[Top][All Lists]
[Date Prev][Date Next][Thread Prev][Thread Next][Date Index][Thread Index]
[paparazzi-commits] [5603] xml airframes
|
From: |
Eric |
|
Subject: |
[paparazzi-commits] [5603] xml airframes |
|
Date: |
Mon, 23 Aug 2010 11:28:11 +0000 |
Revision: 5603
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5603
Author: lamestllama
Date: 2010-08-23 11:28:10 +0000 (Mon, 23 Aug 2010)
Log Message:
-----------
xml airframes
Added Paths:
-----------
paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_BOOZ.xml
paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_LISA.xml
paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_NOVA.xml
Added: paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_BOOZ.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_BOOZ.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_BOOZ.xml 2010-08-23
11:28:10 UTC (rev 5603)
@@ -0,0 +1,347 @@
+<!-- UofA Group 1000 Fixed Pitch Airframe using Booz board -->
+
+<airframe name="A1000 BOOZ">
+ <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_">
+
+<!-- beginning of CRISTA IMU sign defines -->
+
+ <define name="GYRO_P_SIGN" value="-1"/>
+ <define name="GYRO_Q_SIGN" value="1"/>
+ <define name="GYRO_R_SIGN" value="1"/>
+
+ <define name="ACCEL_X_SIGN" value="-1"/>
+ <define name="ACCEL_Y_SIGN" value="-1"/>
+ <define name="ACCEL_Z_SIGN" value="1"/>
+
+ <define name="MAG_X_SIGN" value="-1"/>
+ <define name="MAG_Y_SIGN" value="1"/>
+ <define name="MAG_Z_SIGN" value="-1"/>
+
+<!-- end of crista imu sign defines -->
+
+ <define name="GYRO_P_CHAN" value="4"/>
+ <define name="GYRO_Q_CHAN" value="0"/>
+ <define name="GYRO_R_CHAN" value="1"/>
+
+<!-- <define name="GYRO_P_NEUTRAL" value="32734"/>
+
+ <define name="GYRO_Q_NEUTRAL" value="32272"/>
+ <define name="GYRO_R_NEUTRAL" value="32420"/> -->
+
+<define name="GYRO_P_NEUTRAL" value="30900"/>
+
+ <define name="GYRO_Q_NEUTRAL" value="32400"/>
+ <define name="GYRO_R_NEUTRAL" value="31800"/>
+
+ <define name="GYRO_P_SENS" value=" 0.85" integer="16"/>
+ <define name="GYRO_Q_SENS" value=" 0.85" integer="16"/>
+ <define name="GYRO_R_SENS" value=" 0.85" integer="16"/>
+
+ <define name="ACCEL_X_CHAN" value="2"/>
+ <define name="ACCEL_Y_CHAN" value="5"/>
+ <define name="ACCEL_Z_CHAN" value="6"/>
+
+ <define name="ACCEL_X_SENS" value=" 6.29676358" integer="16"/>
+ <define name="ACCEL_Y_SENS" value=" 6.07991732" integer="16"/>
+ <define name="ACCEL_Z_SENS" value=" 6.62632272" integer="16"/>
+
+ <define name="ACCEL_X_NEUTRAL" value="40385"/>
+ <define name="ACCEL_Y_NEUTRAL" value="39223"/>
+ <define name="ACCEL_Z_NEUTRAL" value="38860"/>
+ <!-- test neutral <define name="ACCEL_Z_NEUTRAL" value="38900"/> -->
+
+
+ <define name="MAG_X_CHAN" value="4"/> <!-- previously 0-->
+ <define name="MAG_Y_CHAN" value="0"/> <!-- previously 4-->
+ <define name="MAG_Z_CHAN" value="2"/>
+
+
+
+<!--
+ <define name="MAG_X_NEUTRAL" value="2339"/>
+ <define name="MAG_Y_NEUTRAL" value="2106"/>
+ <define name="MAG_Z_NEUTRAL" value="1902"/>
+
+ <define name="MAG_X_SENS" value=" 4.4039655" integer="16"/>
+ <define name="MAG_Y_SENS" value=" 4.2959321" integer="16"/>
+ <define name="MAG_Z_SENS" value=" 4.0988408" integer="16"/> -->
+<!--
+second attempt
+ <define name="MAG_X_NEUTRAL" value="2169"/>
+ <define name="MAG_Y_NEUTRAL" value="2263"/>
+ <define name="MAG_Z_NEUTRAL" value="1673"/>
+-->
+
+
+
+<!-- Second Attempt
+ <define name="MAG_X_SENS" value="3.77021943193" integer="16"/>
+ <define name="MAG_Y_SENS" value="3.4884990526" integer="16"/>
