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@fvantienen
fvantienen committed Aug 29, 2013
1 parent 0e94c63 commit 5f34ae6
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248 changes: 248 additions & 0 deletions conf/airframes/walkera_V120D02S.xml
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<!-- this is a quadrocopter frame equiped with Lisa/S 0.1 and generic china pwm motor controllers -->

<!--
Applicable configuration:
airframe="airframes/esden/quady_ls01pwm.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_lm2a2pwm">

<servos driver="Pwm">
<servo name="CIC_FRONT" no="5" min="2000" neutral="1600" max="900"/>
<servo name="CIC_RIGHT" no="0" min="900" neutral="1400" max="2000"/>
<servo name="CIC_LEFT" no="1" min="900" neutral="1600" max="2000"/>
<servo name="TAIL" no="2" min="1000" neutral="1400" max="1800"/>
<servo name="GAS" no="3" min="900" neutral="980" max="2200"/>
</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="hoverpower" value=".75*MAX_PPRZ"/>
<let var="hoverstick" value=".35*MAX_PPRZ"/>
<let var="halfway" value="(@THRUST >= ($hoverstick) ? 1 : 0)"/>
<let var="collective" value="@THRUST * 0.4 + (MAX_PPRZ*0.01)"/>
<let var="gas" value="($hoverpower) + $halfway * (((@THRUST) - ($hoverstick)) * (MAX_PPRZ - ($hoverpower))) / (MAX_PPRZ - ($hoverstick)) + (1 - $halfway) * ((@THRUST - ($hoverstick)) * ($hoverpower)) / ($hoverstick)"/>

<set servo="GAS" value="$gas"/>
<set servo="CIC_LEFT" value="((@PITCH*0.3)-(@ROLL*0.3))-($collective)"/>
<set servo="CIC_RIGHT" value="((-@PITCH*0.3)-(@ROLL*0.3))+($collective)"/>
<set servo="CIC_FRONT" value="-@PITCH*0.3-($collective)"/>
<set servo="TAIL" value="@YAW"/>
</command_laws>

<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="190." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>

<!-- Calibration Neutral -->
<define name="GYRO_P_NEUTRAL" value="0"/>
<define name="GYRO_Q_NEUTRAL" value="0"/>
<define name="GYRO_R_NEUTRAL" value="0"/>

<!-- SENS = 16.4 LSB/(deg/sec) * 57.6 deg/rad = 939.650 LSB/rad/sec / 12bit FRAC: 4096 / 939.65 -->
<define name="GYRO_P_SENS" value="4.359" integer="16"/>
<define name="GYRO_Q_SENS" value="4.359" integer="16"/>
<define name="GYRO_R_SENS" value="4.359" integer="16"/>

<define name="ACCEL_X_NEUTRAL" value="0"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="0"/>

<!-- SENS = 2048 LSB/g / 9.81 ms2/g = 208.766564729 LSB/ms2 / 10bit FRAC: 1024 / 208.7665 -->
<define name="ACCEL_X_SENS" value="4.905" integer="16"/>
<define name="ACCEL_Y_SENS" value="4.905" integer="16"/>
<define name="ACCEL_Z_SENS" value="4.905" integer="16"/>

<!-- From delft MAVLab -->
<define name="MAG_X_NEUTRAL" value="396"/>
<define name="MAG_Y_NEUTRAL" value="-260"/>
<define name="MAG_Z_NEUTRAL" value="-91"/>
<define name="MAG_X_SENS" value="3.71635905504" integer="16"/>
<define name="MAG_Y_SENS" value="3.5526454063" integer="16"/>
<define name="MAG_Z_SENS" value="3.52339566014" integer="16"/>

<!-- Current correction -->
<define name="MAG_X_CURRENT_COEF" value="-0.390312445109"/>
<define name="MAG_Y_CURRENT_COEF" value="-0.068976232866"/>
<define name="MAG_Z_CURRENT_COEF" value="-0.181415585657"/>
</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_ATTITUDE_DIRECT"/>
</section>

<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="3700"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="4.3" unit="V"/>
</section>


<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">

<define name="SP_MAX_P" value="80000"/>
<define name="SP_MAX_Q" value="80000"/>
<define name="SP_MAX_R" value="80000"/>

<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="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_PSI" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="SP_MAX_P" value="90." unit="deg/s"/>
<define name="DEADBAND_R" value="250"/>
<define name="DEADBAND_A" 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_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="90." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>

