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[Paparazzi-devel] Still can't make the simulator work help!
From: |
Chris |
Subject: |
[Paparazzi-devel] Still can't make the simulator work help! |
Date: |
Sun, 24 Jun 2012 14:38:38 +0300 |
User-agent: |
Mozilla/5.0 (X11; Linux i686; rv:13.0) Gecko/20120615 Thunderbird/13.0.1 |
Ok this is as far as i can go so i need some help.
I am trying to simulate a flight with the newest dev version but all i
can achieve is to take off and after 30-50 meters the plane dives
steeply to the ground, it behaves much like a pitch control oscillation.
The PFD is not moving at all and gains are all positive now.
Throttle is working at 100% all the time so it is not a throttle problem.
Here is my airframe file as i can't think of something else.
<!--
X8 DELTA WING
Twog v1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
PPZUAVIMU
(http://paparazzi.enac.fr/wiki/Inertial_Measurement_Units#PPZUAV_IMU_9DOF)
XBee modem
(http://paparazzi.enac.fr/wiki/index.php/Modems#Maxstream_XBee_Pro) in
transparent mode.
Attopilot (SparkFun) curent sensor
(http://paparazzi.enac.fr/wiki/Current_sensor)
PTZ camera
(http://www.foxtechfpv.com/fh10z-10x-optical-zoom-rc-controlled-camworld-smallest-75g-p-166.htm)
Camera Zoom is controlled directly from the PC.
-->
<airframe name="X8_joystick_cam_airframe.xml">
<firmware name="fixedwing">
<target name="ap" board="twog_1.0"/>
<target name="sim" board="pc"/>
<define name="GPS_LED" value="2"/>
<define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<define name="STRONG_WIND"/>
<define name="ALT_KALMAN"/>
<define name="USE_GROUNDSPEED_CONTROL"/>
<define name="USE_ADC_3"/>
<define name="USE_I2C0"/>
<define name="USE_JOYSTICK_FOR_CAMERA"/>
<!-- <define name="USE_MAGNETOMETER" /> -->
<!--
<configure name="PERIODIC_FREQUENCY" value="120"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
-->
<configure name="AHRS_ALIGNER_LED" value="3"/>
<configure name="CPU_LED" value="3"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"> <configure
name="MODEM_BAUD" value="B115200"/> </subsystem>
<subsystem name="control" />
<subsystem name="gps" type="ublox"> <configure
name="GPS_BAUD" value="B38400"/> </subsystem>
<subsystem name="navigation" />
<subsystem name="imu" type="ppzuav"/>
<subsystem name="ahrs" type="float_dcm"/>
</firmware>
<firmware name="setup">
<target name="tunnel" board="twog_1.0" />
<target name="setup_actuators" board="twog_1.0" />
</firmware>
<modules>
<!-- <load name="imu_ppzuav.xml" /> --> <!-- Only used for
testing -->
<load name="my_cam_v3_1_yaw_pitch_nose.xml"/>
<!-- <load name="my_sonar.xml"/> -->
</modules>
<!-- commands section -->
<servos>
<servo name="AILEVON_RIGHT" no="0" min="2000" neutral="1500"
max="1000"/>
<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1500"
max="1000"/>
<servo name="MOTOR" no="2" min="1100" neutral="1100"
max="2000"/>
<servo name="PARACHUTE" no="3" min="943" neutral="1520"
max="2056"/>
<servo name="CAMERA_ZOOM" no="5" min="950" neutral="1500"
max="2050"/>
<servo name="CAMERA_PAN" no="6" min="943" neutral="1520"
max="2056"/>
<servo name="CAMERA_TILT" no="7" min="996" neutral="1221"
max="2004"/>
<!-- <servo name="ANTENNA_PAN" no="5" min="950" neutral="1500"
max="2050"/> -->
</servos>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="PARACHUTE" failsafe_value="0"/>
<axis name="CAM_PAN" failsafe_value="0"/>
<axis name="CAM_TILT" failsafe_value="0"/>
<axis name="CAM_LOCK" failsafe_value="0"/>
<axis name="CAM_ZOOM" failsafe_value="0"/>
<!-- <axis name="ANT_PAN" failsafe_value="0"/> -->
</commands>
<rc_commands>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="PARACHUTE" value="@THROTTLE"/>
</rc_commands>
<section name="MIXER">
<define name="AILEVON_AILERON_RATE" value="0.75"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
