|
| From: | Marvin Wang |
| Subject: | [Paparazzi-devel] Is lisa/m 2.0 now support the baro and the magnetometer on board? |
| Date: | Mon, 4 Jun 2012 17:08:01 +0800 |
!DOCTYPE airframe SYSTEM "airframe.dtd">
<airframe name="Sky Surfer 1.4m with Lisa/M 2.0">
<firmware name="fixedwing">
<target name="sim" board="pc">
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="AGR_CLIMB"/>
</target>
<target name="ap" board="lisa_m_2.0">
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="AGR_CLIMB"/>
</target>
<subsystem name="imu" type="aspirin_v2.1"/>
<subsystem name="ahrs" type="int_cmpl_quat">
<!-- ******** AHRS_MAG_UPDATE_YAW_ONLY is defult set ********
<define name="AHRS_MAG_UPDATE_YAW_ONLY"/> -->
<define name="AHRS_PROPAGATE_LOW_PASS_RATES"/>
</subsystem>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="B57600"/>
</subsystem>
<subsystem name="gps" type="ublox">
<configure name="GPS_BAUD" value="B38400"/>
</subsystem>
<subsystem name="control"/>
<subsystem name="navigation"/>
</firmware>
<firmware name="setup">
<target name="tunnel" board="lisa_m_2.0" />
<target name="setup_actuators" board="lisa_m_2.0" />
</firmware>
<modules>
<load name="gps_ubx_ucenter.xml"/>
</modules>
<section name="AHRS" prefix="AHRS_">
<define name="H_X" value="0.834910303443909"/>
<define name="H_Y" value="-0.0488381297153481"/>
<define name="H_Z" value="0.548214941687206"/>
<!--
above data calcultated by www.ngdc.noaa.gov/geomagmodels/struts/calcIGRFWMM , model = Tainan Taiwan, iaa building IGRF11, date: 2012,may,22th
-->
</section>
<!-- commands section -->
<!-- ppm input process chain:
radio.xml -> decode according to radio.xml -> commands-> rc_command + command_law -->
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="ROLL" value="@ROLL"/>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="PITCH" value="@PITCH"/>
<set command="YAW" value="@YAW"/>
</rc_commands>
<servos>
<servo name="AILERON" no="0" min="1948" neutral="1536" max="1108"/>
<servo name="THROTTLE" no="1" min="1100" neutral="1100" max="1942"/>
<servo name="ELEVATOR" no="2" min="1940" neutral="1520" max="1074"/>
<servo name="RUDDER" no="3" min="1844" neutral="1428" max="1004"/>
</servos>
<command_laws>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="RUDDER" value="@YAW"/>
<set servo="ELEVATOR" value="@PITCH"/>
<set servo="AILERON" value="@ROLL"/>
</command_laws>
<auto_rc_commands>
<!-- enable rudder in AUTO1 mode-->
<set command="YAW" value="@YAW"/>
</auto_rc_commands>
<!-- End command section -->
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="RadOfDeg(50)"/>
<define name="MAX_PITCH" value="RadOfDeg(30)"/>
</section>
<section name="IMU" prefix="IMU_">
<!-- gyrosens, accelemeter neutral and sens undefined here means use default value defined in imu_aspirinv2.0.h
/paparazzi/sw/airbone/subsystems/imu/ -->
<!-- mag sensor values are found by calibrate.py scrip, 2012/05/22 NCKU_iaa_building, Tainan, Taiwan-->
<define name="GYRO_P_NEUTRAL" value="-6"/>
<define name="GYRO_Q_NEUTRAL" value="-3"/>
<define name="GYRO_R_NEUTRAL" value="8"/>
<define name="MAG_X_NEUTRAL" value="-961"/>
<define name="MAG_Y_NEUTRAL" value="-115"/>
<define name="MAG_Z_NEUTRAL" value="20"/>
<define name="MAG_X_SENS" value="4.45045690083" integer="16"/>
<define name="MAG_Y_SENS" value="4.3861081417" integer="16"/>
<define name="MAG_Z_SENS" value="4.64145389502" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.0)"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.0)"/>
<define name="BODY_TO_IMU_PSI" value="RadOfDeg(90.0)"/>
</section>
<section name="BAT">
<!-- checked-->
<define name="MILLIAMP_AT_FULL_THROTTLE" value="35000" unit="mA"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="10.8" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/>
<define name="LOW_BAT_LEVEL" value="11.4" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.5" unit="V"/>
<!-- adc factor in sw/airbone/boards/lisa_m_2.0.h has been changed into 0.00455(defult 0.00485) -->
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="MAX_DIST_FROM_HOME"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<define name="NAV_RADIUS" value="30"unit="m"/>
<define name="NO_XBEE_API_INIT" value="TRUE"/>
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="20."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.0" unit="volt"/>
<!-- outer loop -->
<define name="ALTITUDE_PGAIN" value="0.075" unit="(m/s)/m"/>
<define name="ALTITUDE_MAX_CLIMB" value="4." unit="m/s"/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5" unit="%"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.4" unit="%"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.8" unit="%"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" unit="pprz_t"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000" unit="pprz_t"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.02" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05" unit="rad/(m/s)"/>
<!-- auto pitch inner loop-->
<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)"/>
<define name="THROTTLE_SLEW" value="1.0"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="0.7"/>
<define name="ROLL_MAX_SETPOINT" value="35" unit="deg"/>
<define name="PITCH_MAX_SETPOINT" value="25" unit="deg"/>
<define name="PITCH_MIN_SETPOINT" value="-25" unit="deg"/>
<define name="PITCH_PGAIN" value="20000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="7400"/>
<define name="ROLL_RATE_GAIN" value="200"/>
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" 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="0.9"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="RadOfDeg(20)"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="RadOfDeg(-20)"/><!-- 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>
<section name="SIMU">
<define name="WEIGHT" value="1."/>
<define name="YAW_RESPONSE_FACTOR" value="1."/>
<define name="ROLL_RESPONSE_FACTOR" value="15."/>
</section>
</airframe>
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