Hello community, the weather is fine here and in the next time i want to fly my maiden fixedwing with the Lisa/L.
After hours of reading the wiki and forum, i have last few questions about my airframe file and configuration.
I hope i find an answer for the questions, because they are significant to fly the wing first time, especially in AUTO1/2.
My hardware:
-Lisa/L 1.1
-Aspirin 2.0
-Mediatek_GPS
-Xbee 2.4 GHz
-Futaba T6J
-PPM Encoder
-Airframe Maja
I tried to calibrate the IMU, acceleration script works fine. I have copied the values in the airframe file. Are they realistic and useable?
But i dont no how i calibrate the gyro and magnetometer. I have read that the magnetometer is currently not useable with ahrs_DCM,
because ferromagnetic issues. And for gyro, i need really an turntable? Is there perhaps another way to calibrate it?
Airspeed measurement and using for controlling is not implemented at the moment for the Lisa/L, with onboard baros, i that true?
I have attached my airframe file, can please anyone read it, to confirm it? It based on the airframe file ppzuav/fixedwing/ppzimu_tiny
I didn t fly a autopilot in the past. That is why i am a little unsure with setting up.
Thank you very much for each help.
Best Regards.
Jochen
AIRFRAME FILE:
!DOCTYPE airframe SYSTEM "../../airframe.dtd">
<!--
Lisa/L 1.1 + Aspirin 2.0 + 2.4GHz 38400bps +
MediaTek_Diy GPS 38400bps
-->
<airframe name="Maja">
<!--*************Modules*******************************************************-->
<modules>
<!--<load name="airspeed_adc.xml">
<define name="AIRSPEED_SCALE" value="1.8"/>
<define name="AIRSPEED_BIAS" value="0"/>
<define name="AIRSPEED_ADC_I2C_DEV" value="i2c2"/>
</load> -->
<load name="baro_board.xml"/>
</modules>
<firmware name="fixedwing">
<target name="ap" board="lisa_l_1.1">
<define name="STRONG_WIND"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<define name="USE_I2C2"/>
<!--<define name="MEASURE_AIRSPEED"/>
<define name="USE_AIRSPEED"/>
<define name="SENSOR_SYNC_SEND"/>-->
<configure name="PERIODIC_FREQUENCY" value="120"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
<configure name="AHRS_ALIGNER_LED" value="3"/>
<configure name="CPU_LED" value="3"/>
</target>
<target name="sim" board="pc"/>
<define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<subsystem name="control"/>
<subsystem name="navigation"/>
<!--*************IMU****************************************************************-->
<subsystem name="imu" type="aspirin_v1.5"/>
<subsystem name="ahrs" type="float_dcm"/>
<!--<define name="USE_MAGNETOMETER" />
</subsystem> -->
<!--*************RC-Transmitter*******************************************************-->
<subsystem name="radio_control" type="ppm"/>
<!--*************Down-/Uplink*********************************************************-->
<subsystem name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="UART3" />
<configure name="MODEM_BAUD" value="B38400" />
</subsystem>
<!--*************GPS*********************************************************-->
<subsystem name="gps" type="mediatek_diy">
<configure name="GPS_PORT" value="UART2"/>
<configure name="GPS_BAUD" value="B38400"/>
</subsystem>
</firmware>
<!--*************Servos*********************************************************-->
<servos>
<servo name="THROTTLE" no="2" min="1200" neutral="1200" max="1900"/>
<servo name="AILERON_LEFT" no="0" min="1930" neutral="1500" max="1110"/>
<servo name="AILERON_RIGHT" no="5" min="1930" neutral="1525" max="1110"/>
<servo name="ELEVATOR" no="1" min="1930" neutral="1527" max="1110"/>
<servo name="RUDDER" no="3" min="1100" neutral="1593" max="1930"/>
</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="0"/>
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="YAW" value="@YAW"/>
</rc_commands>
<!--<section name="MIXER">
<define name="AILERON_YAW_MIX" value="0.5"/>
</section> NO MIX at the moment -->
<command_laws>
<set servo="AILERON_LEFT" value="@ROLL"/>
<set servo="AILERON_RIGHT" value="@ROLL"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="ELEVATOR" value="@PITCH"/>
<set servo="RUDDER" value="@YAW"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.85"/>
<define name="MAX_PITCH" value="0.6"/>
</section>
<auto_rc_commands>
<set command="YAW" value="@YAW"/>
</auto_rc_commands>
<!--*************Local magnetic field*****in******Stuttgart/Germany*******************-->
<section name="AHRS" prefix="AHRS_" >
<define name="H_X" value="0.4289796" />
<define name="H_Y" value="0.0127580" />
<define name="H_Z" value="0.9032241" />
</section>
