[paparazzi-commits] [5008] add small quad

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[paparazzi-commits] [5008] add small quad

From:	Gautier Hattenberger
Subject:	[paparazzi-commits] [5008] add small quad
Date:	Mon, 28 Jun 2010 11:23:00 +0000
Revision: 5008
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5008
Author:   gautier
Date:     2010-06-28 11:23:00 +0000 (Mon, 28 Jun 2010)
Log Message:
-----------
add small quad

Added Paths:
-----------
    paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mini.xml

Added: paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mini.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mini.xml                     
        (rev 0)
+++ paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mini.xml     2010-06-28 
11:23:00 UTC (rev 5008)
@@ -0,0 +1,237 @@
+<airframe name="BOOZ2_A4">
+
+  <servos min="0" neutral="0" max="0xff">
+    <servo name="PITCH"  no="0"    min="0" neutral="0" max="255"/>
+    <servo name="ROLL"   no="1"    min="0" neutral="0" max="255"/>
+    <servo name="YAW"    no="2"    min="0" neutral="0" max="255"/>
+    <servo name="THRUST" 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="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="33100"/>
+    <define name="GYRO_Q_NEUTRAL" value="32440"/>
+    <define name="GYRO_R_NEUTRAL" value="33033"/>
+
+    <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="32932"/>
+    <define name="ACCEL_Y_NEUTRAL" value="32251"/>
+    <define name="ACCEL_Z_NEUTRAL" value="32463"/>
+
+    <define name="ACCEL_X_SENS" value="-2.59502439625" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="-2.57636806334" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="-2.59680479039" 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="-75"/>
+    <define name="MAG_Y_NEUTRAL" value="17"/>
+    <define name="MAG_Z_NEUTRAL" value="7"/>
+
+    <define name="MAG_X_SENS" value="5.50726991669" integer="16"/>
+    <define name="MAG_Y_SENS" value="-5.43740121157" integer="16"/>
+    <define name="MAG_Z_SENS" value="-2.60492836649" integer="16"/>
+
+    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(-1.5)"/>
+    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(-1.5)"/>
+    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(-45.)"/>
+
+  </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(90.)"/>
+    <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
+
+    <!-- feedback -->
+    <define name="PHI_PGAIN"  value="-1000"/>
+    <define name="PHI_DGAIN"  value="-250"/>
+    <define name="PHI_IGAIN"  value="-40"/>
+
+    <define name="THETA_PGAIN"  value="-1000"/>
+    <define name="THETA_DGAIN"  value="-250"/>
+    <define name="THETA_IGAIN"  value="-40"/>
+
+    <define name="PSI_PGAIN"  value="-1000"/>
+    <define name="PSI_DGAIN"  value="-350"/>
+    <define name="PSI_IGAIN"  value="-10"/>
+
+    <!-- feedforward -->
+    <define name="PHI_DDGAIN"   value=" 350"/>
+    <define name="THETA_DDGAIN" value=" 350"/>
+    <define name="PSI_DDGAIN"   value=" 300"/>
+
+  </section>
+
+  <section name="SUPERVISION" prefix="SUPERVISION_">
+    <define name="TRIM_A"  value="0"/>
+    <define name="TRIM_E"  value="0"/>
+    <define name="TRIM_R"  value="0"/>
+    <define name="HACK_45" value="1"/>
+  </section>
+
+  <section name="INS" prefix="BOOZ_INS_">
+    <define name="BARO_SENS" value="16.5" 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="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="-500"/>
+   <define name="HOVER_KD"     value="-250"/>
+   <define name="HOVER_KI"     value="0"/>
+   <!-- 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"/>
+   <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="9.3" unit="V"/>
+   <define name="BATTERY_SENS"   value="0.25" 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">
+   <define name="BOOZ_FMS_TIMEOUT" value="0"/>
+ </section>
+
+ <section name="CAM" prefix="BOOZ_CAM_">
+    <define name="TILT_NEUTRAL" value="1500"/>
+    <define name="TILT_MIN" value="1000"/>
+    <define name="TILT_MAX" value="2000"/>
+    <define name="TILT_ANGLE_MIN" value="RadOfDeg(-85.)" unit="rad"/>
+    <define name="TILT_ANGLE_MAX" value="RadOfDeg( 30.)" unit="rad"/>
+    <define name="PAN_NEUTRAL" value="0"/>
+    <define name="PAN_MIN" value="0"/>
+    <define name="PAN_MAX" value="25736"/> <!-- 360 deg (2^12) -->
+ </section>
+
+
+ <section name="MISC">
+   <define name="BOOZ_ANALOG_BARO_THRESHOLD" value="800"/>
+   <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
+   <define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
+ </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_asctec.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
+ap.CFLAGS += -DUSE_GPS_ACC4R
+
+ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
+
+ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
+
+#ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
+
+ap.CFLAGS += -DUSE_MODULES
+
+sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
+sim.CFLAGS += -DNPS_NO_SUPERVISION
+include $(CFG_BOOZ)/booz2_simulator_nps.makefile
+
+sim.CFLAGS += -DB2_GUIDANCE_H_USE_REF
+sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
+sim.srcs += $(SRC_BOOZ_SIM)/booz2_pwm_hw.c
+
+  </makefile>
+
+</airframe>
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