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[Paparazzi-devel] Finish setting up Lisa/L

From: Jochen Rieger
Subject: [Paparazzi-devel] Finish setting up Lisa/L
Date: Thu, 8 Mar 2012 11:22:07 +0100
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="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
<!--<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>





                     
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