+ <define name="MAG_Z_SENS" value="3.52031672283" integer="16"/>
+-->
+
+ <define name="MAG_X_NEUTRAL" value="2110"/>
+ <define name="MAG_Y_NEUTRAL" value="2168"/>
+ <define name="MAG_Z_NEUTRAL" value="1612"/>
+
+ <define name="MAG_45_HACK" value="1"/>
+
+ <define name="MAG_X_SENS" value="2.828427125" integer="16"/>
+ <define name="MAG_Y_SENS" value="2.973101172" integer="16"/>
+ <define name="MAG_Z_SENS" value="3.88650043" integer="16"/>
+
+
+
+<!--
+ <define name="MAG_X_SENS" value="2.665947727" integer="16"/>
+ <define name="MAG_Y_SENS" value="2.466741336" integer="16"/>
+ <define name="MAG_Z_SENS" value="3.4884990526" integer="16"/>
+
+ <define name="MAG_45_HACK" value="1"/>
+-->
+ <define name="BODY_TO_IMU_PHI" value="RadOfDeg( 2.9 )"/> <!-- previously
1.5-->
+ <define name="BODY_TO_IMU_THETA" value="RadOfDeg( -3.7 )"/> <!--
previously -1.5-->
+ <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"/>
+
+<!-- new section from the NOVA -->
+
+ <define name="DEADBAND_P" value="0" />
+ <define name="DEADBAND_Q" value="0" />
+ <define name="DEADBAND_R" value="200" />
+ <define name="REF_TAU" value="4" />
+
+ <!-- feedback -->
+ <define name="GAIN_P" value="-400" />
+ <define name="GAIN_Q" value="-400" />
+ <define name="GAIN_R" value="-350" />
+
+ <define name="IGAIN_P" value="-75" />
+ <define name="IGAIN_Q" value="-75" />
+ <define name="IGAIN_R" value="-50" />
+
+ <!-- feedforward -->
+ <define name="DDGAIN_P" value="300" />
+ <define name="DDGAIN_Q" value="300" />
+ <define name="DDGAIN_R" value="300" />
+
+ <!-- original values
+ <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(500)"/> <!--originally 800-->
+ <define name="REF_ZETA_P" value="0.85"/>
+ <define name="REF_MAX_P" value="RadOfDeg(300.)"/>
+ <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
+
+ <define name="REF_OMEGA_Q" value="RadOfDeg(500)"/> <!-- originally 800-->
+ <define name="REF_ZETA_Q" value="0.85"/>
+ <define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
+ <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
+
+ <define name="REF_OMEGA_R" value="RadOfDeg(700)"/> <!-- originally 500-->
+ <define name="REF_ZETA_R" value="0.85"/>
+ <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="INS" prefix="BOOZ_INS_">
+ <define name="BARO_SENS" value="14.9" 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="0.25" 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_Z_HOLD"/>
+ <define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_HOVER_Z_HOLD"/>
+ </section>
+
+ <section name="FMS">
+
+ </section>
+
+ <section name="MISC">
+ <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
+ <define name="NOMINAL_AIRSPEED" value="1"/>
+</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_a1.h""/>
+ </section>
+
+
+ <firmware name="rotorcraft">
+ <target name="ap" board="booz_1.0">
+ <param name="FLASH_MODE" value="IAP"/> <!-- default for the board but
putting it here as example-->
+ </target>
+
+ <target name="sim" board="pc" />
+
+ <subsystem name="radio_control" type="ppm"/>
+ <subsystem name="actuators" type="mkk"/>
+ <subsystem name="imu" type="crista"/>
+ <subsystem name="gps" type="ublox"/>
+ <subsystem name="ahrs" type="cmpl"/>
+ <subsystem name="ins" type="hff"/>
+ <define name="RADIO_CONTROL_KILL_SWITCH" value="RADIO_CONTROL_SWITCH1"/>
+ <!-- <define name="KILL_MOTORS"/> -->
+ <define name="MODEM_BAUD" value = "B57600"/>
+ <define name="BOOZ_FAILSAFE_GROUND_DETECT"/>
+ <define name="GPS_LAG" value = "0.8"/>
+ <define name="USE_GPS_ACC4R" />
