API tools faq
paste
Advertisement
Guest User

airframe file jan2016

a guest
Jan 24th, 2016
63
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
text 11.42 KB | None | 0 0
raw download clone embed print report
  1. <!DOCTYPE airframe SYSTEM "../airframe.dtd">
  2. <!--Zephyr II with Umarim Lite-->
  3.  
  4. <airframe name="ZII_photo_ahrs">
  5.  
  6. <!-- ************************* FIRMWARE ************************* -->
  7.  
  8. <firmware name="fixedwing">
  9. <define name="USE_I2C0"/>
  10. <define name="USE_I2C1"/>
  11. <define name="AGR_CLIMB"/>
  12. <define name="USE_AIRSPEED"/>
  13. <define name="STRONG_WIND"/>
  14. <!--define name="USE_KFF_UPDATE"/-->
  15.  
  16.  
  17. <target name="sim" board="pc"/>
  18. <target name="nps" board="pc">
  19. <subsystem name="fdm" type="jsbsim"/>
  20. <define name="IMU_MAG_X_SENS" value="1"/>
  21. <define name="IMU_MAG_Y_SENS" value="1"/>
  22. <define name="IMU_MAG_Z_SENS" value="1"/>
  23. </target>
  24. <target name="ap" board="umarim_lite_2.0"/>
  25.  
  26.  
  27. <subsystem name="radio_control" type="ppm"/>
  28.  
  29. <!--subsystem name="radio_control" type="sbus">
  30. <configure name="SBUS_PORT" value="UART0"/>
  31. </subsystem-->
  32.  
  33. <!-- Communication -->
  34. <subsystem name="telemetry" type="transparent"/>
  35.  
  36. <!-- Actuators are automatically chosen according to board-->
  37. <subsystem name="imu" type="umarim"/>
  38. <subsystem name="ahrs" type="float_dcm"/>
  39. <subsystem name="control" type="energyadaptive"/>
  40. <subsystem name="navigation"/>
  41. <!-- Sensors -->
  42. <subsystem name="gps" type="ublox"/>
  43. <subsystem name="ins" type="alt_float"/>
  44. </firmware>
  45.  
  46. <!-- ************************* MODULES ************************* -->
  47. <modules>
  48. <load name="digital_cam.xml">
  49. <!--define name="DC_SHOOT_ON_BUTTON_RELEASE"/-->
  50. <define name="DC_SHUTTER_GPIO" value="GPIOA,GPIO10"/>
  51. <define name="DC_PUSH" value="gpio_clear"/>
  52. <define name="DC_RELEASE" value="gpio_set"/>
  53. <define name="DC_AUTOSHOOT_QUARTERSEC_PERIOD" value="4"/>
  54. <define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="40"/>
  55. <define name="DC_AUTOSHOOT_SURVEY_INTERVAL" value="40"/>
  56. <define name="DC_SHUTTER_DELAY" value="0.1"/>
  57. <define name="DC_SHOT_SYNC_SEND" value="FALSE"/>
  58. </load>
  59. <load name="photogrammetry_calculator.xml">
  60. </load>
  61. <load name="openlog.xml"/>
  62. <load name="nav_survey_zamboni.xml"/>
  63. <load name="airspeed_amsys.xml">
  64. <define name="AIRSPEED_AMSYS_I2C_DEV" value="i2c0"/>
  65. <define name="AIRSPEED_AMSYS_MAXPRESURE" value="1034"/>
  66. <define name="AIRSPEED_AMSYS_SCALE" value="1.0"/>
  67. <define name="AIRSPEED_AMSYS_FILTER" value="0.6"/>
  68. <define name="USE_AIRSPEED_AMSYS" value="TRUE"/>
  69. </load>
  70. <load name="level_trigger.xml"/>
  71. <!--load name="nav_line.xml"/-->
  72.  
  73. </modules>
  74.  
  75. <!-- ************************* SENSORS ************************* -->
  76.  
  77. <section name="IMU" prefix="IMU_">
  78.  
  79. <!-- Calibration Neutral -->
  80. <define name="GYRO_P_NEUTRAL" value="0"/>
  81. <define name="GYRO_Q_NEUTRAL" value="0"/>
  82. <define name="GYRO_R_NEUTRAL" value="0"/>
  83.  
  84. <!-- SENS = 14.375 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec / 12bit FRAC: 4096 / 828 -->
  85. <define name="GYRO_P_SENS" value="4.947" integer="16"/>
  86. <define name="GYRO_Q_SENS" value="4.947" integer="16"/>
  87. <define name="GYRO_R_SENS" value="4.947" integer="16"/>
  88.  
  89. <!-- SENS = 256 LSB/g @ 2.5V [X&Y: 265 LSB/g @ 3.3V] / 9.81 ms2/g = 26.095 LSB/ms2 / 10bit FRAC: 1024 / 26.095 for z and 1024 / 27.01 for X&Y -->
  90. <define name="ACCEL_X_NEUTRAL" value="0"/>
  91. <define name="ACCEL_Y_NEUTRAL" value="2"/>
  92. <define name="ACCEL_Z_NEUTRAL" value="-15"/>
  93.  
