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From: | Christophe De Wagter |
Subject: | Re: [Paparazzi-devel] Airframefile for a boat |
Date: | Sat, 7 Feb 2015 21:28:17 +0100 |
I want to try to have paparazzi (a Lisa/M) to control a RC-boat.
My idea is to modify a airframefile for a EZStar for the purpose, since the EZStar is originally controlled by throttle/rudder/elevator only.
The current airframefile is found below. I have tried to remove the settings related to roll and pitch control, but then the setup will not compile.
Any suggestions for how to get paparazzi to use a fixed throttle level set in a airframefile -or to use a throttle level set directly from the tx? (I am not even sure it is possible to make paparazzi "forget" everything about roll and pitch control).
Jorn
-----------------------------------------------------------------
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- this is a boat! based on a EZStar
* Autopilot: Lisa/M 2.0 http://wiki.paparazziuav.org/wiki/Lisa/M_v20
* IMU: Aspirin 2.1 http://wiki.paparazziuav.org/wiki/AspirinIMU
* GPS: Ublox http://wiki.paparazziuav.org/wiki/Subsystem/gps
* RC: any PPM system http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#PPM
* Modem XBee in transparent mode at 57600 baud
-->
<airframe name="my_lisa_m2_boat">
<firmware name="fixedwing">
<target name="ap" board="lisa_m_2.0">
<!-- higher frequency for aspirin imu, ouputs data at 100Hz -->
<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"/>
</target>
<target name="sim" board="pc"/>
<define name="USE_MAGNETOMETER" value="FALSE"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="imu" type="aspirin_v2.1"/>
<subsystem name="ahrs" type="float_dcm"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
<subsystem name="ins" type="alt_float"/>
</firmware>
<modules>
<load name="nav_line.xml"/>
</modules>
<!-- commands section -->
<servos>
<servo name="THROTTLE" no="7" min="1120" neutral="1120" max="1920"/>
<servo name="ELEVATOR" no="3" min="1100" neutral="1515" max="1900"/>
<servo name="RUDDER" no="4" min="950" neutral="1440" max="2050"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="THROTTLE" value="@THROTTLE"/>
</rc_commands>
<command_laws>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="RUDDER" value="@ROLL"/>
<set servo="ELEVATOR" value="@PITCH"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="50" unit="deg"/>
<define name="MAX_PITCH" value="40" unit="deg"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</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="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000" unit="mA"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="9.5" unit="V"/>
<define name="LOW_BAT_LEVEL" value="10.0" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.5" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
<define name="CARROT" value="4." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(2.0*MAX_DIST_FROM_HOME)"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="100."/>
</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="0.2" unit="%"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1.0" 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="0.03"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05" unit="rad/(m/s)"/>
<define name="AUTO_PITCH_PGAIN" value="0.125"/>
<define name="AUTO_PITCH_IGAIN" value="0.025"/>
<define name="AUTO_PITCH_MAX_PITCH" value="25" unit="deg"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-25" unit="deg"/>
<define name="THROTTLE_SLEW" value="1.0"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="1.0"/>
<define name="COURSE_DGAIN" value="0.4"/>
<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="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.4" unit="%"/>
<define name="DEFAULT_ROLL" value="15" unit="deg"/>
<define name="DEFAULT_PITCH" value="0" unit="deg"/>
<define name="HOME_RADIUS" value="90" unit="m"/>
</section>
</airframe>
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