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[Ardrone] Full Auto2 Flight in RAW Mode
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@dewagter
dewagter committed Aug 28, 2013
1 parent 11b48b4 commit 029264b
Showing 1 changed file with 131 additions and 125 deletions.
256 changes: 131 additions & 125 deletions conf/airframes/ardrone2_raw.xml
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<firmware name="rotorcraft">
<target name="ap" board="ardrone2_raw">
<define name="USE_INS_NAV_INIT" />
<define name="USE_INS_NAV_INIT"/>
<!--configure name="USE_NEW_I2C_DRIVER" value="1"/ -->
<configure name="AHRS_PROPAGATE_FREQUENCY" value="200" />
<define name="AHRS_PROPAGATE_FREQUENCY" value="200" />
<define name="INS_PROPAGATE_FREQUENCY" value="200" />
<define name="USE_BAROMETER" />
<subsystem name="telemetry" type="udp" />
<subsystem name="radio_control" type="datalink" />
<configure name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
<define name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
<define name="INS_PROPAGATE_FREQUENCY" value="200"/>
<define name="USE_BAROMETER"/>
<subsystem name="telemetry" type="udp"/>
<subsystem name="radio_control" type="datalink"/>
</target>

<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim" />
<subsystem name="radio_control" type="ppm" />
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
</target>

<subsystem name="motor_mixing" />
<subsystem name="motor_mixing"/>

<subsystem name="actuators" type="ardrone2" />
<subsystem name="imu" type="ardrone2" />
<subsystem name="gps" type="ublox" />
<subsystem name="stabilization" type="int_quat" />
<subsystem name="ahrs" type="int_cmpl_quat" />
<subsystem name="ins" type="extended" />
<subsystem name="actuators" type="ardrone2"/>
<subsystem name="imu" type="ardrone2"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="extended"/>

</firmware>

<modules main_freq="512" >
<load name="gps_ubx_ucenter.xml" />
<modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/>
</modules>

<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" />
<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>

<servos driver="Default">
<servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500" />
<servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500" />
<servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500" />
<servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500" />
<servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
<servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
<servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
<servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
</servos>

<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="255" />
<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="255"/>
<!-- Time cross layout (X), as documented in paparazzi -->
<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 }" />
<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[SERVO_TOP_LEFT]" />
<set servo="TOP_RIGHT" value="motor_mixing.commands[SERVO_TOP_RIGHT]" />
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[SERVO_BOTTOM_LEFT]" />
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[SERVO_BOTTOM_RIGHT]" />
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<set servo="TOP_LEFT" value="motor_mixing.commands[SERVO_TOP_LEFT]"/>
<set servo="TOP_RIGHT" value="motor_mixing.commands[SERVO_TOP_RIGHT]"/>
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[SERVO_BOTTOM_LEFT]"/>
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[SERVO_BOTTOM_RIGHT]"/>
</command_laws>

<section name="IMU" prefix="IMU_">
<define name="ACCEL_X_NEUTRAL" value="2056" />
<define name="ACCEL_Y_NEUTRAL" value="2060" />
<define name="ACCEL_Z_NEUTRAL" value="2052" />
<define name="ACCEL_X_NEUTRAL" value="2056"/>
<define name="ACCEL_Y_NEUTRAL" value="2060"/>
<define name="ACCEL_Z_NEUTRAL" value="2052"/>

<define name="MAG_X_NEUTRAL" value="99"/>
<define name="MAG_Y_NEUTRAL" value="59"/>
<define name="MAG_Z_NEUTRAL" value="-65"/>
<define name="MAG_X_SENS" value="14.8494072406" integer="16"/>
<define name="MAG_Y_SENS" value="14.4187929352" integer="16"/>
<define name="MAG_Z_SENS" value="15.4390790318" integer="16"/>
<define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
<define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
<define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>

<define name="MAG_X_NEUTRAL" value="-9"/>
<define name="MAG_Y_NEUTRAL" value="1"/>
<define name="MAG_Z_NEUTRAL" value="97"/>


<!-- roll -->
<define name="BODY_TO_IMU_PHI" value="0." unit="deg" />
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<!-- pitch -->
<define name="BODY_TO_IMU_THETA" value="0." unit="deg" />
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<!-- yaw -->
<define name="BODY_TO_IMU_PSI" value="0." unit="deg" />
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section>

