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[paparazzi-commits] [4397] Example airframe file for booz2 hardware with
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From: |
Anton K. |
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Subject: |
[paparazzi-commits] [4397] Example airframe file for booz2 hardware with MKK style speed controllers |
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Date: |
Sun, 27 Dec 2009 00:47:07 +0000 |
Revision: 4397
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4397
Author: antonk
Date: 2009-12-27 00:47:07 +0000 (Sun, 27 Dec 2009)
Log Message:
-----------
Example airframe file for booz2 hardware with MKK style speed controllers
Added Paths:
-----------
paparazzi3/trunk/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
Added:
paparazzi3/trunk/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
===================================================================
---
paparazzi3/trunk/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
(rev 0)
+++
paparazzi3/trunk/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
2009-12-27 00:47:07 UTC (rev 4397)
@@ -0,0 +1,231 @@
+<airframe name="BOOZ2_NoVa">
+
+ <servos min="0" neutral="0" max="0xff">
+ <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
+ <servo name="BACK" no="1" min="0" neutral="0" max="255"/>
+ <servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
+ <servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
+ </servos>
+
+
+ <commands>
+ <axis name="PITCH" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="YAW" failsafe_value="0"/>
+ <axis name="THRUST" failsafe_value="0"/>
+ </commands>
+
+
+<!--Insert your serial number calibration HERE-->
+ <section name="IMU" prefix="IMU_">
+
+ <define name="GYRO_P_CHAN" value="1"/>
+ <define name="GYRO_Q_CHAN" value="0"/>
+ <define name="GYRO_R_CHAN" value="2"/>
+
+ <define name="GYRO_P_NEUTRAL" value="33008"/>
+ <define name="GYRO_Q_NEUTRAL" value="31899"/>
+ <define name="GYRO_R_NEUTRAL" value="32989"/>
+
+ <define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
+ <define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
+ <define name="GYRO_R_SENS" value="-1.01" integer="16"/>
+
+
+ <define name="ACCEL_X_CHAN" value="5"/>
+ <define name="ACCEL_Y_CHAN" value="3"/>
+ <define name="ACCEL_Z_CHAN" value="4"/>
+
+ <define name="ACCEL_X_SENS" value="-2.19476868" integer="16"/>
+ <define name="ACCEL_Y_SENS" value="-2.88368188" integer="16"/>
+ <define name="ACCEL_Z_SENS" value="-2.57172803" integer="16"/>
+
+ <define name="ACCEL_X_NEUTRAL" value="33160"/>
+ <define name="ACCEL_Y_NEUTRAL" value="32523"/>
+ <define name="ACCEL_Z_NEUTRAL" value="32418"/>
+
+ <define name="MAG_X_CHAN" value="0"/>
+ <define name="MAG_Y_CHAN" value="1"/>
+ <define name="MAG_Z_CHAN" value="2"/>
+
+ <define name="MAG_X_SENS" value="4.73914612" integer="16"/>
+ <define name="MAG_Y_SENS" value="-5.34705586" integer="16"/>
+ <define name="MAG_Z_SENS" value="-3.57580805" integer="16"/>
+
+ <define name="MAG_X_NEUTRAL" value="-89"/>
+ <define name="MAG_Y_NEUTRAL" value="20"/>
+ <define name="MAG_Z_NEUTRAL" value="-30"/>
+
+ <define name="BODY_TO_IMU_PHI" value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>
+ <define name="BODY_TO_IMU_THETA" value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>
+ <define name="BODY_TO_IMU_PSI"
value="ANGLE_BFP_OF_REAL(RadOfDeg(-90.))"/>
+
+ </section>
+
+
+<section name="STABILIZATION_RATE" prefix="BOOZ_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="BOOZ_STABILIZATION_ATTITUDE_">
+
+ <!-- setpoints -->
+ <define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
+ <define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
+ <define name="SP_MAX_R" value="RadOfDeg(90.)"/>
+ <define name="DEADBAND_R" value="250"/>
+
+ <!-- reference -->
+ <define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
+ <define name="REF_ZETA_P" value="0.85"/>
+ <define name="REF_MAX_P" value="RadOfDeg(300.)"/>
+ <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
+
+ <define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
+ <define name="REF_ZETA_Q" value="0.85"/>
+ <define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
+ <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
