPS_ACCEL_SENSITIVITY_XX ACCEL_BFP_OF_REAL(-1./2.50411474)
+#define NPS_ACCEL_SENSITIVITY_YY ACCEL_BFP_OF_REAL(-1./2.48126183)
+#define NPS_ACCEL_SENSITIVITY_ZZ ACCEL_BFP_OF_REAL(-1./2.51396167)
+
+#define NPS_ACCEL_NEUTRAL_X 32081
+#define NPS_ACCEL_NEUTRAL_Y 33738
+#define NPS_ACCEL_NEUTRAL_Z 32441
+/* m2s-4 */
+#define NPS_ACCEL_NOISE_STD_DEV_X 5.e-2
+#define NPS_ACCEL_NOISE_STD_DEV_Y 5.e-2
+#define NPS_ACCEL_NOISE_STD_DEV_Z 5.e-2
+/* ms-2 */
+#define NPS_ACCEL_BIAS_X 0
+#define NPS_ACCEL_BIAS_Y 0
+#define NPS_ACCEL_BIAS_Z 0
+/* s */
+#define NPS_ACCEL_DT (1./512.)
+
+
+
+/*
+ * Gyrometer
+ */
+#define NPS_GYRO_RESOLUTION 65536
+
+/* 2^12/GYRO_X_SENS */
+#define NPS_GYRO_SENSITIVITY_PP RATE_BFP_OF_REAL( 1./1.01)
+#define NPS_GYRO_SENSITIVITY_QQ RATE_BFP_OF_REAL(-1./1.01)
+#define NPS_GYRO_SENSITIVITY_RR RATE_BFP_OF_REAL(-1./1.01)
+
+#define NPS_GYRO_NEUTRAL_P 33924
+#define NPS_GYRO_NEUTRAL_Q 33417
+#define NPS_GYRO_NEUTRAL_R 32809
+
+#define NPS_GYRO_NOISE_STD_DEV_P RadOfDeg(0.1)
+#define NPS_GYRO_NOISE_STD_DEV_Q RadOfDeg(0.1)
+#define NPS_GYRO_NOISE_STD_DEV_R RadOfDeg(0.1)
+
+#define NPS_GYRO_BIAS_INITIAL_P RadOfDeg( 2.0)
+#define NPS_GYRO_BIAS_INITIAL_Q RadOfDeg( 1.0)
+#define NPS_GYRO_BIAS_INITIAL_R RadOfDeg(-5.0)
+
+#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_P RadOfDeg(0.0)
+#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_Q RadOfDeg(0.0)
+#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_R RadOfDeg(0.0)
+/* s */
+#define NPS_GYRO_DT (1./512.)
+
+
+
+/*
+ * Magnetometer
+ */
+//#define BSM_MAG_RESOLUTION 65536
+
+#define NPS_MAG_IMU_TO_SENSOR_PHI 0.
+#define NPS_MAG_IMU_TO_SENSOR_THETA 0.
+#define NPS_MAG_IMU_TO_SENSOR_PSI 0.
+
+#define NPS_MAG_SENSITIVITY_XX MAG_BFP_OF_REAL(-1./4.94075530)
+#define NPS_MAG_SENSITIVITY_YY MAG_BFP_OF_REAL( 1./5.10207664)
+#define NPS_MAG_SENSITIVITY_ZZ MAG_BFP_OF_REAL(-1./4.90788848)
+
+#define NPS_MAG_NEUTRAL_X 2358
+#define NPS_MAG_NEUTRAL_Y 2362
+#define NPS_MAG_NEUTRAL_Z 2119
+
+#define NPS_MAG_NOISE_STD_DEV_X 2e-3
+#define NPS_MAG_NOISE_STD_DEV_Y 2e-3
+#define NPS_MAG_NOISE_STD_DEV_Z 2e-3
+
+#define NPS_MAG_DT (1./100.)
+
+
+/*
+ * Range meter
+ */
+#define BSM_RANGEMETER_RESOLUTION (1024)
+#define BSM_RANGEMETER_SENSITIVITY (1024. / 12.)
+#define BSM_RANGEMETER_MAX_RANGE (6. * BSM_RANGEMETER_SENSITIVITY)
+#define BSM_RANGEMETER_DT (1./20.)
+
+
+/*
+ * Barometer
+ */
+/* m */
+/* aka 2^8/INS_BARO_SENS */
+#define NPS_BARO_QNH 900.
+#define NPS_BARO_SENSITIVITY 17.066667
+#define NPS_BARO_DT (1./100.)
+#define NPS_BARO_NOISE_STD_DEV 5.e-2
+
+/*
+ * GPS
+ */
+
+#ifdef GPS_PERFECT
+
+#define NPS_GPS_SPEED_NOISE_STD_DEV 0.
+#define NPS_GPS_SPEED_LATENCY 0.
+#define NPS_GPS_POS_NOISE_STD_DEV 0.001
+#define NPS_GPS_POS_BIAS_INITIAL_X 0.
+#define NPS_GPS_POS_BIAS_INITIAL_Y 0.
+#define NPS_GPS_POS_BIAS_INITIAL_Z 0.
+#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 0.
+#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 0.
+#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 0.
+#define NPS_GPS_POS_LATENCY 0.
+
+#else
+
+#define NPS_GPS_SPEED_NOISE_STD_DEV 1
+#define NPS_GPS_SPEED_LATENCY 0.8
+#define NPS_GPS_POS_NOISE_STD_DEV 2
+#define NPS_GPS_POS_BIAS_INITIAL_X 0e-1
+#define NPS_GPS_POS_BIAS_INITIAL_Y -0e-1
+#define NPS_GPS_POS_BIAS_INITIAL_Z -0e-1
+#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 1e-3
+#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 1e-3
+#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 1e-3
+#define NPS_GPS_POS_LATENCY 0.8
+
+#endif /* GPS_PERFECT */
+
+#define NPS_GPS_DT (1./4.)
+
+#endif /* NPS_SENSORS_PARAMS_H */
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- [paparazzi-commits] [4683] added a vehicle for some simulation tests,
antoine drouin <=