|
From: | Junnan Shen |
Subject: | [Paparazzi-devel] LISAm2.0 with DX6I |
Date: | Tue, 13 Aug 2013 21:25:54 +0800 |
Hi everybody!
Thank you very much!
Now I use a lisa/m2.0 +aspirin v2.0.
cause I am in china now,so I just desigh a QUADSHOT(mybe like the espresso ) by myself.
and use DX6I as the transmitter.DSM2 as the recervers.
but it doesn`t work。
If there is any possibly ,can I be your aency of the quadshot in china.
I have a small UAV company which can provide Aerial service and APM uav manufacture.
here is the airframe xml:
<!-- this is a quadshot vehicle equiped with Lisa/M and generic china pwm motor controllers -->
<!-- Copyright (C) 2012, Pranay Sinha, Transition Robotics, Inc. -->
<airframe name="qs4_lisam2">
<servos min="0" neutral="0" max="0xff">
<servo name="A1" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="A2" no="1" min="1000" neutral="1000" max="2000"/>
<servo name="B1" no="2" min="1000" neutral="1000" max="2000"/>
<servo name="B2" no="3" min="1000" neutral="1000" max="2000"/>
<servo name="AILEVON_LEFT" no="4" min="1000" neutral="1500" max="2000"/>
<servo name="AILEVON_RIGHT" no="5" min="1000" neutral="1500" max="2000"/>
<servo name="CAMERA_MOUNT" no="6" min="1700" neutral="1500" max="1000"/>
</servos>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
<axis name="RC_MODE" failsafe_value="0"/>
<axis name="RC_ROLL" failsafe_value="0"/>
<axis name="RC_PITCH" failsafe_value="0"/>
<axis name="RC_THRUST" failsafe_value="0"/>
<axis name="CAMERA" failsafe_value="0"/>
</commands>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_TOYTRONICS_HOVER_FORWARD"/>
<define name="MODE_AUTO1" value="AP_MODE_TOYTRONICS_FORWARD"/>
<define name="MODE_AUTO2" value="AP_MODE_TOYTRONICS_AEROBATIC"/>
<define name="AUTOPILOT_KILL_WITHOUT_AHRS" value="TRUE"/>
<define name="AUTOPILOT_THROTTLE_INSTANT_START_WITH_SAFETIES" value="TRUE"/>
<define name="AUTOPILOT_LOBATT_BLINK" value="TRUE"/>
<!--This is to enable a wing waggle at specified low battery voltage.-->
<define name="LOBATT_WING_WAGGLE" value="TRUE"/>
<define name="TOYTRONICS" value="TRUE"/>
<define name="KILL_AS_FAILSAFE" value="TRUE"/>
</section>
<rc_commands>
<!-- needed to set up mode laws -->
<set command="RC_MODE" value="@MODE < -1500 ? MODE_MANUAL : (@MODE > 1500 ? MODE_AUTO2 : MODE_AUTO1) "/>
<set command="RC_ROLL" value="@ROLL"/>
<set command="RC_PITCH" value="@PITCH"/>
<set command="RC_THRUST" value="@THROTTLE"/>
</rc_commands>
<command_laws>
<!--************* different mixing strategies - probably don't edit this ****************-->
<!-- aileron feedback -->
<let var="aileron_feedback_left" value="address@hidden * (9600 + @RC_THRUST)/9600"/>
<let var="aileron_feedback_right" value="address@hidden * (9600 + @RC_THRUST)/9600"/>
<!-- elevator feedback -->
<let var="elevator_feedback_left" value="address@hidden * (9600 + @RC_THRUST)/9600"/>
<let var="elevator_feedback_right" value="address@hidden * (9600 + @RC_THRUST)/9600"/>
<!--************* which mode uses which mixing strategy - edit this for configuration ****************-->
<!-- mode hover -->
<let var="hover_left" value="3*$aileron_feedback_left"/>
<let var="hover_right" value="3*$aileron_feedback_right"/>
<!-- mode hover_forward -->
<let var="hover_forward_left" value="@RC_THRUST > 1800 ? (3*$aileron_feedback_left + 2*$elevator_feedback_left) : (@RC_PITCH > 1600 ? (3*$aileron_feedback_left + 2*$elevator_feedback_left) : (@RC_PITCH < -1800 ? (3*$aileron_feedback_left + 2*$elevator_feedback_left) : 0))"/>
<let var="hover_forward_right" value="@RC_THRUST > 1800 ? (3*$aileron_feedback_right + 2*$elevator_feedback_right) : (@RC_PITCH > 1600 ? (3*$aileron_feedback_right + 2*$elevator_feedback_right) : (@RC_PITCH < -1800 ? (3*$aileron_feedback_right + 2*$elevator_feedback_right) : 0))"/>
<!-- mode forward -->
<let var="forward_left" value="3*$aileron_feedback_left + 2*$elevator_feedback_left"/>
<let var="forward_right" value="3*$aileron_feedback_right + 2*$elevator_feedback_right"/>