+
+ <define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
+ <define name="REF_ZETA_R" value="0.85"/>
+ <define name="REF_MAX_R" value="RadOfDeg(180.)"/>
+ <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
+
+ <!-- feedback gains for better endurance -->
+ <!--
+ <define name="PHI_PGAIN" value="-400"/>
+ <define name="PHI_DGAIN" value="-300"/>
+ <define name="PHI_IGAIN" value="-100"/>
+
+ <define name="THETA_PGAIN" value="-400"/>
+ <define name="THETA_DGAIN" value="-300"/>
+ <define name="THETA_IGAIN" value="-100"/>
+
+ <define name="PSI_PGAIN" value="-380"/>
+ <define name="PSI_DGAIN" value="-320"/>
+ <define name="PSI_IGAIN" value="-75"/>
+-->
+
+ <!-- feedback gains for better performance -->
+ <define name="PHI_PGAIN" value="-2000"/>
+ <define name="PHI_DGAIN" value="-400"/>
+ <define name="PHI_IGAIN" value="-200"/>
+
+ <define name="THETA_PGAIN" value="-2000"/>
+ <define name="THETA_DGAIN" value="-400"/>
+ <define name="THETA_IGAIN" value="-200"/>
+
+ <define name="PSI_PGAIN" value="-1000"/>
+ <define name="PSI_DGAIN" value="-350"/>
+ <define name="PSI_IGAIN" value="-10"/>
+
+ <!-- feedforward -->
+ <define name="PHI_DDGAIN" value=" 300"/>
+ <define name="THETA_DDGAIN" value=" 300"/>
+ <define name="PSI_DDGAIN" value=" 300"/>
+
+ </section>
+
+
+<!-- Motor mixing for MKK speed controller configuration -->
+ <section name="SUPERVISION" prefix="SUPERVISION_">
+ <define name="MIN_MOTOR" value="2" />
+ <define name="MAX_MOTOR" value="210" />
+ <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="{ 0, 0, -256, 256}" />
+ <define name="PITCH_COEF" value="{ 256, -256, 0, 0}" />
+ <define name="YAW_COEF" value="{ 256, 256, -256, -256}" />
+ <define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
+ </section>
+
+
+<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+ <define name="NB" value="4" />
+ <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }" />
+ </section>
+
+
+ <section name="INS" prefix="BOOZ_INS_">
+ <define name="BARO_SENS" value="14.9" integer="16"/>
+ </section>
+
+
+
+ <section name="GUIDANCE_V" prefix="BOOZ2_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="-500"/>
+ <define name="HOVER_KD" value="-250"/>
+ <define name="HOVER_KI" value="-100"/>
+ <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
+ <define name="RC_CLIMB_COEF" value ="163"/>
+ <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
+ <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+ </section>
+
+
+ <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
+ <define name="PGAIN" value="-100"/>
+ <define name="DGAIN" value="-100"/>
+ <define name="IGAIN" value="-0"/>
+ </section>
+
+
+ <section name="BAT">
+ <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ <define name="BATTERY_SENS" value="0.18" integer="16"/>
+ </section>
+
+
+<section name="AUTOPILOT">
+ <define name="BOOZ2_MODE_MANUAL"
value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/><!--Attitude Stabilized Roll,Pitch,Yaw |
Direct Throttle control-->
+ <define name="BOOZ2_MODE_AUTO1"
value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/><!--Attitude Stabilized Roll,Pitch,Yaw
| Throttle commanded climb rate control-->
+ <define name="BOOZ2_MODE_AUTO2"
value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/><!--Attitude Stabilized Roll,Pitch,Yaw |
Altitude hold(100% throttle required) control-->
+ </section>
+
+
+ <section name="MISC">
+ <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
+ </section>
+
+ <makefile>
+ARCH=lpc21
+BOARD_CFG = \"boards/booz2_v1_0.h\"
+
+# Setting this flag prevents motors from ever starting
+#ap.CFLAGS += -DKILL_MOTORS
+
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(CFG_BOOZ)/booz2_autopilot.makefile
+include $(CFG_BOOZ)/booz2_test_progs.makefile
+
+ap.CFLAGS += -DMODEM_BAUD=B57600
+include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
+include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
+include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
+include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
+ap.CFLAGS += -DGPS_USE_LATLONG
+
+include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
+
+ </makefile>
+
+</airframe>
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