Created
August 20, 2013 14:35
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paparazzi airframe file that won't build on px4fmu branch
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<!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> |
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note - problems were due to: