Created
June 4, 2012 02:14
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Working airframe file using tiny_2.11 and aspirin imu
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<!DOCTYPE airframe SYSTEM "../airframe.dtd"> | |
<!-- | |
YAPA + XSens + XBee | |
--> | |
<airframe name="Yapa v1"> | |
<servos> | |
<servo name="THROTTLE" no="9" min="1000" neutral="1000" max="2000"/> | |
<servo name="AILERON_LEFT" no="8" min="1000" neutral="1500" max="2000"/> | |
<servo name="AILERON_RIGHT" no="7" min="2000" neutral="1500" max="1000"/> | |
<servo name="ELEVATOR" no="6" min="2000" neutral="1500" max="1000"/> | |
<servo name="RUDDER" no="5" min="1100" neutral="1500" max="1900"/> | |
</servos> | |
<commands> | |
<axis name="THROTTLE" failsafe_value="0"/> | |
<axis name="ROLL" failsafe_value="0"/> | |
<axis name="PITCH" failsafe_value="0"/> | |
<axis name="BRAKE" failsafe_value="0"/> <!-- both elerons up as butterfly brake ? --> | |
</commands> | |
<rc_commands> | |
<set command="THROTTLE" value="@THROTTLE"/> | |
<set command="ROLL" value="@ROLL"/> | |
<set command="PITCH" value="@PITCH"/> | |
<set command="BRAKE" value="@YAW"/> | |
</rc_commands> | |
<command_laws> | |
<set servo="AILERON_LEFT" value="@ROLL"/> | |
<set servo="AILERON_RIGHT" value="@ROLL"/> | |
<set servo="THROTTLE" value="@THROTTLE"/> | |
<set servo="ELEVATOR" value="@PITCH"/> | |
</command_laws> | |
<!-- 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 = 16.4 LSB/(deg/sec) * 57.6 deg/rad = 939.650 LSB/rad/sec / 12bit FRAC: 4096 / 939.65 --> | |
<define name="GYRO_P_SENS" value="4.359" integer="16"/> | |
<define name="GYRO_Q_SENS" value="4.359" integer="16"/> | |
<define name="GYRO_R_SENS" value="4.359" 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="-40"/> | |
<define name="ACCEL_Y_NEUTRAL" value="-15"/> | |
<define name="ACCEL_Z_NEUTRAL" value="375"/> | |
<!-- SENS = 2048 LSB/g / 9.81 ms2/g = 208.766564729 LSB/ms2 / 10bit FRAC: 1024 / 208.7665 --> | |
<define name="ACCEL_X_SENS" value="9.81" integer="16"/> | |
<define name="ACCEL_Y_SENS" value="9.81" integer="16"/> | |
<define name="ACCEL_Z_SENS" value="9.81" integer="16"/> | |
<!-- | |
<define name="ACCEL_X_SENS" value="4.905" integer="16"/> | |
<define name="ACCEL_Y_SENS" value="4.905" integer="16"/> | |
<define name="ACCEL_Z_SENS" value="4.905" 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="0" unit="deg"/> | |
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/> | |
</section> | |
<section name="AUTO1" prefix="AUTO1_"> | |
<define name="MAX_ROLL" value="0.7"/> | |
<define name="MAX_PITCH" value="0.7"/> | |
</section> | |
<section name="BAT"> | |
<define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/> | |
<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/> | |
<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/> | |
<define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/> | |
</section> | |
<section name="MISC"> | |
<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/> | |
<define name="CARROT" value="5." unit="s"/> | |
<define name="CONTROL_RATE" value="60" unit="Hz"/> | |
<define name="XBEE_INIT" value=""ATPL2\rATRN5\rATTT80\r""/> | |
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> --> | |
<define name="ALT_KALMAN_ENABLED" value="TRUE"/> | |
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> | |
<define name="GLIDE_AIRSPEED" value="10"/> | |
<define name="GLIDE_VSPEED" value="3."/> | |
<define name="GLIDE_PITCH" value="45" unit="deg"/> | |
</section> | |
<section name="VERTICAL CONTROL" prefix="V_CTL_"> | |
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/> | |
<!-- outer loop proportional gain --> | |
<define name="ALTITUDE_PGAIN" value="-0.03"/> | |
<!-- outer loop saturation --> | |
<define name="ALTITUDE_MAX_CLIMB" value="2."/> | |
<!-- auto throttle inner loop --> | |
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/> | |
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/> | |
