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agressiva/agr_lisam-quad-pwm.xml

Created December 27, 2011 00:53
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AGR rotorcraft airframe (quadrotor with pwn esc)
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agr_lisam-quad-pwm.xml
<!-- this is a agressiva vehicle equiped with Lisa/M and PWM motor controllers -->
<airframe name="AGR-Quad">
<servos min="0" neutral="0" max="0xff">
<servo name="FRONTRIGHT" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="FRONTLEFT" no="1" min="1000" neutral="1000" max="2000"/>
<servo name="REARRIGHT" no="2" min="1000" neutral="1000" max="2000"/>
<servo name="REARLEFT" no="3" min="1000" neutral="1000" max="2000"/>
</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"/>
</commands>
<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="FRONTRIGHT" value="0"/>
<set servo="FRONTLEFT" value="1"/>
<set servo="REARRIGHT" value="2"/>
<set servo="REARLEFT" value="3"/>
</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="1200"/>
<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="ROLL_COEF" value="{ -256, 256, -256, 256 }"/>
<define name="PITCH_COEF" value="{ 256, 256, -256, -256 }"/>
<define name="YAW_COEF" value="{ 256, -256, -256, 256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section>
<!-- <include href="conf/airframes/AGRESSIVA/calib/imu_lisam_093.xml"/> -->
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_NEUTRAL" value="-114"/>
<define name="GYRO_Q_NEUTRAL" value="-44"/>
<define name="GYRO_R_NEUTRAL" value="-40"/>
<define name="GYRO_P_SENS" value="4.412" integer="16"/>
<define name="GYRO_Q_SENS" value="4.412" integer="16"/>
<define name="GYRO_R_SENS" value="4.412" integer="16"/>
<define name="GYRO_PQ_SENS" value="0.0" integer="16"/>
<define name="GYRO_PR_SENS" value="0.0" integer="16"/>
<define name="GYRO_QR_SENS" value="0.0" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="5"/>
<define name="ACCEL_Y_NEUTRAL" value="-3"/>
<define name="ACCEL_Z_NEUTRAL" value="-24"/>
<define name="ACCEL_X_SENS" value="37.5166" integer="16"/>
<define name="ACCEL_Y_SENS" value="38.9051" integer="16"/>
<define name="ACCEL_Z_SENS" value="39.6103" integer="16"/>
<define name="ACCEL_XY_SENS" value="0.0" integer="16"/>
<define name="ACCEL_XZ_SENS" value="0.0" integer="16"/>
<define name="ACCEL_YZ_SENS" value="0.0" integer="16"/>
<define name="MAG_X_NEUTRAL" value="-49"/>
<define name="MAG_Y_NEUTRAL" value="-75"/>
<define name="MAG_Z_NEUTRAL" value="-36"/>
<define name="MAG_X_SENS" value="11.7127875762" integer="16"/>
<define name="MAG_Y_SENS" value="12.3878992959" integer="16"/>
<define name="MAG_Z_SENS" value="11.4068399996" integer="16"/>
<define name="MAG_XY_SENS" value="0.0" integer="16"/>
<define name="MAG_XZ_SENS" value="0.0" integer="16"/>
<define name="MAG_YZ_SENS" value="0.0" 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="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_HOVER_DIRECT"/>
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.8" unit="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="-300"/>
<define name="GAIN_Q" value="-300"/>
<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_Q" value="RadOfDeg(90.)"/>
<define name="SP_MAX_P" value="RadOfDeg(90.)"/>
<define name="DEADBAND_R" value="150"/>
<define name="DEADBAND_A" value="150"/>
<!-- reference -->
<!--YAW-->
<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.)"/>
<!--PITCH-->
<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.)"/>
<!--ROLL-->
<define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
<define name="REF_ZETA_P" value="0.90"/>
<define name="REF_MAX_P" value="RadOfDeg(500.)"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<!-- feedback -->
<!--PITCH-->
<define name="THETA_PGAIN" value="-600"/>
<define name="THETA_DGAIN" value="-500"/>
<define name="THETA_IGAIN" value="-20"/>
<!--ROLL-->
<define name="PHI_PGAIN" value="-600"/>
<define name="PHI_DGAIN" value="-500"/>
<define name="PHI_IGAIN" value="-20"/>
<!--YAW-->
<define name="PSI_PGAIN" value="-2000"/>
<define name="PSI_DGAIN" value="-470"/>
<define name="PSI_IGAIN" value="-100"/>
<!-- feedforward -->
<define name="THETA_DDGAIN" value=" 200"/>
<define name="PHI_DDGAIN" value=" 200"/>
<define name="PSI_DDGAIN" value=" 200"/>
</section>
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="24.0" 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="-100"/>
<define name="HOVER_KI" value="-40"/>
<!-- 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>
<!-- AHRS flags de interesse?
AHRS_PROPAGATE_LOW_PASS_RATES : apply a low pass filter on rotational velocity
AHRS_MAG_UPDATE_YAW_ONLY : use mag to update yaw only
-->
<section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="AHRS_MAG_UPDATE_YAW_ONLY"/>
<!-- valores para porto alegre/RS/Brasil -->
<define name="H_X" value=" 0.75127"/>
<define name="H_Y" value=" 0.21477"/>
<define name="H_Z" value=" 0.62406"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-5"/>
<define name="DGAIN" value="-10"/>
<define name="IGAIN" value="-1"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_1.0">
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="pwm_supervision"/>
<subsystem name="telemetry" type="transparent"/>
<!-- <subsystem name="ins" type="hff">
<define name="GPS_LAG=0.2"/>
</subsystem> -->
<!--
<define name="USE_ADAPT_HOVER"/>
<define name="GUIDANCE_H_USE_REF"/>
-->
<define name="SERVO_HZ" value="400"/>
<define name="SERVO_HZ_SECONDARY" value="40"/>
<define name="RADIO_MODE" value="RADIO_AUX1"/>
<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">
</subsystem>
</target>
<subsystem name="imu" type="aspirin_v1.5"/>
<subsystem name="gps" type="ublox">
<configure name="GPS_BAUD" value="B57600"/>
<!-- <configure name="GPS_PORT" value="UART0"/>
<configure name="GPS_LED" value="2"/>-->
</subsystem>
<!--
<subsystem name="stabilization" type="quaternion"/>
<subsystem name="ahrs" type="int_cmpl_quat"/> work as quadshot
-->
<subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/>
</firmware>
<firmware name="lisa_m_test_progs">
<target name="test_led" board="lisa_m_1.0"/>
<target name="test_uart_lisam" board="lisa_m_1.0"/>
<target name="test_servos" board="lisa_m_1.0"/>
<target name="test_telemetry" board="lisa_m_1.0"/>
<target name="test_imu_aspirin" board="lisa_m_1.0"/>
<target name="test_rc_spektrum" board="lisa_m_1.0"/>
<target name="test_baro" board="lisa_m_1.0"/>
<!-- <target name="test_imu" board="lisa_m_1.0"/>
<target name="test_rc_ppm" board="lisa_m_1.0"/>
<target name="test_adc" board="lisa_m_1.0"/>
<target name="test_hmc5843" board="lisa_m_1.0"/>
<target name="test_itg3200" board="lisa_m_1.0"/>
<target name="test_adxl345" board="lisa_m_1.0"/>
<target name="test_esc_mkk_simple" board="lisa_m_1.0"/>
<target name="test_esc_asctecv1_simple" board="lisa_m_1.0"/>
<target name="test_actuators_mkk" board="lisa_m_1.0"/>
<target name="test_actuators_asctecv1" board="lisa_m_1.0"/>-->
</firmware>
</airframe>
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