Re: [Paparazzi-devel] Configuration for apogee quadrotor.

[Sergey Krukowski]

Hi!

Are you sure your default PWM calibration is ok for you ESCs?
I would say, that:
min="800" neutral="1000" max="1900"
is a bit too low, the motors could really not start at all after arming.
For example, using SimonK ESCs the proper working default calibration is:
min="1000" neutral="1063" max="1863"

Best regards,
Sergey

> apogee_lc.xml <http://lists.paparazziuav.org/file/n16439/apogee_lc.xml>
>
> Hi,
>
> I am working on a apogee board, which in a quadrotor airframe. The  
> current
> config file does not work well. Cause, the there are only two motor  
> working
> while the throttle open. But the motors have reflection while the  
> joystick
> operates.
>
> I really appreciate anyone would let me know which part of the config  
> relate
> to the problem.
>
> Sorry for the copy and paste.
>
> <!DOCTYPE airframe SYSTEM &quot;../../airframe.dtd&quot;>
>
> <airframe name="apogee">
>   <firmware name="rotorcraft">
>     <define name="USE_I2C1"/>
>     <define name="USE_I2C2"/>
>     <define name="USE_BARO_BOARD"/>
>     <target name="ap" board="apogee_1.0">
>    </target>
>     <target name="nps" board="pc">
>       <subsystem name="fdm" type="jsbsim"/>
>     </target>
>
>     <subsystem name="motor_mixing"/>
>     <subsystem name="actuators" type="pwm">
>       <define name="SERVO_HZ" value="400"/>
>     </subsystem>
>
>     <subsystem name="radio_control" type="datalink"/>
>     <subsystem name="telemetry"     type="transparent"/>
>     <subsystem name="sdlog"/>
>
>     <subsystem name="imu"           type="apogee"/>
>    <subsystem name="stabilization" type="int_quat"/>
>     <subsystem name="ahrs"          type="int_cmpl_quat">
>       <define name="USE_MAGNETOMETER"/>
>       <define name="MODULE_mag_ak8975_UPDATE_AHRS"/>
>     </subsystem>
>    <subsystem name="ins"/>
>   </firmware>
>
>   <servos driver="Pwm">
>     <servo name="TOP_LEFT"     no="0" min="800" neutral="1000"  
> max="1900"/>
>     <servo name="TOP_RIGHT"    no="1" min="800" neutral="1000"  
> max="1900"/>
>     <servo name="BOTTOM_LEFT"  no="2" min="800" neutral="1000"  
> max="1900"/>
>     <servo name="BOTTOM_RIGHT" no="3" min="800" neutral="1000"  
> max="1900"/>
>   </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>
>
>   <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>
>
>   <command_laws>
>     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
>     <set servo="TOP_LEFT"      value="motor_mixing.commands[0]"/>
>     <set servo="TOP_RIGHT"     value="motor_mixing.commands[1]"/>
>     <set servo="BOTTOM_LEFT"   value="motor_mixing.commands[2]"/>
>     <set servo="BOTTOM_RIGHT"  value="motor_mixing.commands[3]"/>
>   </command_laws>
>
>   <section name="IMU" prefix="IMU_">
>     <define name="BODY_TO_IMU_PHI"   value="0.0" unit="deg"/>
>     <define name="BODY_TO_IMU_THETA" value="0.0" unit="deg"/>
>     <define name="BODY_TO_IMU_PSI"   value="0.0" unit="deg"/>
>
>     <define name="ACCEL_X_NEUTRAL" value="0"/>
>     <define name="ACCEL_Y_NEUTRAL" value="0"/>
>     <define name="ACCEL_Z_NEUTRAL" value="0"/>
>     <define name="ACCEL_X_SENS" value="2.46053275899" integer="16"/>
>     <define name="ACCEL_Y_SENS" value="2.45567151099" integer="16"/>
>     <define name="ACCEL_Z_SENS" value="2.44223710019" integer="16"/>
>
>     <define name="GYRO_P_NEUTRAL" value="0"/>
>     <define name="GYRO_Q_NEUTRAL" value="0"/>
>     <define name="GYRO_R_NEUTRAL" value="0"/>
>     <define name="GYRO_P_SENS" value="2.17953" integer="16"/>
>     <define name="GYRO_Q_SENS" value="2.17953" integer="16"/>
>     <define name="GYRO_R_SENS" value="2.17953" integer="16"/>
>
>     <define name="MAG_X_SIGN" value="1"/>
>     <define name="MAG_Y_SIGN" value="1"/>
>     <define name="MAG_Z_SIGN" value="1"/>
>
>     <define name="MAG_X_NEUTRAL" value="1264"/>
>     <define name="MAG_Y_NEUTRAL" value="-1258"/>
>     <define name="MAG_Z_NEUTRAL" value="1413"/>
>     <define name="MAG_X_SENS" value="1.03006422406" integer="16"/>
