[Paparazzi-devel] stabilization problem

[Joey]

Hi all,
I've tried to test my quadcopter in X configuration mounted with Lisa/M and
Aspirin v2.1 (no barometer and magnetometer) but I can't manage to let it
stabilize itself. When moving the airframe, the front right engine suddenly
switches off and remains off. It only turns back on when I switch off and on
all the engines. I am using the following airframe file: 

<!DOCTYPE airframe SYSTEM &quot;../airframe.dtd&quot;>



<airframe name="AGR-Quad">

  <servos driver="Pwm">
    <servo name="FRONTRIGHT"   no="0" min="1000" neutral="1050" max="2000"/>
    <servo name="REARRIGHT"   no="1" min="1000" neutral="1050" max="2000"/>
    <servo name="REARLEFT"    no="2" min="1000" neutral="1050" max="2000"/>
    <servo name="FRONTLEFT"    no="3" min="1000" neutral="1050" max="2000"/>
  </servos>

  <commands>
    <axis name="ROLL" failsafe_value="0"/>
    <axis name="PITCH" failsafe_value="0"/>
    <axis name="YAW" failsafe_value="0"/>
    <axis name="THRUST" failsafe_value="0"/>
  </commands>

  <command_laws>
   <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
    <set servo="FRONTRIGHT" 
value="motor_mixing.commands[SERVO_FRONTRIGHT]"/>
    <set servo="FRONTLEFT"  
value="motor_mixing.commands[SERVO_FRONTLEFT]"/>
    <set servo="REARRIGHT"  value="motor_mixing.commands[SERVO_REARRIGHT]"/>
    <set servo="REARLEFT"   value="motor_mixing.commands[SERVO_REARLEFT]"/>
  </command_laws>

  </section>

   <section name="MIXING" prefix="MOTOR_MIXING_">
    <define name="TRIM_ROLL" value="0"/>
    <define name="TRIM_PITCH" value="0"/>
    <define name="TRIM_YAW" value="0"/>
    <define name="NB_MOTOR" value="4"/>
    <define name="SCALE" value="256"/>
    <define name="ROLL_COEF"   value="{ -256, -256,  256,  256 }"/>
    <define name="PITCH_COEF"  value="{  256, -256, -256,  256 }"/>
    <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="ACCEL_X_NEUTRAL" value="50"/>
    <define name="ACCEL_Y_NEUTRAL" value="23"/>
    <define name="ACCEL_Z_NEUTRAL" value="-35"/>
    <define name="ACCEL_X_SENS" value="4.88655662149" integer="16"/>
    <define name="ACCEL_Y_SENS" value="4.87360495603" integer="16"/>
    <define name="ACCEL_Z_SENS" value="4.84554588728" integer="16"/>

    <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="4.19385009207" integer="16"/>
    <define name="MAG_Y_SENS" value="4.32306399648" integer="16"/>
    <define name="MAG_Z_SENS" value="4.63243801309" integer="16"/>
  </section>

  <section name="IMU" prefix="IMU_">
    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
    <define name="BODY_TO_IMU_THETA" value="90." unit="deg"/>
    <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
  </section>

 <section name="AUTOPILOT">
   <define name="MODE_MANUAL"   value="AP_MODE_ATTITUDE_DIRECT"/>
   <define name="MODE_AUTO1"    value="AP_MODE_HOVER_DIRECT"/>
   <define name="MODE_AUTO2"    value="AP_MODE_NAV"/>
 </section>

 <section name="BAT">
   <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
   <define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
   <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>  
   <define name="MILLIAMP_AT_FULL_THROTTLE" value="30000"/>
 </section>


  <section name="STABILIZATION_RATE" prefix="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="-300"/>
    <define name="GAIN_Q" value="-300"/>
    <define name="GAIN_R" value="-350"/>
  </section>

<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
    
    <define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
    <define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
    <define name="SP_MAX_PSI" value="RadOfDeg(45.)"/>
    <define name="SP_MAX_R" value="RadOfDeg(90.)"/>
    <define name="SP_MAX_Q" value="RadOfDeg(90.)"/>
    <define name="SP_MAX_P" value="RadOfDeg(90.)"/>
    <define name="DEADBAND_R" value="150"/>
    <define name="DEADBAND_A" value="150"/>