<!-- mode aerobatic -->
<let var="aerobatic_left" value="3*$aileron_feedback_left + 2*$elevator_feedback_left"/>
<let var="aerobatic_right" value="3*$aileron_feedback_right + 2*$elevator_feedback_right"/>
<!--************ Map laws to correct modes - probably don't edit this ****************-->
<set servo="AILEVON_LEFT" value="@RC_MODE == AP_MODE_TOYTRONICS_HOVER ? $hover_left : (@RC_MODE == AP_MODE_TOYTRONICS_HOVER_FORWARD ? $hover_forward_left : (@RC_MODE == AP_MODE_TOYTRONICS_FORWARD ? $forward_left : $aerobatic_left))" />
<set servo="AILEVON_RIGHT" value="@RC_MODE == AP_MODE_TOYTRONICS_HOVER ? $hover_right : (@RC_MODE == AP_MODE_TOYTRONICS_HOVER_FORWARD ? $hover_forward_right : (@RC_MODE == AP_MODE_TOYTRONICS_FORWARD ? $forward_right : $aerobatic_right))" />
<set servo="CAMERA_MOUNT" value="@CAMERA"/>
</command_laws>
<!-- for the sim -->
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<define name="NB" value="4"/>
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
</section>
<section name="ROTORCRAFT" prefix="ROTORCRAFT_">
<define name="COMMANDS_YAW_ALWAYS_ENABLED" value="TRUE"/>
</section>
<section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="1000"/>
<define name="MAX_MOTOR" value="2000"/>
<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="PITCH_COEF" value="{ -256, -256, 256, 256 }"/>
<define name="ROLL_COEF" value="{ 256, -256, -128, 128 }"/>
<define name="YAW_COEF" value="{ 256, -256, 256, -256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section>
<include href="">
<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 000. )"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0. )"/>
<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 0. )"/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="MIN_BAT_LEVEL" value="10.4" units="V"/>
</section>
<section name="STABILIZATION_RATE" prefix="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="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
<define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
<define name="SP_MAX_PSI" value="RadOfDeg(45.)"/>
<define name="SP_MAX_R" value="RadOfDeg(90.)"/>
<define name="SP_MAX_P" value="RadOfDeg(90.)"/>
<define name="DEADBAND_R" value="250"/>
<define name="DEADBAND_A" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_R" value="RadOfDeg(600)"/>
<define name="REF_ZETA_R" value="0.90"/>
<define name="REF_MAX_R" value="RadOfDeg(400.)"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
<define name="REF_ZETA_Q" value="0.90"/>
<define name="REF_MAX_Q" value="RadOfDeg(500.)"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_P" value="RadOfDeg(600)"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="RadOfDeg(220.)"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PSI_PGAIN" value="-750"/>
<define name="PSI_DGAIN" value="-370"/>
<define name="PSI_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="-800"/>
<define name="THETA_DGAIN" value="-240"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="-4000"/>
<define name="PHI_DGAIN" value="-600"/>
<define name="PHI_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="INS_">
<define name="BARO_SENS" value="3.3" integer="16"/>
</section>
<section name="GUIDANCE_V" prefix="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="-150"/>
<define name="HOVER_KD" value="-80"/>
<define name="HOVER_KI" value="-20"/>
<!-- 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 ="0.21"/>
</section>
<section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="MAG_UPDATE_YAW_ONLY" value="1"/>
<!-- magnetic field for Santa cruz from http://www.ngdc.noaa.gov/geomagmodels/IGRFWMM.jsp -->
<define name="H_X" value=" 0.47577"/>
<define name="H_Y" value=" 0.11811"/>
<define name="H_Z" value=" 0.87161"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
</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>
<include href=""> <include href=""> <include href="">