  94. <!-- SENS ADXL345 16G 31.2 mg/LSB, accel frac 10bit => 31.2 * 2^10 / 1000 -->
  95. <define name="ACCEL_X_SENS" value="38.1442395325" integer="16"/>
  96. <define name="ACCEL_Y_SENS" value="38.1047091338" integer="16"/>
  97. <define name="ACCEL_Z_SENS" value="39.461186443" integer="16"/>
  98.  
  99. <!-- Just to compile -->
  100. <define name="MAG_X_NEUTRAL" value="0"/>
  101. <define name="MAG_Y_NEUTRAL" value="0"/>
  102. <define name="MAG_Z_NEUTRAL" value="0"/>
  103.  
  104. <define name="BODY_TO_IMU_PHI" value="0"/>
  105. <define name="BODY_TO_IMU_THETA" value="0"/>
  106. <define name="BODY_TO_IMU_PSI" value="0"/>
  107. </section>
  108.  
  109. <section name="INS" prefix="INS_">
  110. <define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="rad"/>
  111. <define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="rad"/>
  112. </section>
  113.  
  114. <!-- ************************* ACTUATORS ************************* -->
  115.  
  116. <servos> <!-- Trimmed for 49% throttle -->
  117. <servo name="MOTOR" no="2" min="1100" neutral="1100" max="1900"/>
  118. <servo name="AILEVON_LEFT" no="1" min="1900" neutral="1500" max="1100"/>
  119. <servo name="AILEVON_RIGHT" no="0" min="1100" neutral="1500" max="1900"/>
  120. </servos>
  121.  
  122. <commands>
  123. <axis name="THROTTLE" failsafe_value="0"/>
  124. <axis name="ROLL" failsafe_value="0"/>
  125. <axis name="PITCH" failsafe_value="10"/>
  126. </commands>
  127.  
  128. <rc_commands>
  129. <set command="THROTTLE" value="@THROTTLE"/>
  130. <set command="ROLL" value="@ROLL"/>
  131. <set command="PITCH" value="@PITCH"/>
  132. </rc_commands>
  133.  
  134. <section name="MIXER">
  135. <define name="AILEVON_AILERON_RATE" value="0.60"/>
  136. <define name="AILEVON_ELEVATOR_RATE" value="0.40"/>
  137. </section>
  138.  
  139. <command_laws>
  140. <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
  141. <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
  142. <set servo="MOTOR" value="@THROTTLE"/>
  143. <set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
  144. <set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
  145. </command_laws>
  146.  
  147. <section name="AUTO1" prefix="AUTO1_">
  148. <define name="MAX_ROLL" value="RadOfDeg(55)"/>
  149. <define name="MAX_PITCH" value="RadOfDeg(45)"/>
  150. </section>
  151.  
  152. <section name="FAILSAFE" prefix="FAILSAFE_">
  153. <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
  154. <define name="DEFAULT_THROTTLE" value="0.0" unit="%"/>
  155. <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
  156. <define name="DEFAULT_PITCH" value="0.05" unit="rad"/>
  157. <define name="HOME_RADIUS" value="100" unit="m"/>
  158. </section>
  159.  
  160. <!-- ************************* GAINS ************************* -->
  161.  
  162.  
  163. <section name="VERTICAL CONTROL" prefix="V_CTL_">
  164.  
  165. <define name="GLIDE_RATIO" value="8"/>
  166. <define name="POWER_CTL_BAT_NOMINAL" value="14.8" unit="volt"/>
  167. <define name="MAX_ACCELERATION" value="1"/>
  168. <define name="THROTTLE_SLEW_LIMITER" value="0.4" unit="m/s/s"/>
  169.  
  170. <define name="ALTITUDE_PGAIN" value="0.15"/>
  171. <define name="ALTITUDE_MAX_CLIMB" value="10"/> <!--default 2, values higher than 3 only for energy loop with airspeed-->
  172.  
  173. <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
  174. <define name="AUTO_THROTTLE_NOMINAL_CRUISE_PITCH" value="0."/> <!-- default 0 -->
  175.  
  176. <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0." unit="%/(m/s)"/>
  177. <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0."/>
  178.  
  179. <define name="AIRSPEED_PGAIN" value="0.61"/>
  180.  
  181. <define name="AUTO_THROTTLE_OF_AIRSPEED_PGAIN" value="0"/>
  182. <define name="AUTO_THROTTLE_OF_AIRSPEED_IGAIN" value="0"/>
  183.  
  184. <define name="AUTO_PITCH_OF_AIRSPEED_PGAIN" value="0"/>
  185. <define name="AUTO_PITCH_OF_AIRSPEED_IGAIN" value="0"/>
  186. <define name="AUTO_PITCH_OF_AIRSPEED_DGAIN" value="0"/>
  187.  
  188. <define name="ENERGY_TOT_PGAIN" value="0.18"/>
  189. <define name="ENERGY_TOT_IGAIN" value="0.3"/>
  190. <define name="ENERGY_DIFF_PGAIN" value="0.18"/>
  191. <define name="ENERGY_DIFF_IGAIN" value="0.25"/>
  192.  
