paparazzi-commits
[Top][All Lists]
Advanced
[Date Prev][Date Next][Thread Prev][Thread Next][Date Index][Thread Index]

[paparazzi-commits] [4345] ppzuav asctec quad

From: antoine drouin
Subject: [paparazzi-commits] [4345] ppzuav asctec quad
Date: Wed, 25 Nov 2009 23:35:37 +0000 
Revision: 4345
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4345
Author:   poine
Date:     2009-11-25 23:35:36 +0000 (Wed, 25 Nov 2009)
Log Message:
-----------
ppzuav asctec quad

Added Paths:
-----------
    paparazzi3/trunk/conf/airframes/booz2_a2p.xml

Added: paparazzi3/trunk/conf/airframes/booz2_a2p.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_a2p.xml                               
(rev 0)
+++ paparazzi3/trunk/conf/airframes/booz2_a2p.xml       2009-11-25 23:35:36 UTC 
(rev 4345)
@@ -0,0 +1,193 @@
+<airframe name="BOOZ2_A2">
+
+  <servos min="0" neutral="0" max="0xff">
+    <servo name="PITCH"  no="0" min="0" neutral="0" max="255"/>
+    <servo name="ROLL"   no="1" min="0" neutral="0" max="255"/>
+    <servo name="YAW"    no="2" min="0" neutral="0" max="255"/>
+    <servo name="THRUST" no="3" min="0" neutral="0" max="255"/>
+  </servos>
+
+  <commands>
+    <axis name="PITCH"  failsafe_value="0"/>
+    <axis name="ROLL"   failsafe_value="0"/>
+    <axis name="YAW"    failsafe_value="0"/>
+    <axis name="THRUST" failsafe_value="0"/>
+  </commands>
+
+  <section name="IMU" prefix="IMU_">
+
+    <define name="GYRO_P_CHAN" value="1"/>
+    <define name="GYRO_Q_CHAN" value="0"/>
+    <define name="GYRO_R_CHAN" value="2"/>
+
+    <define name="GYRO_P_NEUTRAL" value="33008"/>
+    <define name="GYRO_Q_NEUTRAL" value="31899"/>
+    <define name="GYRO_R_NEUTRAL" value="32989"/>
+
+    <define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
+    <define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
+    <define name="GYRO_R_SENS" value="-1.01" integer="16"/>
+
+
+    <define name="ACCEL_X_CHAN" value="5"/>
+    <define name="ACCEL_Y_CHAN" value="3"/>
+    <define name="ACCEL_Z_CHAN" value="4"/>
+
+    <define name="ACCEL_X_SENS" value="-2.53973936" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="-2.58673329" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="-2.58223257" integer="16"/>
+
+    <define name="ACCEL_X_NEUTRAL" value="32877"/>
+    <define name="ACCEL_Y_NEUTRAL" value="32415"/>
+    <define name="ACCEL_Z_NEUTRAL" value="32612"/>
+
+    <define name="MAG_X_CHAN" value="0"/>
+    <define name="MAG_Y_CHAN" value="1"/>
+    <define name="MAG_Z_CHAN" value="2"/>
+
+
+    <define name="MAG_X_SENS" value="5.00200577" integer="16"/>
+    <define name="MAG_Y_SENS" value="-4.68598036" integer="16"/>
+    <define name="MAG_Z_SENS" value="-2.98216964" integer="16"/>
+
+    <define name="MAG_X_NEUTRAL" value="-47"/>
+    <define name="MAG_Y_NEUTRAL" value="24"/>
+    <define name="MAG_Z_NEUTRAL" value="28"/>
+
+    <define name="BODY_TO_IMU_PHI"   value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>
+    <define name="BODY_TO_IMU_THETA" value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>
+    <define name="BODY_TO_IMU_PSI"   
value="ANGLE_BFP_OF_REAL(RadOfDeg(-45.))"/>
+
+  </section>
+
+
+  <section name="STABILIZATION_RATE" prefix="BOOZ_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="-400"/>
+    <define name="GAIN_Q" value="-400"/>
+    <define name="GAIN_R" value="-350"/>
+
+  </section>
+
+  <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+
+    <!-- setpoints -->
+    <define name="SP_MAX_PHI"     value="RadOfDeg(45.)"/>
+    <define name="SP_MAX_THETA"   value="RadOfDeg(45.)"/>
+    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="DEADBAND_R"     value="250"/>
+
+     <!-- reference -->
+    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_ZETA_P"   value="0.85"/>
+    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
+
+    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_ZETA_Q"   value="0.85"/>
+    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
+
+    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_ZETA_R"   value="0.85"/>
+    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
+
+   <!-- feedback -->
+    <define name="PHI_PGAIN"  value="-400"/>
+    <define name="PHI_DGAIN"  value="-300"/>
+    <define name="PHI_IGAIN"  value="-100"/>
+
+    <define name="THETA_PGAIN"  value="-400"/>
+    <define name="THETA_DGAIN"  value="-300"/>
+    <define name="THETA_IGAIN"  value="-100"/>
+
+    <define name="PSI_PGAIN"  value="-380"/>
+    <define name="PSI_DGAIN"  value="-320"/>
+    <define name="PSI_IGAIN"  value="-75"/>
+
+    <!-- feedforward -->
+    <define name="PHI_DDGAIN"   value=" 300"/>
+    <define name="THETA_DDGAIN" value=" 300"/>
+    <define name="PSI_DDGAIN"   value=" 300"/>
+
+  </section>
+
+  <section name="SUPERVISION" prefix="SUPERVISION_">
+    <define name="TRIM_A" value="0"/>
+    <define name="TRIM_E" value="6"/>
+    <define name="TRIM_R" value="0"/>
+  </section>
+
+  <section name="INS" prefix="BOOZ_INS_">
+    <define name="BARO_SENS" value="14.9" integer="16"/>
+  </section>
+
+
+  <section name="GUIDANCE_V"   prefix="BOOZ2_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="-500"/>
+   <define name="HOVER_KD"     value="-250"/>
+   <define name="HOVER_KI"     value="-100"/>
+   <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
+   <define name="RC_CLIMB_COEF" value ="163"/>
+   <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
+   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+  </section>
+
+ <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
+   <define name="PGAIN" value="-100"/>
+   <define name="DGAIN" value="-100"/>
+   <define name="IGAIN" value="-0"/>
+ </section>
+
+ <section name="BAT">
+   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
+   <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+   <define name="BATTERY_SENS"   value="0.25" integer="16"/>
+<!--   <define name="BATTERY_SENS"   value="1" integer="16"/>-->
+ </section>
+
+ <section name="AUTOPILOT">
+   <define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
+   <define name="BOOZ2_MODE_AUTO1"  value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
+   <define name="BOOZ2_MODE_AUTO2"  value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
+ </section>
+
+
+ <section name="MISC">
+   <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
+ </section>
+
+  <makefile>
+ARCH=lpc21
+BOARD_CFG = \"boards/booz2_v1_0.h\"
+
+# prevents motors from ever starting
+#ap.CFLAGS += -DKILL_MOTORS
+
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(CFG_BOOZ)/booz2_autopilot.makefile
+include $(CFG_BOOZ)/booz2_test_progs.makefile
+
+#ap.CFLAGS += -DMODEM_BAUD=B38400
+ap.CFLAGS += -DMODEM_BAUD=B57600
+include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
+include $(CFG_BOOZ)/subsystems/booz2_actuators_asctec.makefile
+include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
+include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
+
+include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
+
+  </makefile>
+
+</airframe>
reply via email to
[Prev in Thread] Current Thread [Next in Thread]