+ <define name="GPS_USE_LATLONG"/>
+ <define name="USE_ADAPT_HOVER"/>
+ <define name="USE_INS_NAV_INIT"/>
+ <define name="BOOZ_START_DELAY" value = "3"/>
+ </firmware>
+
+ <firmware name="booz_test_progs">
+ <target name="test_telemetry" board="booz_1.0"/>
+ <target name="test_baro" board="booz_1.0"/>
+ <target name="test_spektrum" board="booz_1.0"/>
+ </firmware>
+
+
+<!-- old makefile section
+ <makefile>
+
+ARCHI=arm7
+ARCH=lpc21
+BOARD_CFG = \"boards/booz2_v1_0.h\"
+
+# prevents motors from ever starting
+ap.CFLAGS += -DKILL_MOTORS
+ap.CFLAGS += -DMODEM_BAUD=B57600
+#ap.CFLAGS += -DGPS_USE_LATLONG now included in NOVA section, include if NOVA
section removed
+
+#throttle killswitch
+ap.CFLAGS += -DRADIO_CONTROL_KILL_SWITCH=RADIO_CONTROL_SWITCH1
+
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(CFG_BOOZ)/booz2_autopilot.makefile
+include $(CFG_BOOZ)/booz2_test_progs.makefile
+
+include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
+include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
+include $(CFG_BOOZ)/subsystems/booz2_imu_crista.makefile
+include $(CFG_BOOZ)/subsystems/booz_gps_ublox.makefile
+
+include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
+
+#include $(CFG_BOOZ)/subsystems/booz2_fms_test_signal.makefile
+
+#stuff from nova below
+
+ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
+
+include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
+#set GPS lag for horizontal filter
+ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R
+ap.CFLAGS += -DGPS_USE_LATLONG
+
+ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
+
+ </makefile>
+ -->
+
+</airframe>
Added: paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_LISA.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_LISA.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_LISA.xml 2010-08-23
11:28:10 UTC (rev 5603)
@@ -0,0 +1,223 @@
+<!-- this is an asctec frame equiped with Lisa/L#3 and asctec V2 controllers
-->
+
+<airframe name="A1000 LISA">
+
+ <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="LEFT" no="2" min="0" neutral="0" max="255"/>
+ <servo name="RIGHT" 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="SUPERVISION" prefix="SUPERVISION_">
+ <define name="MIN_MOTOR" value="3"/>
+ <define name="MAX_MOTOR" value="200"/>
+ <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="32858"/>
+ <define name="GYRO_Q_NEUTRAL" value="33152"/>
+ <define name="GYRO_R_NEUTRAL" value="31779"/>
+ <define name="GYRO_P_SENS" value=" 1.101357422" integer="16"/>
+ <define name="GYRO_Q_SENS" value=" 1.122670898" integer="16"/>
+ <define name="GYRO_R_SENS" value=" 1.104890137" integer="16"/>
+
+
+ <define name="ACCEL_X_NEUTRAL" value="32899"/>
+ <define name="ACCEL_Y_NEUTRAL" value="33281"/>
+ <define name="ACCEL_Z_NEUTRAL" value="32569"/>
+ <define name="ACCEL_X_SENS" value="2.57702956051" integer="16"/>
+ <define name="ACCEL_Y_SENS" value="2.57835230627" integer="16"/>
+ <define name="ACCEL_Z_SENS" value="2.54311399868" integer="16"/>
+
+
+ <define name="MAG_X_NEUTRAL" value="30"/>
+ <define name="MAG_Y_NEUTRAL" value="80"/>
+ <define name="MAG_Z_NEUTRAL" value="19"/>
+ <define name="MAG_X_SENS" value="4.73590916868" integer="16"/>
+ <define name="MAG_Y_SENS" value="4.86013203775" integer="16"/>
+ <define name="MAG_Z_SENS" value="2.5947951512" integer="16"/>
+
+ <define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0. )"/>
+ <define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0. )"/>
+ <define name="BODY_TO_IMU_PSI" value="RadOfDeg( 135.)"/>