</section>
<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="MOTOR" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
<set servo="CAMERA_PAN" value="@CAM_PAN"/>
<set servo="CAMERA_TILT" value="@CAM_TILT"/>
<set servo="CAMERA_ZOOM" value="@CAM_ZOOM"/>
<!-- <set servo="ANTENNA_PAN" value="@ANT_PAN"/> -->
</command_laws>
<!-- EMPTY "auto_rc_commands" block means NO RC RUDDER CONTROL IN AUTO2
AND AUTO1 -->
<auto_rc_commands>
</auto_rc_commands>
<!--
<ap_only_commands>
<copy command="CAM_PAN"/>
<copy command="CAM_TILT"/>
</ap_only_commands>
-->
<!-- Local magnetic field -->
<section name="AHRS" prefix="AHRS_" >
<define name="H_X" value="0.51562740288882" />
<define name="H_Y" value="-0.05707735220832" />
<define name="H_Z" value="0.85490967783446" />
</section>
<section name="IMU" prefix="IMU_">
<!-- Calibration Neutral -->
<define name="GYRO_P_NEUTRAL" value="0"/>
<define name="GYRO_Q_NEUTRAL" value="0"/>
<define name="GYRO_R_NEUTRAL" value="0"/>
<!-- SENS = 14.375 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec /
12bit FRAC: 4096 / 828 -->
<define name="GYRO_P_SENS" value="4.947" integer="16"/>
<define name="GYRO_Q_SENS" value="4.947" integer="16"/>
<define name="GYRO_R_SENS" value="4.947" integer="16"/>
<define name="GYRO_P_Q" value="0."/>
<define name="GYRO_P_R" value="0"/>
<define name="GYRO_Q_P" value="0."/>
<define name="GYRO_Q_R" value="0."/>
<define name="GYRO_R_P" value="0."/>
<define name="GYRO_R_Q" value="0."/>
<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_NEUTRAL" value="0"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="0"/>
<!-- SENS = 256 LSB/g @ 2.5V [X&Y: 265 LSB/g @ 3.3V] / 9.81 ms2/g =
26.095 LSB/ms2 / 10bit FRAC: 1024 / 26.095 for z and 1024 / 27.01 for
X&Y -->
<define name="ACCEL_X_SENS" value="37.9" integer="16"/>
<define name="ACCEL_Y_SENS" value="37.9" integer="16"/>
<define name="ACCEL_Z_SENS" value="39.24" integer="16"/>
<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_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="1" integer="16"/>
<define name="MAG_Y_SENS" value="1" integer="16"/>
<define name="MAG_Z_SENS" value="1" integer="16"/>
<define name="MAG_X_SIGN" value="1"/>
<define name="MAG_Y_SIGN" value="1"/>
<define name="MAG_Z_SIGN" value="1"/>
<define name="BODY_TO_IMU_PHI" value="0"/>
<define name="BODY_TO_IMU_THETA" value="0"/>
<define name="BODY_TO_IMU_PSI" value="0"/>
</section>
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-3)"
unit="radians"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)"
unit="radians"/>
</section>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="RadOfDeg(40)"/>
<define name="MAX_PITCH" value="RadOfDeg(30)"/>
</section>
<section name="BAT">
<!-- "MilliAmpereOfAdc(adc)" default is 88 but i have changed the
sensor's resistors with 3 turn, 1,6 mm thick copper wire -->
<!--
<define name="ADC_CHANNEL_CURRENT" value="ADC_3" />
<define name="MilliAmpereOfAdc(adc)" value="(90*adc)"/>
-->
<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
<define name="BAT_CAPACITY" value="9400."/>
<define name="FUEL_RESERVE_SECONDS" value="300" unit="s"/>
<!--
<define name="VOLTAGE_ADC_A" value="0.035449219"/>
<define name="VOLTAGE_ADC_B" value="0.0"/>
<define name="VoltageOfAdc(adc)" value ="(VOLTAGE_ADC_A * adc +
VOLTAGE_ADC_B)"/>
-->
<define name="CATASTROPHIC_BAT_LEVEL" value="12.0"
unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="13.5" unit="V"/>
<define name="LOW_BAT_LEVEL" value="14.0" unit="V"/>
<define name="MAX_BAT_LEVEL" value="16.8" unit="V"/>
</section>
<section name="MISC">
<define name="STALL_AIRSPEED" value="14.0" unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="20" unit="m/s"/>
<define name="MINIMUM_AIRSPEED" value="15." unit="m/s"/>
<define name="MAXIMUM_AIRSPEED" value="28." unit="m/s"/>
