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variance_airframe_group10_bebop.xml
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variance_airframe_group10_bebop.xml
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<!---Edited by Group 10 AFMAV Course March 2016--->
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- And example airframe to be use in the TU DElft Course 2016 -->
<airframe name="AvoiderBob"> <!-- The name of your airframe -->
<firmware name="rotorcraft">
<target name="ap" board="bebop"/> <!-- The type of Autopilot board hardware one uses -->
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="udp"/>
</target>
<!-- Subsystem section -->
<subsystem name="telemetry" type="transparent_udp"/>
<subsystem name="radio_control" type="datalink"/> <!-- We control the bebop through wifi -->
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="bebop"/>
<subsystem name="imu" type="bebop"/>
<subsystem name="gps" type="datalink"/> <!-- The GPS information also comes over this wifi, as we are sitting in the cyberzoo all the time -->
<subsystem name="stabilization" type="indi"/>
<subsystem name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="FALSE"/> <!-- Heading is from Optitrack, in reguler outside flight case one would use and Magnetometer-->
<define name="AHRS_USE_GPS_HEADING" value="TRUE"/>
</subsystem>
<subsystem name="ins" type="extended"/>
</firmware>
<!-- This is the place where you add all your modules -->
<!-- If there is a variable you can define in your module you can add it within the load node-->
<!-- Note that for vision the order in which modules are loaded is important -->
<!-- If you place cv_colorfilter before your own module your own module will only get the filtered image-->
<modules main_freq="512">
<load name="geo_mag.xml"/>
<load name="air_data.xml"/>
<load name="send_imu_mag_current.xml"/>
<!--load name="logger_file.xml">
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</load-->
<load name="video_thread.xml">
<define name="VIDEO_THREAD_FPS" value="4"/>
<define name="VIDEO_THREAD_CAMERA" value="front_camera"/>
<define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/>
</load>
<load name="variance_avoider.xml"/>
<load name="variance_calculator.xml"/>
<!-- <load name="cv_colorfilter.xml"/> -->
<!---UNCOMMENT IF VID STREAM IS NEEDED--->
<!--<load name="video_rtp_stream.xml">
<define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
</load>-->
</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="6000"/>
</commands>
<servos driver="Default">
<servo name="TOP_RIGHT" no="0" min="3000" neutral="3000" max="12000"/>
<servo name="TOP_LEFT" no="1" min="3000" neutral="3000" max="12000"/>
<servo name="BOTTOM_LEFT" no="2" min="3000" neutral="3000" max="12000"/>
<servo name="BOTTOM_RIGHT" no="3" min="3000" neutral="3000" max="12000"/>
</servos>
<section name="MIXING" prefix="MOTOR_MIXING_">
<!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
<define name="TYPE" value="QUAD_X"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
</command_laws>
<section name="AIR_DATA" prefix="AIR_DATA_">
<define name="CALC_AIRSPEED" value="FALSE"/>
<define name="CALC_TAS_FACTOR" value="FALSE"/>
<define name="CALC_AMSL_BARO" value="TRUE"/>
</section>
<!-- The IMU calibration can be quite important -->
<!-- Follow the MAVLab video to see how you can calibrate it -->
<!-- If your drone tends to always go forward check your primary flight display -->
<!-- Put the drone on a table, if the horizon is not perfectly straight you might want -->
<!-- to adjust your body to imu variables until it is -->
<section name="IMU" prefix="IMU_">
<!-- Magneto calibration -->
<define name="MAG_X_NEUTRAL" value="18"/>
<define name="MAG_Y_NEUTRAL" value="157"/>
<define name="MAG_Z_NEUTRAL" value="49"/>
<define name="MAG_X_SENS" value="10.5007722373" integer="16"/>
<define name="MAG_Y_SENS" value="11.1147400462" integer="16"/>
<define name="MAG_Z_SENS" value="11.6479371722" integer="16"/>
<!-- Magneto current calibration -->
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
<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="0." unit="deg"/>
</section>
<!-- local magnetic field -->
<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
<section name="AHRS" prefix="AHRS_">
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
<!-- Delft, The Netherlands 2014 -->
<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="SONAR_MAX_RANGE" value="2.2"/>
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
<define name="USE_GPS_ALT" value="TRUE"/>
<define name="VFF_R_GPS" value="0.01"/>
</section>
<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoint limits for attitude stabilization rc flight -->
<define name="SP_MAX_PHI" value="45" unit="deg"/>
<define name="SP_MAX_THETA" value="45" unit="deg"/>
<define name="SP_MAX_R" value="100" unit="deg/s"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="50"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="140" unit="deg/s"/>
<define name="SP_MAX_Q" value="140" unit="deg/s"/>
<define name="SP_MAX_R" value="140" unit="deg/s"/>
<define name="DEADBAND_P" value="20"/>
<define name="DEADBAND_Q" value="20"/>
<define name="DEADBAND_R" value="200"/>
<!-- feedback -->
<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"/>
</section>
<section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
<!-- attitude reference generation model -->
<define name="REF_OMEGA_P" value="450" 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="450" 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="450" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.9"/>
<define name="REF_MAX_R" value="600." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
</section>
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
<!-- control effectiveness -->
<define name="G1_P" value="0.0364"/>
<define name="G1_Q" value="0.0324"/>
<define name="G1_R" value="0.00092"/>
<define name="G2_R" value="0.1114"/>
<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="600.0"/>
<define name="REF_ERR_Q" value="600.0"/>
<define name="REF_ERR_R" value="600.0"/>
<define name="REF_RATE_P" value="28.0"/>
<define name="REF_RATE_Q" value="28.0"/>
<define name="REF_RATE_R" value="28.0"/>
<!--Maxium yaw rate, to avoid instability-->
<define name="MAX_R" value="110.0"/> <!--deg/s-->
<!-- second order filter parameters -->
<define name="FILT_OMEGA" value="50.0"/>
<define name="FILT_ZETA" value="0.55"/>
<define name="FILT_OMEGA_R" value="50.0"/>
<define name="FILT_ZETA_R" value="0.55"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.1"/>
<define name="ACT_DYN_Q" value="0.1"/>
<define name="ACT_DYN_R" value="0.1"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.0001"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="283"/>
<define name="HOVER_KD" value="82"/>
<define name="HOVER_KI" value="70"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="32" unit="deg"/>
<define name="PGAIN" value="79"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="30"/>
</section>
<section name="NAVIGATION" prefix="NAV_">
<define name="CLIMB_VSPEED" value="1.0" />
<define name="DESCEND_VSPEED" value="-1.0" />
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<!-- Here you put the modes that your drone can fly in -->
<!-- If you are using a hobbyking joystick mode_manual and mode_auto2 have to be set-->
<!-- These settings are probably ok for your project! -->
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<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_NAV"/>
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
</section>
<section name="MISC">
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="10.5" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="10.8" unit="V"/>
<define name="LOW_BAT_LEVEL" value="11.0" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
</airframe>