+
+ </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_DIRECT"/>
+ <define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
+ </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="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="0.85"/>
+ <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="0.85"/>
+ <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="0.85"/>
+ <define name="REF_MAX_R" value="RadOfDeg(180.)"/>
+ <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
+
+ <!-- feedback -->
+ <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="-400"/>
+
+ <define name="PSI_PGAIN" value="-1000"/>
+ <define name="PSI_DGAIN" value="-350"/>
+ <define name="PSI_IGAIN" value="-10"/>
+
+ <!-- feedforward -->
+ <define name="PHI_DDGAIN" value=" 300"/>
+ <define name="THETA_DDGAIN" value=" 300"/>
+ <define name="PSI_DDGAIN" value=" 300"/>
+
+ </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="MISC">
+ <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
+ </section>
+
+
+ <firmware name="rotorcraft">
+ <target name="ap" board="lisa_l_1.0"/>
+ <subsystem name="radio_control" type="spektrum">
+ <param name="RADIO_CONTROL_SPEKTRUM_MODEL"
+
value="\\\"booz/radio_control/booz_radio_control_spektrum_dx7se.h\\\""/>
+ </subsystem>
+ <subsystem name="actuators" type="asctec"/>
+ <subsystem name="imu" type="b2_v1.1"/>
+ <subsystem name="gps" type="ublox"/>
+ <subsystem name="ahrs" type="cmpl"/>
+ </firmware>
+
+ <firmware name="lisa_l_test_progs">
+ <target name="test_telemetry" board="lisa_l_1.0"/>
+ <target name="test_baro" board="lisa_l_1.0"/>
+ <target name="test_spektrum" board="lisa_l_1.0"/>
+ </firmware>
+
+ <firmware name="lisa_passthrough">
+ <target name="stm_passthrough" board="lisa_l_1.0"/>
+ <subsystem name="radio_control" type="spektrum">
+ <param name="RADIO_CONTROL_SPEKTRUM_MODEL"
+
value="\\\"booz/radio_control/booz_radio_control_spektrum_dx7se.h\\\""/>
+ </subsystem>
+ <subsystem name="imu" type="b2_v1.1"/>
+ </firmware>
+
+ <makefile>
+
+include $(PAPARAZZI_SRC)/conf/autopilot/lisa_test_progs.makefile
+
+<!-- old makefile version
+ARCH=stm32
+ARCHI=stm32
+BOARD_CFG=\"boards/lisa_0.99.h\"
+FLASH_MODE = JTAG
+
+ap.CFLAGS += -DMODEM_BAUD=B57600
+
+ap.CFLAGS +=
-DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"radio_control/booz_radio_control_spektrum_dx7eu.h\"
+ap.CFLAGS += -DGPS_USE_LATLONG
+ap.CFLAGS += -DGPS_PORT_ID=GPS_PORT_UART1
+
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(CFG_BOOZ)/booz2_autopilot.makefile
+
+include $(CFG_BOOZ)/subsystems/booz2_radio_control_spektrum.makefile
+include $(CFG_BOOZ)/subsystems/booz2_actuators_asctec_v2.makefile
+include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
+include $(CFG_BOOZ)/subsystems/booz_gps_ublox.makefile
+include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
+
+
+include $(PAPARAZZI_SRC)/conf/autopilot/lisa_test_progs.makefile
+-->
+ </makefile>
+
+</airframe>
Added: paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_NOVA.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_NOVA.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/UofAdelaide/A1000_NOVA.xml 2010-08-23
11:28:10 UTC (rev 5603)
@@ -0,0 +1,299 @@
+<airframe name="A1000 NOVA">
+
+<!-- BOOZ2_NoVa
+ BOOZ2_MAIN_002 main board
+ BOOZ2_IMU_002 IMU
+ BOOZ2_GPS_002 LEA-5H GPS
+ Datamodems configured for 57600 baud
+ ZEF100 Speed Controllers
+ -->
+
+ <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="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="31675"/>