<!--*************IMU calibration***********************************************-->
<section name="IMU" prefix="IMU_">
<!-- Calibration Neutral -->
<define name="GYRO_P_NEUTRAL" value="0"/>
<define name="GYRO_Q_NEUTRAL" value="0"/>
<define name="GYRO_R_NEUTRAL" value="0"/>
<!-- SENS = 14.375 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec / 12bit FRAC: 4096 / 828 -->
<define name="GYRO_P_SENS" value="4.947" integer="16"/>
<define name="GYRO_Q_SENS" value="4.947" integer="16"/>
<define name="GYRO_R_SENS" value="4.947" integer="16"/>
<define name="GYRO_P_Q" value="0."/>
<define name="GYRO_P_R" value="0"/>
<define name="GYRO_Q_P" value="0."/>
<define name="GYRO_Q_R" value="0."/>
<define name="GYRO_R_P" value="0."/>
<define name="GYRO_R_Q" value="0."/>
<define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_Q_SIGN" value="1"/>
<define name="GYRO_R_SIGN" value="1"/>
<define name="ACCEL_X_NEUTRAL" value="4"/>
<define name="ACCEL_Y_NEUTRAL" value="8"/>
<define name="ACCEL_Z_NEUTRAL" value="-28"/>
<!--SENS = 256 LSB/g @ 2.5V [X&Y: 265 LSB/g @ 3.3V] / 9.81 ms2/g = 26.095 LSB/ms2 / 10bit FRAC: 1024 / 26.095 for z and 1024 / 27.01 for X&Y-->
<define name="ACCEL_X_SENS" value="47.4921849975" integer="16"/>
<define name="ACCEL_Y_SENS" value="38.0678723599" integer="16"/>
<define name="ACCEL_Z_SENS" value="38.8382723049" integer="16"/>
<define name="ACCEL_X_SIGN" value="1"/>
<define name="ACCEL_Y_SIGN" value="1"/>
<define name="ACCEL_Z_SIGN" value="1"/>
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="1" integer="16"/>
<define name="MAG_Y_SENS" value="1" integer="16"/>
<define name="MAG_Z_SENS" value="1" integer="16"/>
<define name="MAG_X_SIGN" value="1"/>
<define name="MAG_Y_SIGN" value="1"/>
<define name="MAG_Z_SIGN" value="1"/>
<!--*************IMU orientation***********************************************-->
<define name="BODY_TO_IMU_PHI" value="0"/>
<define name="BODY_TO_IMU_THETA" value="0"/>
<define name="BODY_TO_IMU_PSI" value="0"/>
</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="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.7"/>
<define name="MAX_PITCH" value="0.7"/>
</section>
<!--*************Batterie warnings***********************************************-->
<section name="BAT">
<!--<define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/>-->
<define name="MILLIAMP_AT_FULL_THROTTLE" value="12000" unit="mA" />
<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<define name="XBEE_INIT" value=""ATPL2\rATRN5\rATTT80\r""/>
<!--<define name="NO_XBEE_API_INIT" value="TRUE"/> -->
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="MIN_CIRCLE_RADIUS" value="50."/>
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.35"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
<define name="THROTTLE_SLEW" value="0.5"/>
<!--<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>-->
<!--*************Airspeed********************************************************
<define name="AUTO_AIRSPEED_SETPOINT" value="13.0" unit="m/s"/>
<define name="AUTO_AIRSPEED_PGAIN" value="0.060"/>
<define name="AUTO_AIRSPEED_IGAIN" value="0.050"/>
<define name="AUTO_GROUNDSPEED_SETPOINT" value="7.0" unit="m/s"/>
<define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
<define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>
<define name="AUTO_PITCH_PGAIN" value="-0.125"/>
<define name="AUTO_PITCH_IGAIN" value="0.025"/>
<define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
<define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-25)"/>-->
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20000004768"/>
<define name="COURSE_DGAIN" value="0.3"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
<define name="ROLL_MAX_SETPOINT" value="0.75" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="PITCH_PGAIN" value="-12000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1000."/>
<define name="ROLL_SLEW" value="1."/>
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
<define name="ROLL_RATE_GAIN" value="0."/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_THROTTLE" value="0.6"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.2"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.15"/><!-- Pitch for Aggressive Decent -->
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
<define name="DESCENT_NAV_RATIO" value="1.0"/>
</section>
<!--*************Failsafe*******************************************************-->
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<!--<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>-->
<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
</section>
</airframe>