<!-- local magnetic field, calculated for: 52°3'56", 4°31'24" -->
<!-- http://paparazzi.enac.fr/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
<section name="AHRS" prefix="AHRS_">
<define name="H_X" value="0.3892503" />
<define name="H_Y" value="0.0017972" />
<define name="H_Z" value="0.9211303" />
<define name="H_X" value="0.3892503"/>
<define name="H_Y" value="0.0017972"/>
<define name="H_Z" value="0.9211303"/>
</section>

<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.4" integer="16" />
<define name="BARO_SENS" value="22.4" integer="16"/>
</section>

<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<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="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"/>

<!-- feedback -->
<define name="GAIN_P" value="400" />
<define name="GAIN_Q" value="400" />
<define name="GAIN_R" value="350" />
<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="IGAIN_P" value="75"/>
<define name="IGAIN_Q" value="75"/>
<define name="IGAIN_R" value="50"/>

<!-- feedforward -->
<define name="DDGAIN_P" value="300" />
<define name="DDGAIN_Q" value="300" />
<define name="DDGAIN_R" value="300" />
<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_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="15" unit="deg" />
<define name="SP_MAX_THETA" value="15" unit="deg" />
<define name="SP_MAX_R" value="90" unit="deg/s" />
<define name="DEADBAND_A" value="0" />
<define name="DEADBAND_E" value="0" />
<define name="DEADBAND_R" value="250" />
<define name="SP_MAX_PHI" value="45" unit="deg"/>
<define name="SP_MAX_THETA" value="45" unit="deg"/>
<define name="SP_MAX_R" value="600" unit="deg/s"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="250"/>

<!-- reference -->
<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_P" value="900" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.9"/>
<define name="REF_MAX_P" value="600." 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_Q" value="900" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.9"/>
<define name="REF_MAX_Q" value="600." 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="REF_OMEGA_R" value="600" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.9"/>
<define name="REF_MAX_R" value="400." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(4000.)"/>

<!-- feedback -->
<define name="PHI_PGAIN" value="592" />
<define name="PHI_DGAIN" value="303" />
<define name="PHI_IGAIN" value="0" />
<define name="PHI_PGAIN" value="592"/>
<define name="PHI_DGAIN" value="303"/>
<define name="PHI_IGAIN" value="0"/>

<define name="THETA_PGAIN" value="606" />
<define name="THETA_DGAIN" value="303" />
<define name="THETA_IGAIN" value="0" />
<define name="THETA_PGAIN" value="606"/>
<define name="THETA_DGAIN" value="303"/>
<define name="THETA_IGAIN" value="0"/>

<define name="PSI_PGAIN" value="529" />
<define name="PSI_DGAIN" value="353" />
<define name="PSI_IGAIN" value="0" />
<define name="PSI_PGAIN" value="529"/>
<define name="PSI_DGAIN" value="353"/>
<define name="PSI_IGAIN" value="0"/>

<!-- feedforward -->
<define name="PHI_DDGAIN" value="0" />
<define name="THETA_DDGAIN" value="0" />
<define name="PSI_DDGAIN" value="52" />
<define name="PHI_DDGAIN" value="0"/>
<define name="THETA_DDGAIN" value="0"/>
<define name="PSI_DDGAIN" value="52"/>
</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="283" />
<define name="HOVER_KD" value="18" />
<define name="HOVER_KI" value="13" />
<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="283"/>
<define name="HOVER_KD" value="82"/>
<define name="HOVER_KI" value="13"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163" />
<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="NOMINAL_HOVER_THROTTLE" value="0.4"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
</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" />
<define name="MAX_BANK" value="20" unit="deg"/>
<define name="PGAIN" value="79"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="26"/>
</section>

<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES"
value="{&quot;top_left_motor&quot;, &quot;top_right_motor&quot;, &quot;bottom_right_motor&quot;, &quot;bottom_left_motor&quot;}" />
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;" />
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;" />
<define name="ACTUATOR_NAMES" value="{&quot;top_left_motor&quot;, &quot;top_right_motor&quot;, &quot;bottom_right_motor&quot;, &quot;bottom_left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
</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" />
<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="MILLIAMP_AT_FULL_THROTTLE" value="7500"/>
<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="9.7" unit="V" />
<define name="MAX_BAT_LEVEL" value="12.4" unit="V" />
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
<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="9.7" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>

</airframe>

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