+ <define name="GYRO_Q_NEUTRAL" value="31650"/>
+ <define name="GYRO_R_NEUTRAL" value="31475"/>
+
+ <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="5"/>
+ <define name="ACCEL_Y_CHAN" value="3"/>
+ <define name="ACCEL_Z_CHAN" value="4"/>
+
+ <define name="ACCEL_X_SENS" value=" 2.57091959" integer="16"/>
+ <define name="ACCEL_Y_SENS" value=" 2.55833628" integer="16"/>
+ <define name="ACCEL_Z_SENS" value=" 2.57095664" integer="16"/>
+
+ <define name="ACCEL_X_NEUTRAL" value="32875"/>
+ <define name="ACCEL_Y_NEUTRAL" value="32516"/>
+ <define name="ACCEL_Z_NEUTRAL" value="32398"/>
+
+ <define name="MAG_X_CHAN" value="0"/>
+ <define name="MAG_Y_CHAN" value="1"/>
+ <define name="MAG_Z_CHAN" value="2"/>
+
+ <define name="MAG_X_NEUTRAL" value="-22"/>
+ <define name="MAG_Y_NEUTRAL" value="-14"/>
+ <define name="MAG_Z_NEUTRAL" value="16"/>
+
+ <define name="MAG_X_SENS" value="4.79355327494" integer="16"/>
+ <define name="MAG_Y_SENS" value=" 5.04941795802" integer="16"/>
+ <define name="MAG_Z_SENS" value=" 2.98000294999" integer="16"/>
+
+
+ <define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)"/>
+ <define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)"/>
+ <define name="BODY_TO_IMU_PSI" value="RadOfDeg(-90.)"/>
+
+ </section>
+
+<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+ <!-- setpoints -->
+ <define name="SP_MAX_P" value="10000" />
+ <define name="SP_MAX_Q" value="10000" />
+ <define name="SP_MAX_R" value="10000" />
+ <define name="DEADBAND_P" value="0" />
+ <define name="DEADBAND_Q" value="0" />
+ <define name="DEADBAND_R" value="200" />
+ <define name="REF_TAU" value="4" />
+
+ <!-- feedback -->
+ <define name="GAIN_P" value="-400" />
+ <define name="GAIN_Q" value="-400" />
+ <define name="GAIN_R" value="-350" />
+
+ <define name="IGAIN_P" value="-75" />
+ <define name="IGAIN_Q" value="-75" />
+ <define name="IGAIN_R" value="-50" />
+
+ <!-- feedforward -->
+ <define name="DDGAIN_P" value="300" />
+ <define name="DDGAIN_Q" value="300" />
+ <define name="DDGAIN_R" value="300" />
+ </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(180.)"/><!-- Maximum speed
in deg/s-->
+ <define name="DEADBAND_R" value="250"/>
+
+ <!-- reference -->
+ <define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
+ <define name="REF_ZETA_P" value="0.85"/>
+ <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="0.85"/>
+ <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="0.85"/>
+ <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"/>
+-->
+
+ <define name="PHI_PGAIN" value="-1000"/>
+ <define name="PHI_DGAIN" value="-300"/>
+ <define name="PHI_IGAIN" value="-100"/>
+
+ <define name="THETA_PGAIN" value="-1000"/>
+ <define name="THETA_DGAIN" value="-300"/>
+ <define name="THETA_IGAIN" value="-100"/>
+
+ <define name="PSI_PGAIN" value="-1000"/>
+ <define name="PSI_DGAIN" value="-350"/>
+ <define name="PSI_IGAIN" value="-10"/>
+
+ <!-- feedforward -->
+ <define name="PHI_DDGAIN" value=" 300"/>
+ <define name="THETA_DDGAIN" value=" 300"/>
+ <define name="PSI_DDGAIN" value=" 300"/>
+
+ </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="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+ <define name="NB" value="4" />
+ <define name="ADDR" value="{ 0x52, 0x58, 0x54, 0x56 }" />
+ </section>
+
+ <section name="INS" prefix="BOOZ_INS_">
+ <define name="BARO_SENS" value="14.9" 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="REF_MIN_ZDD" value="-1.5*9.81"/>
+ <define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
