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[paparazzi-commits] [4848] enac mkk quadrotor
|
From: |
Gautier Hattenberger |
|
Subject: |
[paparazzi-commits] [4848] enac mkk quadrotor |
|
Date: |
Wed, 21 Apr 2010 11:30:44 +0000 |
Revision: 4848
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4848
Author: gautier
Date: 2010-04-21 11:30:44 +0000 (Wed, 21 Apr 2010)
Log Message:
-----------
enac mkk quadrotor
Added Paths:
-----------
paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mkk1.xml
Added: paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mkk1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mkk1.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mkk1.xml 2010-04-21
11:30:44 UTC (rev 4848)
@@ -0,0 +1,263 @@
+<!--DOCTYPE airframe SYSTEM "../../airframe.dtd"-->
+
+<airframe name="Booz Mkk1 Enac">
+
+ <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>
+
+ <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+ <define name="NB" value="4"/>
+ <define name="ADDR" value="{ 0x58, 0x56, 0x54, 0x52 }"/>
+ </section>
+
+ <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="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="30907"/>
+ <define name="GYRO_Q_NEUTRAL" value="33253"/>
+ <define name="GYRO_R_NEUTRAL" value="32329"/>
+
+ <define name="GYRO_P_SENS" value=" 1.00" integer="16"/>
+ <define name="GYRO_Q_SENS" value="-1.00" integer="16"/>
+ <define name="GYRO_R_SENS" value="-1.00" 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_NEUTRAL" value="32913"/>
+ <define name="ACCEL_Y_NEUTRAL" value="33032"/>
+ <define name="ACCEL_Z_NEUTRAL" value="32843"/>
+
+ <define name="ACCEL_X_SENS" value="-2.5749914646" integer="16"/>
+ <define name="ACCEL_Y_SENS" value="-2.56940516083" integer="16"/>
+ <define name="ACCEL_Z_SENS" value="-2.56940374188" integer="16"/>
+
+ <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_NEUTRAL" value="-62"/>
+ <define name="MAG_Y_NEUTRAL" value="-13"/>
+ <define name="MAG_Z_NEUTRAL" value="-95"/>
+
+ <define name="MAG_X_SENS" value="6.42348671436" integer="16"/>
+ <define name="MAG_Y_SENS" value="-6.95371185551" integer="16"/>
+ <define name="MAG_Z_SENS" value="-3.12322557454" integer="16"/>
+
+
+ <!--define name="MAG_X_NEUTRAL" value="-12"/>
+ <define name="MAG_Y_NEUTRAL" value="-10"/>
+ <define name="MAG_Z_NEUTRAL" value="-11"/>
+
+ <define name="MAG_X_SENS" value="22.008352" integer="16"/>
+ <define name="MAG_Y_SENS" value="-21.79885" integer="16"/>
+ <define name="MAG_Z_SENS" value="-14.675745" 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(0.)"/>
+
+ </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_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="0.9"/>
+ <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="0.9"/>
+ <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="0.9"/>
+ <define name="REF_MAX_R" value="RadOfDeg(90.)"/>
+ <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
+
+ <!-- feedback -->
+ <define name="PHI_PGAIN" value="-650"/>
+ <define name="PHI_DGAIN" value="-200"/>
+ <define name="PHI_IGAIN" value="-100"/>
+
+ <define name="THETA_PGAIN" value="-650"/>
+ <define name="THETA_DGAIN" value="-200"/>
+ <define name="THETA_IGAIN" value="-100"/>
+
+ <define name="PSI_PGAIN" value="-800"/>
+ <define name="PSI_DGAIN" value="-320"/>
+ <define name="PSI_IGAIN" value="-20"/>
+
+ <!-- feedforward -->
+ <define name="PHI_DDGAIN" value=" 300"/>
+ <define name="THETA_DDGAIN" value=" 300"/>
+ <define name="PSI_DDGAIN" value=" 300"/>
+
+ </section>
+
+ <section name="INS" prefix="BOOZ_INS_">
+ <define name="BARO_SENS" value="15." integer="16"/>
+ <define name="UNTILT_ACCEL" value="1"/>
+ </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="REF_MIN_ZDD" value="-1.5*9.81"/>
+ <define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
+ <define name="REF_MIN_ZD" value="-1.5"/>
+ <define name="REF_MAX_ZD" value=" 1.5"/>
+ <define name="HOVER_KP" value="-200"/>
+ <define name="HOVER_KD" value="-100"/>
+ <define name="HOVER_KI" value="0"/>
+ <!-- 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"/>
+ </section>
+
+
+ <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
+ <define name="PGAIN" value="-60"/>
+ <define name="DGAIN" value="-120"/>
+ <define name="IGAIN" value="-10"/>
+ <define name="NGAIN" value="-0"/>
+ <!-- feedforward -->
+ <define name="AGAIN" value="100"/>
+ </section>
+
+ <section name="BAT">
+ <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9." unit="V"/>
+ <define name="BATTERY_SENS" value="0.183" integer="16"/>
+ </section>
+
+ <section name="AUTOPILOT">
+ <define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
+ <define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
+ <define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_NAV"/>
+ </section>
+
+ <section name="FMS">
+
+ </section>
+
+ <section name="MISC">
+ <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
+ </section>
+
+
+ <section name="SIMULATOR" prefix="NPS_">
+ <define name="ACTUATOR_NAMES" value="{"front_motor",
"back_motor", "right_motor", "left_motor"}"/>
+ <define name="SENSORS_PARAMS"
value=""nps_sensors_params_booz2_a1.h""/>
+ </section>
+
+
+
+
+ <makefile>
+ARCH=lpc21
+ARCHI=arm7
+BOARD_CFG = \"boards/booz2_v1_0.h\"
+FLASH_MODE=IAP
+
+# 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 += -DBOOZ_FAILSAFE_GROUND_DETECT
+
+ap.CFLAGS += -DMODEM_BAUD=B57600
+include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
+include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
+include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
+include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
+include $(CFG_BOOZ)/subsystems/booz2_analog_bat_baro.makefile
+include $(CFG_BOOZ)/subsystems/booz2_fms_datalink.makefile
+
+include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
+
+include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
+#set GPS lag for horizontal filter
+#ap.CFLAGS += -DUSE_GPS_ACC4R
+
+#ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
+ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT
+
+ap.CFLAGS += -DUSE_MODULES
+
+include $(CFG_BOOZ)/booz2_simulator_nps.makefile
+#sim.CFLAGS += -DB2_GUIDANCE_H_USE_REF
+sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT
+sim.CFLAGS += -DUSE_MODULES
+
+ </makefile>
+
+</airframe>
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