  193. <define name="AUTO_GROUNDSPEED_SETPOINT" value="13.0" unit="m/s"/>
  194. <define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
  195. <define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>
  196.  
  197. </section>
  198. <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
  199.  
  200. <define name="COURSE_PGAIN" value="0.7"/>
  201. <define name="COURSE_DGAIN" value="0.3"/>
  202. <define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
  203.  
  204. <define name="ROLL_MAX_SETPOINT" value="50" unit="deg"/>
  205. <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
  206. <define name="ROLL_RATE_GAIN" value="1500"/>
  207. <define name="ROLL_IGAIN" value="0"/>
  208. <define name="ROLL_KFFA" value="0"/>
  209. <define name="ROLL_KFFD" value="0"/>
  210.  
  211. <define name="PITCH_MAX_SETPOINT" value="35" unit="deg"/>
  212. <define name="PITCH_MIN_SETPOINT" value="-35" unit="deg"/>
  213. <define name="PITCH_PGAIN" value="7000"/>
  214. <define name="PITCH_DGAIN" value="2"/>
  215. <define name="PITCH_IGAIN" value="50"/>
  216. <define name="PITCH_KFFA" value="0"/>
  217. <define name="PITCH_KFFD" value="0"/>
  218.  
  219. <define name="PITCH_OF_ROLL" value="0.06"/>
  220. <define name="AILERON_OF_THROTTLE" value="0.0"/>
  221. </section>
  222.  
  223. <section name="AGGRESSIVE" prefix="AGR_">
  224. <define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
  225. <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
  226. <define name="CLIMB_THROTTLE" value="0.90"/><!-- Gaz for Aggressive Climb -->
  227. <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
  228. <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
  229. <define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
  230. <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
  231. <define name="DESCENT_NAV_RATIO" value="1.0"/>
  232. </section>
  233.  
  234.  
  235. <!-- ************************* MISC ************************* -->
  236. <section name="BAT">
  237. <define name="MILLIAMP_AT_FULL_THROTTLE" value="57000."/>
  238. <define name="CATASTROPHIC_BAT_LEVEL" value="12.8" unit="V"/> <!-- 3S lipo 3.1*3=9.3 -->
  239. <define name="CRITIC_BAT_LEVEL" value="13" unit="V"/>
  240. <define name="LOW_BAT_LEVEL" value="14" unit="V"/>
  241. <define name="MAX_BAT_LEVEL" value="16.8" unit="V"/>
  242. </section>
  243.  
  244. <section name="MISC">
  245. <define name="CLIMB_AIRSPEED" value="16" unit="m/s"/>
  246. <define name="NOMINAL_AIRSPEED" value="17" unit="m/s"/>
  247. <define name="GLIDE_AIRSPEED" value="14." unit="m/s"/>
  248. <define name="RACE_AIRSPEED" value="23." unit="m/s"/>
  249. <define name="STALL_AIRSPEED" value="11.5" unit="m/s"/>
  250. <define name="AIRSPEED_SETPOINT_SLEW" value="0.4" unit="m/s/s"/> <!--default is 1-->
  251.  
  252. <define name="CARROT" value="3." unit="s"/>
  253. <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
  254. <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
  255. </section>
  256.  
  257. <section name="Photogrammetry" prefix="PHOTOGRAMMETRY_">
  258. <!-- Camera Parameters -->
  259. <define name="FOCAL_LENGTH" value="16" unit="mm"/>
  260. <define name="SENSOR_WIDTH" value="15.6" unit="mm"/>
  261. <!-- In direction of the plane's wings -->
  262. <define name="SENSOR_HEIGHT" value="23.4" unit="mm"/>
  263. <!-- In direction of the plane's nose -->
  264. <define name="PIXELS_WIDTH" value="3264" unit=""/>
  265.  
  266. <!-- Flight Safety Parameters -->
  267. <define name="HEIGHT_MIN" value="50" unit="m"/>
  268. <define name="HEIGHT_MAX" value="300" unit="m"/>
  269. <define name="RADIUS_MIN" value="50" unit="m"/>
  270. </section>
  271.  
  272. <section name="SIMULATOR" prefix="NPS_">
  273. <define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
  274. <define name="JSBSIM_LAUNCHSPEED" value="20"/>
  275. <define name="COMMANDS_NB" value="3"/>
  276. <define name="ACTUATOR_NAMES" value="{&quot;throttle-cmd-norm&quot;, &quot;aileron-cmd-norm&quot;, &quot;elevator-cmd-norm&quot;}"/>
  277. <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_invariant.h&quot;"/>
  278. <define name="JS_AXIS_MODE" value="4"/>
  279. <define name="BYPASS_AHRS" value="TRUE"/>
  280. </section>
  281.  
  282. </airframe>
Advertisement
Add Comment
Please, Sign In to add comment
Advertisement
Public Pastes
Advertisement
We use cookies for various purposes including analytics. By continuing to use Pastebin, you agree to our use of cookies as described in the Cookies Policy.  OK, I Understand
Not a member of Pastebin yet?
Sign Up, it unlocks many cool features!