<!-- feedback -->
<define name="PHI_PGAIN" value="3052"/>
<define name="PHI_DGAIN" value="108"/>
<define name="PHI_IGAIN" value="0"/>

<define name="THETA_PGAIN" value="3052"/>
<define name="THETA_DGAIN" value="108"/>
<define name="THETA_IGAIN" value="0"/>

<define name="PSI_PGAIN" value="944"/>
<define name="PSI_DGAIN" value="300"/>
<define name="PSI_IGAIN" value="10"/>

<!-- feedforward -->
<define name="PHI_DDGAIN" value="0"/>
<define name="THETA_DDGAIN" value="0"/>
<define name="PSI_DDGAIN" value=" 300"/>

<define name="PHI_AGAIN" value="0"/>
<define name="THETA_AGAIN" value="0"/>
<define name="PSI_AGAIN" value="0"/>
</section>

<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.4" 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="281"/>
<define name="HOVER_KD" value="66"/>
<define name="HOVER_KI" value="0"/>
<!-- 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="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>

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

<firmware name="rotorcraft">
<target name="ap" board="lisa_s_0.1">
<subsystem name="radio_control" type="superbitrf_rc">
<define name="RADIO_TRANSMITTER_ID" value="626371286"/> <!-- 425044546 -->
<define name="RADIO_TRANSMITTER_CHAN" value="9"/> <!-- 9 -->
<define name="RADIO_TRANSMITTER_PROTOCOL" value="0xB2"/>
<!-- define name="RADIO_KILL_SWITCH" value="RADIO_FLAP"/ -->
</subsystem>

<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
<configure name="LISA_S_BARO" value="BARO_MS5611_SPI"/>
</target>

<subsystem name="actuators" type="pwm">
<define name="SERVO_HZ" value="50"/>
<define name="USE_SERVOS_1AND2"/>
</subsystem>

<subsystem name="telemetry" type="superbitrf"/>
<subsystem name="imu" type="lisa_s_v0.1"/>
<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="euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/-->
</firmware>


<firmware name="lisa_test_progs">
<target name="test_led" board="lisa_s_0.1">
<configure name="SYS_TIME_LED" value="none"/>
</target>
<target name="test_uart" board="lisa_s_0.1"/>
<target name="test_servos" board="lisa_s_0.1"/>
<target name="test_telemetry" board="lisa_s_0.1"/>
<target name="test_imu_aspirin" board="lisa_s_0.1"/>
<target name="test_rc_spektrum" board="lisa_s_0.1"/>
<target name="test_baro" board="lisa_s_0.1"/>
<target name="test_imu_b2" board="lisa_s_0.1"/>
<target name="test_can" board="lisa_s_0.1"/>
<!--<target name="test_imu" board="lisa_s_0.1"/>
<target name="test_rc_ppm" board="lisa_s_0.1"/>
<target name="test_adc" board="lisa_s_0.1"/>
<target name="test_hmc5843" board="lisa_s_0.1"/>
<target name="test_itg3200" board="lisa_s_0.1"/>
<target name="test_adxl345" board="lisa_s_0.1"/>
<target name="test_esc_mkk_simple" board="lisa_s_0.1"/>
<target name="test_esc_asctecv1_simple" board="lisa_s_0.1"/>
<target name="test_actuators_mkk" board="lisa_s_0.1"/>
<target name="test_actuators_asctecv1" board="lisa_s_0.1"/-->
</firmware>
</airframe>
14 changes: 14 additions & 0 deletions conf/settings/superbitrf.xml
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<!DOCTYPE settings SYSTEM "settings.dtd">

<settings>
<dl_settings>

<dl_settings name="SuperbitRF">
<dl_setting max="1" min="0" step="1" var="superbitrf_force_dsm2" module="datalink/superbitrf" shortname="Force DSM2">
<strip_button name="Switch on" icon="on.png" value="0" group="switch_light"/>
<strip_button name="Switch off" icon="off.png" value="1" group="switch_light"/>
</dl_setting>
</dl_settings>

</dl_settings>
</settings>
14 changes: 7 additions & 7 deletions sw/airborne/subsystems/datalink/superbitrf.c
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Expand Up @@ -60,7 +60,7 @@ PRINT_CONFIG_VAR(SUPERBITRF_DRDY_PIN);

