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esden/lisa_m_pwm.xml

Created December 12, 2011 01:39
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lisa_m_pwm.xml
<!-- this is an asctec frame equiped with Lisa/M and generic china pwm motor controllers -->
<airframe name="lisa_asctec">
<servos min="0" neutral="0" max="0xff">
<servo name="FRONT" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="BACK" no="1" min="1000" neutral="1000" max="2000"/>
<servo name="LEFT" no="2" min="1000" neutral="1000" max="2000"/>
<servo name="RIGHT" no="3" min="1000" neutral="1000" max="2000"/>
</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>
<command_laws>
<!--<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="MOTOR" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
-->
<set servo="FRONT" value="0"/>
<set servo="BACK" value="1"/>
<set servo="LEFT" value="2"/>
<set servo="RIGHT" value="3"/>
</command_laws>
<!-- for the sim -->
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<define name="NB" value="4"/>
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
</section>
<section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="1200"/>
<define name="MAX_MOTOR" value="1920"/>
<define name="TRIM_A" value="0"/>
<define name="TRIM_E" value="0"/>
<define name="TRIM_R" value="0"/>
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/>
<define name="ROLL_COEF" value="{ 0 , 0, 256, -256 }"/>
<define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/>
<define name="YAW_COEF" value="{ -256, -256, 256, 256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section>
<include href="conf/airframes/esden/calib/aspirin_lm2-001.xml"/>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</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="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<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_P" value="RadOfDeg(90.)"/>
<define name="DEADBAND_R" value="250"/>
<define name="DEADBAND_A" 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(400.)"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="RadOfDeg(400.)"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<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="-1000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="-1000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-400"/>
<define name="PSI_IGAIN" value="-10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
<define name="THETA_DDGAIN" value=" 300"/>
<define name="PSI_DDGAIN" value=" 300"/>
</section>
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="3.3" 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="-80"/>
<define name="HOVER_KI" value="-20"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<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="H_X" value=" 0.51562740288882"/>
<define name="H_Y" value="-0.05707735220832"/>
<define name="H_Z" value=" 0.85490967783446"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
</section>
<section name="MISC">
<define name="FACE_REINJ_1" value="1024"/>
</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>
<!--
<modules main_freq="512">
<load name="vehicle_interface_overo_link.xml"/>
</modules>
-->
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_1.0">
<!-- <define name="BOOZ_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="pwm_supervision"/>
<subsystem name="telemetry" type="transparent"/>
<define name="SERVO_HZ" value="400"/>
<define name="RADIO_MODE" value="RADIO_AUX2"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/>
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
<subsystem name="imu" type="aspirin_v1.5"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="quaternion"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
</firmware>
<firmware name="lisa_m_test_progs">
<target name="test_led" board="lisa_m_1.0"/>
<target name="test_uart_lisam" board="lisa_m_1.0"/>
<target name="test_servos" board="lisa_m_1.0"/>
<target name="test_telemetry" board="lisa_m_1.0"/>
<target name="test_imu_aspirin" board="lisa_m_1.0"/>
<target name="test_rc_spektrum" board="lisa_m_1.0"/>
<target name="test_baro" board="lisa_m_1.0"/>
<!--<target name="test_imu" board="lisa_m_1.0"/>
<target name="test_rc_ppm" board="lisa_m_1.0"/>
<target name="test_adc" board="lisa_m_1.0"/>
<target name="test_hmc5843" board="lisa_m_1.0"/>
<target name="test_itg3200" board="lisa_m_1.0"/>
<target name="test_adxl345" board="lisa_m_1.0"/>
<target name="test_esc_mkk_simple" board="lisa_m_1.0"/>
<target name="test_esc_asctecv1_simple" board="lisa_m_1.0"/>
<target name="test_actuators_mkk" board="lisa_m_1.0"/>
<target name="test_actuators_asctecv1" board="lisa_m_1.0"/-->
</firmware>
</airframe>
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