Skip to content

Instantly share code, notes, and snippets.

Embed
What would you like to do?
paparazzi airframe file that won't build on px4fmu branch
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- this is a HobbyKing Bixler equiped with
* Autopilot: px4fmu
* IMU: px4fmu
* GPS: Ublox (Manually configured NEO-6Q)
* RC: dsm2 (Orange satelite module)
* Modem RFD900 (SiK firmware)
TODO:
* Airspeed module?
-->
<airframe name="Bixler px4fmu">
<firmware name="fixedwing">
<target name="ap" board="px4fmu_1.7"/>
<target name="sim" board="pc"/>
<!--subsystem name="radio_control" type="spektrum"/--><!-- broken? -->
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<!--
TODO: experiment with "new" and "energy" control types,
once airspeed sensor is integrated.
-->
<subsystem name="control"/>
<subsystem name="imu" type="px4fmu_v1.7"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
<!-- TODO: am I sure these are what I want? -->
<subsystem name="ahrs" type="float_dcm"/>
<subsystem name="ins" type="alt_float"/>
</firmware>
<!-- The rest (following) is coppied from the lisa_m Bixler example
airframe, and almost certainly requires tweaking.
TODO: add flaps
TODO: comission some channels for tuning
TODO: install a switch for lights
-->
<!-- commands section -->
<servos>
<servo name="THROTTLE" no="1" min="1120" neutral="1120" max="1920"/>
<servo name="ELEVATOR" no="2" min="1100" neutral="1515" max="1900"/>
<servo name="RUDDER" no="3" min="950" neutral="1440" max="2050"/>
<servo name="AILERON_RIGHT" no="4" min="1000" neutral="1500" max="2000"/>
<servo name="AILERON_LEFT" no="5" min="1000" neutral="1500" max="2000"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="2000"/>
</commands>
<rc_commands>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="YAW" value="@YAW"/>
</rc_commands>
<section name="MIXER">
<define name="COMBI_SWITCH" value="0.3"/>
</section>
<command_laws>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="ELEVATOR" value="@PITCH"/>
<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
<set servo="AILERON_LEFT" value="@ROLL"/>
<set servo="AILERON_RIGHT" value="@ROLL"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="50" unit="deg"/>
<define name="MAX_PITCH" value="40" unit="deg"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</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="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000" unit="mA"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="9.5" unit="V"/>
<define name="LOW_BAT_LEVEL" value="10.0" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.5" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
<define name="CARROT" value="4." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(2.0*MAX_DIST_FROM_HOME)"/>
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="100."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.0" unit="volt"/>
<!-- outer loop -->
<define name="ALTITUDE_PGAIN" value="0.075" unit="(m/s)/m"/>
<define name="ALTITUDE_MAX_CLIMB" value="4." unit="m/s"/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5" unit="%"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.2" unit="%"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1.0" unit="%"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" unit="pprz_t"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000" 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)"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.03"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05" unit="rad/(m/s)"/>
<define name="AUTO_PITCH_PGAIN" value="0.125"/>
<define name="AUTO_PITCH_IGAIN" value="0.025"/>
<define name="AUTO_PITCH_MAX_PITCH" value="25" unit="deg"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-25" unit="deg"/>
<define name="THROTTLE_SLEW" value="1.0"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="1.0"/>
<define name="COURSE_DGAIN" value="0.4"/>
<define name="ROLL_MAX_SETPOINT" value="35" unit="deg"/>
<define name="PITCH_MAX_SETPOINT" value="25" unit="deg"/>
<define name="PITCH_MIN_SETPOINT" value="-25" unit="deg"/>
<define name="PITCH_PGAIN" value="20000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="7400"/>
<define name="ROLL_RATE_GAIN" value="200"/>
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.4" unit="%"/>
<define name="DEFAULT_ROLL" value="15" unit="deg"/>
<define name="DEFAULT_PITCH" value="0" unit="deg"/>
<define name="HOME_RADIUS" value="90" unit="m"/>
</section>
</airframe>
@monkeypants
Copy link
Author

monkeypants commented Aug 21, 2013

note - problems were due to:

  • lack of gcc-arm-embedded (required for paparazzi >v5 on stm32)
  • radio_control type=spektrum doesn't work in sim, see #503

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment