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quady_ll11a2pwm.xml
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quady_ll11a2pwm.xml
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<!-- this is a quadrocopter frame equiped with Lisa/L 1.1, Aspirin 2.1 and generic china pwm motor controllers -->
<!--
Applicable configuration:
airframe="airframes/esden/quady_ll11a2pwm.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/dummy.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-->
<airframe name="quady_ll11a2pwm.xml">
<servos driver="Pwm">
<servo name="FRONT" no="0" min="1000" neutral="1100" max="1950"/>
<servo name="RIGHT" no="1" min="1000" neutral="1100" max="1950"/>
<servo name="BACK" no="2" min="1000" neutral="1100" max="1950"/>
<servo name="LEFT" no="3" min="1000" neutral="1100" max="1950"/>
</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>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<set servo="FRONT" value="motor_mixing.commands[SERVO_FRONT]"/>
<set servo="BACK" value="motor_mixing.commands[SERVO_BACK]"/>
<set servo="RIGHT" value="motor_mixing.commands[SERVO_RIGHT]"/>
<set servo="LEFT" value="motor_mixing.commands[SERVO_LEFT]"/>
</command_laws>
<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="{ 0, -256, 0, 256 }"/>
<define name="PITCH_COEF" value="{ 256, 0, -256, 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/asp21-001.xml"/>
<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="225." unit="deg"/>
</section>
<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.)"/>
<!-- simonk esc firmware gains light quad? -->
<!-- feedback -->
<define name="PHI_PGAIN" value="570"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="570"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="1300"/>
<define name="PSI_DGAIN" value="1000"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 530"/>
<define name="THETA_DDGAIN" value=" 530"/>
<define name="PSI_DDGAIN" value=" 300"/>
<!-- simonk esc firmware gains light quad? -->
<!-- feedback -->
<!--define name="PHI_PGAIN" value="1300"/>
<define name="PHI_DGAIN" value="1000"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="1300"/>
<define name="THETA_DGAIN" value="1000"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="1300"/>
<define name="PSI_DGAIN" value="1000"/>
<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"/-->
<!-- stock china esc firmware gains -->
<!-- feedback -->
<!--define name="PHI_PGAIN" value="390"/>
<define name="PHI_DGAIN" value="260"/>
<define name="PHI_IGAIN" value="50"/>
<define name="THETA_PGAIN" value="390"/>
<define name="THETA_DGAIN" value="260"/>
<define name="THETA_IGAIN" value="50"/>
<define name="PSI_PGAIN" value="780"/>
<define name="PSI_DGAIN" value="520"/>
<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_">
</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="830"/>
<define name="HOVER_KD" value="650"/>
<define name="HOVER_KI" value="100"/>
<!--define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/-->
</section>
<section name="AHRS" prefix="AHRS_">
<define name="H_X" value=" 0.47577"/>
<define name="H_Y" value=" 0.11811"/>
<define name="H_Z" value=" 0.87161"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="50"/>
<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="{"front_motor", "back_motor", "right_motor", "left_motor"}"/>
<define name="JSBSIM_INIT" value=""reset00""/>
<define name="SENSORS_PARAMS" value=""nps_sensors_params_booz2_a1.h""/>
</section>
<modules main_freq="512">
<!--load name="vehicle_interface_overo_link.xml"/-->
<load name="gps_ubx_ucenter.xml"/>
</modules>
<firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.1">
<subsystem name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_FLAP"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</subsystem>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
<define name="USE_SERVOS_7AND8"/>
</subsystem>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins"/>
<!--define name="USE_INS_NAV_INIT"/-->
<!--subsystem name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/-->
</firmware>
<firmware name="lisa_test_progs">
<target name="test_led" board="lisa_l_1.1">
<configure name="SYS_TIME_LED" value="none"/>
</target>
<target name="test_uart" board="lisa_l_1.1"/>
<target name="test_imu_aspirin" board="lisa_l_1.1"/>
<target name="test_rc_spektrum" board="lisa_l_1.1"/>
<target name="test_baro" board="lisa_l_1.1"/>
</firmware>
</airframe>