+ <define name="REF_MIN_ZD" value="-1.5"/>
+ <define name="REF_MAX_ZD" value=" 1.5"/>
+ <define name="HOVER_KP" value="-150"/>
+ <define name="HOVER_KD" value="-80"/>
+ <define name="HOVER_KI" value="0"/>
+ <!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
+ <define name="RC_CLIMB_COEF" value ="163"/>
+ <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
+ <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+ <!-- <define name="INV_M" value="0.118"/> -->
+ </section>
+
+<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
+ <define name="PGAIN" value="-50"/>
+ <define name="DGAIN" value="-60"/>
+ <define name="IGAIN" value="-15"/>
+ <define name="NGAIN" value="-0"/>
+ <define name="AGAIN" value="-0"/>
+ </section>
+
+ <section name="BAT">
+ <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9.0" unit="V"/>
+ <define name="BATTERY_SENS" value="0.18" integer="16"/>
+<!-- <define name="BATTERY_SENS" value="1" 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_HOVER_Z_HOLD"/>
+ <define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_NAV"/>
+ </section>
+
+
+ <section name="MISC">
+ <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
+ </section>
+
+
+ <firmware name="rotorcraft">
+ <target name="ap" board="booz_1.0">
+ <param name="FLASH_MODE" value="IAP"/> <!-- default for the board but
putting it here as example-->
+ </target>
+
+ <target name="sim" board="pc" />
+
+ <subsystem name="radio_control" type="ppm"/>
+ <subsystem name="actuators" type="mkk"/>
+ <subsystem name="imu" type="b2_v1.1"/>
+ <subsystem name="gps" type="ublox"/>
+ <subsystem name="ahrs" type="cmpl"/>
+ <subsystem name="ins" type="hff"/>
+ <define name="RADIO_CONTROL_KILL_SWITCH" value="RADIO_CONTROL_SWITCH1"/>
+ <!-- <define name="KILL_MOTORS"/> -->
+ <define name="MODEM_BAUD" value = "B57600"/>
+ <define name="BOOZ_FAILSAFE_GROUND_DETECT"/>
+ <define name="GPS_LAG" value = "0.8"/>
+ <define name="USE_GPS_ACC4R" />
+ <define name="GPS_USE_LATLONG"/>
+ <define name="USE_ADAPT_HOVER"/>
+ <define name="USE_INS_NAV_INIT"/>
+ <define name="BOOZ_START_DELAY" value = "3"/>
+ </firmware>
+
+ <firmware name="booz_test_progs">
+ <target name="test_telemetry" board="booz_1.0"/>
+ <target name="test_baro" board="booz_1.0"/>
+ <target name="test_spektrum" board="booz_1.0"/>
+ </firmware>
+
+
+<!-- old makefile version
+
+ <makefile>
+
+ARCHI=arm7
+ARCH=lpc21
+FLASH_MODE=IAP
+BOARD_CFG = \"boards/booz2_v1_0.h\"
+
+# prevents motors from ever starting
+ap.CFLAGS += -DKILL_MOTORS
+
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(CFG_BOOZ)/booz2_autopilot.makefile
+include $(CFG_BOOZ)/booz2_test_progs.makefile
+ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
+
+# radio killswitch
+ap.CFLAGS += -DRADIO_CONTROL_KILL_SWITCH=RADIO_CONTROL_SWITCH1
+
+
+ap.CFLAGS += -DMODEM_BAUD=B57600
+include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
+include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
+include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
+include $(CFG_BOOZ)/subsystems/booz_gps_ublox.makefile
+
+include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
+
+
+include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
+#set GPS lag for horizontal filter
+ap.CFLAGS += -DGPS_LAG=0.8
+#-DUSE_GPS_ACC4R
+ap.CFLAGS += -DGPS_USE_LATLONG
+
+ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
+
+ </makefile>
+-->
+
+
+</airframe>
| [Prev in Thread] |
Current Thread |
[Next in Thread] |
- [paparazzi-commits] [5603] xml airframes,
Eric <=