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/> | |
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/> | |
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/> | |
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/> | |
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/> | |
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/> | |
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/> | |
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/> | |
</section> | |
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> | |
<define name="COURSE_PGAIN" value="-1.20000004768"/> | |
<define name="COURSE_DGAIN" value="0.3"/> | |
<define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/> | |
<define name="ROLL_MAX_SETPOINT" value="0.75" unit="radians"/> | |
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/> | |
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/> | |
<define name="PITCH_PGAIN" value="-12000."/> | |
<define name="PITCH_DGAIN" value="1.5"/> | |
<define name="ELEVATOR_OF_ROLL" value="1000."/> | |
<define name="ROLL_SLEW" value="1."/> | |
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/> | |
<define name="ROLL_RATE_GAIN" value="0."/> | |
</section> | |
<section name="AGGRESSIVE" prefix="AGR_"> | |
<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!--> | |
<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!--> | |
<define name="CLIMB_THROTTLE" value="1.00"/><!-- Gaz for Aggressive Climb --> | |
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb --> | |
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent --> | |
<define name="DESCENT_PITCH" value="-0.25"/><!-- 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="DEFAULT_THROTTLE" value="0.35" unit="%"/> | |
<define name="DEFAULT_ROLL" value="0.17" unit="rad"/> | |
<define name="DEFAULT_PITCH" value="0.08" unit="rad"/> | |
<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/> | |
<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/> | |
<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/> | |
</section> | |
<section name="DIGITAL_CAMERA" prefix="DC_"> | |
<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/> | |
<define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/> | |
</section> | |
<modules> | |
<!-- | |
<load name="light.xml"> | |
<define name="LIGHT_LED_STROBE" value="3"/> | |
<define name="LIGHT_LED_NAV" value="2"/> | |
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/> | |
<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/> | |
</load> | |
--> | |
<!-- <load name="digital_cam_i2c.xml"/> --> | |
<!-- <load name="ins_ppzuavimu.xml" /> --> | |
<!-- | |
<load name="digital_cam.xml" > | |
<define name="DC_SHUTTER_LED" value="3"/> | |
</load> | |
--> | |
</modules> | |
<firmware name="fixedwing"> | |
<target name="ap" board="tiny_2.11"> | |
<define name="STRONG_WIND"/> | |
<define name="WIND_INFO"/> | |
<define name="WIND_INFO_RET"/> | |
<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"/> | |
</target> | |
<target name="sim" board="pc"/> | |
<define name="AGR_CLIMB"/> | |
<define name="LOITER_TRIM"/> | |
<define name="ALT_KALMAN"/> | |
<!-- Sensors --> | |
<!-- | |
<subsystem name="ahrs" type="int_cmpl_quat"> | |
<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" /> | |
</subsystem> | |
--> | |
<subsystem name="imu" type="aspirin_i2c"/> | |
<!--subsystem name="imu" type="aspirin2_i2c"/--> | |
<subsystem name="ahrs" type="float_dcm"> | |
<!-- <configure name="USE_MAGNETOMETER" /> --> | |
</subsystem> | |
<subsystem name="radio_control" type="ppm"/> | |
<!-- Communication --> | |
<subsystem name="telemetry" type="xbee_api"> | |
<configure name="MODEM_BAUD" value="B9600"/> | |
</subsystem> | |
<!-- Actuators --> | |
<subsystem name="control"/> | |
<!-- Sensors --> | |
<subsystem name="navigation"/> | |
<subsystem name="gps" type="ublox_utm"/> | |
</firmware> | |
</airframe> |
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