    
   
    <define name="REF_OMEGA_R" value="RadOfDeg(600)"/>
    <define name="REF_ZETA_R" value="0.90"/>
    <define name="REF_MAX_R" value="RadOfDeg(400.)"/>
    <define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
   
    <define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
    <define name="REF_ZETA_Q" value="0.90"/>
    <define name="REF_MAX_Q" value="RadOfDeg(500.)"/>
    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
   
    <define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
    <define name="REF_ZETA_P" value="0.90"/>
    <define name="REF_MAX_P" value="RadOfDeg(500.)"/>
    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>

    
   
    <define name="THETA_PGAIN" value="-600"/>
    <define name="THETA_DGAIN" value="-500"/>
    <define name="THETA_IGAIN" value="-20"/>
   
    <define name="PHI_PGAIN" value="-600"/>
    <define name="PHI_DGAIN" value="-500"/>
    <define name="PHI_IGAIN" value="-20"/>
   
    <define name="PSI_PGAIN" value="-2000"/>
    <define name="PSI_DGAIN" value="-470"/>
    <define name="PSI_IGAIN" value="-100"/>

    
    <define name="THETA_DDGAIN" value=" 200"/>
    <define name="PHI_DDGAIN"   value=" 200"/>
    <define name="PSI_DDGAIN"   value=" 200"/>

  </section>

  <section name="INS" prefix="INS_">
    <define name="BARO_SENS" value="24.0" integer="16"/>
  </section>

 <section name="GUIDANCE_V" prefix="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="HOVER_KP" value="150"/>
   <define name="HOVER_KD" value="100"/>
   <define name="HOVER_KI" value="40"/>
   
   <define name="RC_CLIMB_COEF" value="163"/>
   
   <define name="RC_CLIMB_DEAD_BAND" value="160000"/>
   <define name="INV_M" value="0.21"/>
  </section>




  <section name="AHRS" prefix="AHRS_">
    <define name="PROPAGATE_FREQUENCY" value="512"/>
    <define name="AHRS_MAG_UPDATE_YAW_ONLY"/>
    
    <define name="H_X" value=" 0.75127"/>
    <define name="H_Y" value=" 0.21477"/>
    <define name="H_Z" value=" 0.62406"/>
  </section>

 <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
   <define name="PGAIN" value="5"/>
   <define name="DGAIN" value="10"/>
   <define name="IGAIN" value="1"/>
 </section>

 <section name="SIMULATOR" prefix="NPS_">
   <define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;,
&quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
   <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
   <define name="SENSORS_PARAMS"
value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
 </section>


  <firmware name="rotorcraft">
    <target name="ap" board="lisa_m_2.0">
      <define name="USE_THROTTLE_FOR_MOTOR_ARMING"/>
      <configure name="FLASH_MODE" value="DFU"/>
    </target>

      <subsystem name="radio_control" type="ppm">
        <configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/> 
      </subsystem>

      <subsystem name="telemetry"       type="transparent">
       <configure name="MODEM_BAUD" value="B57600" />
       <configure name="MODEM_PORT" value="UART2" />
      </subsystem>

      <subsystem name="motor_mixing"/>
      <subsystem name="actuators"     type="pwm">
       <define name="SERVO_HZ" value="400"/>
       <define name="USE_SERVOS_7AND8"/>
      </subsystem>


    <target name="sim" board="pc">
      <subsystem name="fdm" type="nps"/>
      <subsystem name="radio_control" type="ppm"/>
      <subsystem name="actuators" type="mkk">
      </subsystem>
    </target>

    <subsystem name="imu" type="aspirin_v2.1"/>

    <subsystem name="gps" type="ublox">
 <configure name="GPS_BAUD"          value="B57600"/>
    </subsystem>
 
    <subsystem name="ins"/>
    <subsystem name="stabilization" type="int_quat"/>
    <subsystem name="ahrs" type="int_cmpl_quat">
      <define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
    </subsystem>

  </firmware>

</airframe>

I assume there is something wrong with the airframe file but I can't find
what this could be. Can someone help me with this problem or send a working
airframe file for quadcopters with X configuration?

Thanks



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