/* Default forcing in DSM2 mode is false */
#ifndef SUPERBITRF_FORCE_DSM2
#define SUPERBITRF_FORCE_DSM2 FALSE
#define SUPERBITRF_FORCE_DSM2 TRUE
#endif
PRINT_CONFIG_VAR(SUPERBITRF_FORCE_DSM2);

Expand Down Expand Up @@ -434,7 +434,7 @@ void superbitrf_event(void) {
}

// Switch channel, sop code, data code and crc
superbitrf.channel = (superbitrf.channel + 1) % 0x62; //TODO fix define
superbitrf.channel = (superbitrf.channel + 2) % 0x4F; //TODO fix define
superbitrf.crc_seed = ~superbitrf.crc_seed;
pn_row = (IS_DSM2(superbitrf.protocol) || SUPERBITRF_FORCE_DSM2)? superbitrf.channel % 5 : (superbitrf.channel-2) % 5;

Expand Down Expand Up @@ -483,8 +483,8 @@ void superbitrf_event(void) {
cyrf6936_multi_write(&superbitrf.cyrf6936, cyrf_abort_receive, 2);
superbitrf.state++;

// When we don't have enough time
if(superbitrf.timeouts > 0 || superbitrf.timing2 < 10000 || superbitrf.timing1 > 10000) {
// Only send on channel 2
if(superbitrf.crc_seed != ((superbitrf.bind_mfg_id[0] << 8) + superbitrf.bind_mfg_id[1])) {
superbitrf.state = 8;
// Set the timer
superbitrf.timer = (get_sys_time_usec() + SUPERBITRF_DATARECV_TIME) % 0xFFFFFFFF;
Expand All @@ -506,10 +506,10 @@ void superbitrf_event(void) {
superbitrf.packet_loss_bit = !superbitrf.packet_loss_bit;
if(IS_DSM2(superbitrf.protocol) || SUPERBITRF_FORCE_DSM2) {
tx_packet[0] = ~superbitrf.bind_mfg_id[2];
tx_packet[1] = (~superbitrf.bind_mfg_id[3])+1+superbitrf.packet_loss_bit;
tx_packet[1] = ((~superbitrf.bind_mfg_id[3])+1+superbitrf.packet_loss_bit) % 0xFF;
} else {
tx_packet[0] = superbitrf.bind_mfg_id[2];
tx_packet[1] = (superbitrf.bind_mfg_id[3])+1+superbitrf.packet_loss_bit;
tx_packet[1] = ((superbitrf.bind_mfg_id[3])+1+superbitrf.packet_loss_bit) % 0xFF;
}

packet_size = (superbitrf.tx_insert_idx-superbitrf.tx_extract_idx+128 %128);
Expand Down Expand Up @@ -678,7 +678,7 @@ static inline void superbitrf_receive_packet_cb(bool_t error, uint8_t status, ui
superbitrf.uplink_count++;

// Check if it is a data loss packet
if(packet[1] != (~superbitrf.bind_mfg_id[3] + 1 + superbitrf.packet_loss_bit) && packet[1] != (superbitrf.bind_mfg_id[3] + 1 + superbitrf.packet_loss_bit))
if(packet[1] != (~superbitrf.bind_mfg_id[3] + 1 + superbitrf.packet_loss_bit)%0xFF && packet[1] != (superbitrf.bind_mfg_id[3] + 1 + superbitrf.packet_loss_bit)%0xFF)
superbitrf.packet_loss = TRUE;
else
superbitrf.packet_loss = FALSE;
Expand Down
2 changes: 1 addition & 1 deletion sw/airborne/subsystems/datalink/superbitrf.h
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Expand Up @@ -35,7 +35,7 @@
/* The timings in microseconds */
#define SUPERBITRF_BIND_RECV_TIME 10000 /**< The time to wait for a bind packet on a channel in microseconds */
#define SUPERBITRF_SYNC_RECV_TIME 7000 /**< The time to wait for a sync packet on a channel in microseconds */
#define SUPERBITRF_RECV_TIME 25000 /**< The time to wait for a transfer packet on a channel in microseconds */
#define SUPERBITRF_RECV_TIME 22000 /**< The time to wait for a transfer packet on a channel in microseconds */
#define SUPERBITRF_DATAWAIT_TIME 100 /**< The time to wait after RC receive to send a data packet in microseconds */
#define SUPERBITRF_DATARECV_TIME 10000 /**< The time to wait for a data packet on a channel in microseconds */

Expand Down

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