<modules main_freq="512">
<load name="battery_buzzer.xml"/>
<load name="led_driver.xml"/>
</modules>
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0">
<!-- <define name="BOOZ_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="pwm_supervision"/>
<subsystem name="telemetry" type="transparent"/>
<define name="SERVO_HZ" value="400"/>
<define name="RADIO_EXPO" value="RADIO_GEAR"/>
<define name="SERVO_HZ_SECONDARY" value="40"/>
<define name="RADIO_MODE" value="RADIO_FLAP"/>
<!--define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/-->
<define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/>
<define name = "RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value = "UART5"/>
<define name = "OVERRIDE_UART5_IRQ_HANDLER"/>
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
<subsystem name="imu" type="aspirin_v2.0"/>
<configure name="PERIODIC_FREQUENCY" value="512"/>
<subsystem name="gps" type="ublox"/>
<!--subsystem name="ahrs" type="float_dcm"/-->
<subsystem name="ahrs" type="int_cmpl_quat"/>
<!--define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN"/-->
<subsystem name="stabilization" type="quaternion"/>
<subsystem name="toytronics" type="default"/>
<subsystem name="camera_mount" type="default"/>
</firmware>
<firmware name="lisa_m_test_progs">
<target name="test_led" board="lisa_m_2.0"/>
<target name="test_uart_lisam" board="lisa_m_2.0"/>
<target name="test_servos" board="lisa_m_2.0"/>
<target name="test_telemetry" board="lisa_m_2.0"/>
<target name="test_imu_aspirin" board="lisa_m_2.0"/>
<target name="test_rc_spektrum" board="lisa_m_2.0"/>
<target name="test_baro" board="lisa_m_2.0"/>
<!--<target name="test_imu" board="lisa_m_2.0"/>
<target name="test_rc_ppm" board="lisa_m_2.0"/>
<target name="test_adc" board="lisa_m_2.0"/>
<target name="test_hmc5843" board="lisa_m_2.0"/>
<target name="test_itg3200" board="lisa_m_2.0"/>
<target name="test_adxl345" board="lisa_m_2.0"/>
<target name="test_esc_mkk_simple" board="lisa_m_2.0"/>
<target name="test_esc_asctecv1_simple" board="lisa_m_2.0"/>
<target name="test_actuators_mkk" board="lisa_m_2.0"/>
<target name="test_actuators_asctecv1" board="lisa_m_2.0"/-->
</firmware>
</airframe>
and the radio xml
<?xml version="1.0"?>
<!-- $Id$
--
-- (c) 2003 Pascal Brisset, 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.
-->
<!--
-- Attributes of root (Radio) tag :
-- name: name of RC
-- min: min width of a pulse to be considered as a data pulse
-- max: max width of a pulse to be considered as a data pulse
-- sync: min width of a pulse to be considered as a synchro pulse
-- min, max and sync are expressed in micro-seconds
-->
<!--
-- Attributes of channel tag :
-- ctl: name of the command on the transmitter - only for displaying
-- function: logical command
-- average: (boolean) channel filtered through several frames (for discrete commands)
-- min: minimum pulse length (micro-seconds)
-- max: maximum pulse length (micro-seconds)
-- neutral: neutral pulse length (micro-seconds)
Note: a command may be reversed by exchanging min and max values
-->
<!DOCTYPE radio SYSTEM "radio.dtd">
<radio name="DX6i" data_min="700" data_max="2300" sync_min="4000" sync_max="20000" pulse_type="NEGATIVE">
<channel ctl="0" function="THROTTLE" min="1100" neutral="1500" max="1900" average="0"/> <!-- right stick left/right -->
<channel ctl="1" function="ROLL" min="1900" neutral="1500" max="1100" average="0"/> <!-- left stick up/down -->
<channel ctl="2" function="PITCH" min="1100" neutral="1100" max="1900" average="0"/> <!-- right stick up/down -->
<channel ctl="3" function="YAW" min="1100" neutral="1500" max="1900" average="0"/> <!-- left stick left/right-->
<channel ctl="4" function="EXPO" min="1900" neutral="1500" max="1100" average="0"/> <!-- right switch -->
<channel ctl="5" function="MODE" min="1900" neutral="1500" max="1100" average="0"/> <!-- left switch -->
</radio>
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