<define name="CARROT" value="3." unit="s"/>
<define name="GLIDE_RATIO" value="5."/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
<define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
<define name="NO_XBEE_API_INIT" value="TRUE"/>
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="100."/>
<define name="MIN_CIRCLE_RADIUS" value="100."/>
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
<!-- The below definitions are used for calculating the touch down point
during auto landing -->
<define name="GLIDE_AIRSPEED" value="15"/>
<define name="GLIDE_VSPEED" value="-3.0"/>
<define name="GLIDE_PITCH" value="-9." unit="deg"/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- The below definition affect the throttle percentage shown on the
GCS. -->
<define name="POWER_CTL_BAT_NOMINAL" value="14.8" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="0.06" unit="(m/s)/m"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3" unit="m/s"/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"
unit="%"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.45"
unit="%"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"
unit="%"/>
<define name="AUTO_THROTTLE_CRUISE_THROTTLE_TRIM_STEP"
value="0.01" unit="%/s"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"
unit="pprz_t"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-500" unit="pprz_t"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1"
unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.02"
unit="%/(m/s)"/> <!-- -0.025 -->
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/> <!-- 0.1 -->
<define name="AUTO_THROTTLE_DGAIN" value="0"/>
<!-- magnitude of elevator movement on altitude change -->
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.15"
unit="rad/(m/s)"/> <!-- 0.05 -->
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="0.025"/> <!-- 0.025 -->
<define name="AUTO_PITCH_IGAIN" value="0.005"/> <!-- 0.005 -->
<define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(20)"/>
<define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-20)"/>
<!-- <define name="THROTTLE_SLEW" value="0.1"/> -->
<define name="THROTTLE_SLEW_LIMITER" value="0.1" unit="s"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="1"/>
<define name="COURSE_DGAIN" value="1"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
<define name="ROLL_MAX_SETPOINT" value="RadOfDeg(40)" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="RadOfDeg(20)"
unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="RadOfDeg(-20)"
unit="radians"/>
<define name="PITCH_PGAIN" value="8000."/>
<define name="PITCH_DGAIN" value="0.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
<define name="ROLL_SLEW" value="0.1"/>
<define name="ROLL_ATTITUDE_GAIN" value="8000"/>
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0.0"/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="40"/><!-- Altitude Error to
Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend
Aggressive to Regular Climb Modes NOT ZERO!!-->
<define name="CLIMB_THROTTLE" value="1.0"/><!-- Gaz for Aggressive
Climb -->
<define name="CLIMB_PITCH" value="RadOfDeg(20)"/><!-- Pitch for
Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for
Aggressive Decent -->
<define name="DESCENT_PITCH" value="RadOfDeg(-20)"/><!-- Pitch for
Aggressive Decent -->
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent
Navigation for Altitude Error Equal to Start Altitude -->
<define name="DESCENT_NAV_RATIO" value="1.0"/>
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.8" unit="%"/>
<define name="DEFAULT_ROLL" value="RadOfDeg(10)" unit="rad"/>
<define name="DEFAULT_PITCH" value="RadOfDeg(10)" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="PPRZ"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
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