>     <define name="MAG_Y_SENS" value="0.938977337564" integer="16"/>
>     <define name="MAG_Z_SENS" value="1.14818205257" integer="16"/>
>   </section>
>
>  <section name="AHRS" prefix="AHRS_">
>     <define name="H_X" value="0.516264"/>
>     <define name="H_Y" value="-0.0602113"/>
>     <define name="H_Z" value="0.854311"/>
>   </section>
>
>   <section name="INS" prefix="INS_">
>   </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="DEADBAND_P" value="20"/>
>     <define name="DEADBAND_Q" value="20"/>
>     <define name="DEADBAND_R" value="200"/>
>     <define name="REF_TAU" value="4"/>
>
>    <define name="GAIN_P" value="400"/>
>     <define name="GAIN_Q" value="400"/>
>     <define name="GAIN_R" value="350"/>
>
>     <define name="IGAIN_P" value="75"/>
>     <define name="IGAIN_Q" value="75"/>
>     <define name="IGAIN_R" value="50"/>
>
>    <define name="DDGAIN_P" value="300"/>
>     <define name="DDGAIN_Q" value="300"/>
>     <define name="DDGAIN_R" value="300"/>
>   </section>
>
>   <section name="STABILIZATION_ATTITUDE"  
> prefix="STABILIZATION_ATTITUDE_">
>     <define name="SP_MAX_PHI"          value="45" unit="deg"/>
>     <define name="SP_MAX_THETA"        value="45" unit="deg"/>
>     <define name="SP_MAX_R"            value="90" unit="deg/s"/>
>     <define name="SP_PSI_DELTA_LIMIT"  value="45" unit="deg"/>
>
>     <define name="DEADBAND_A"          value="0"/>
>     <define name="DEADBAND_E"          value="0"/>
>     <define name="DEADBAND_R"          value="250"/>
>
>    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
>     <define name="REF_ZETA_P"   value="0.85"/>
>     <define name="REF_MAX_P"    value="400." unit="deg/s"/>
>     <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
>
>     <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
>     <define name="REF_ZETA_Q"   value="0.85"/>
>     <define name="REF_MAX_Q"    value="400." unit="deg/s"/>
>     <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
>
>     <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
>     <define name="REF_ZETA_R"   value="0.85"/>
>     <define name="REF_MAX_R"    value="180." unit="deg/s"/>
>     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
>
>    <define name="PHI_PGAIN"  value="507"/>
>     <define name="PHI_DGAIN"  value="274"/>
>     <define name="PHI_IGAIN"  value="79"/>
>
>     <define name="THETA_PGAIN"  value="507"/>
>     <define name="THETA_DGAIN"  value="274"/>
>     <define name="THETA_IGAIN"  value="79"/>
>
>     <define name="PSI_PGAIN"  value="300"/>
>     <define name="PSI_DGAIN"  value="160"/>
>     <define name="PSI_IGAIN"  value="50"/>
>
>    <define name="PHI_DDGAIN"   value="106"/>
>     <define name="THETA_DDGAIN" value="106"/>
>     <define name="PSI_DDGAIN"   value="106"/>
>   </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="80"/>
>     <define name="HOVER_KI"    value="20"/>
>  </section>
>
>   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
>     <define name="MAX_BANK" value="20" unit="deg"/>
>     <define name="PGAIN" value="100"/>
>     <define name="DGAIN" value="100"/>
>     <define name="IGAIN" value="0"/>
>   </section>
>
>   <section name="SIMULATOR" prefix="NPS_">
>     <define name="ACTUATOR_NAMES"  value="{&quot;ne_motor&quot;,
> &quot;se_motor&quot;, &quot;sw_motor&quot;, &quot;nw_motor&quot;}"/>
>     <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
>     <define name="JSBSIM_MODEL" value="&quot;simple_x_quad&quot;"/>
>     <define name="SENSORS_PARAMS"
> value="&quot;nps_sensors_params_default.h&quot;"/>
>    <define name="JS_AXIS_MODE" value="4"/>
>   </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="11.1" unit="V"/>
>     <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
>   </section>
> </airframe>
>
>
>
>
> --
> View this message in context:  
> http://lists.paparazziuav.org/Configuration-for-apogee-quadrotor-tp16439.html
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>
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