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rot_wing_v3g.xml
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rot_wing_v3g.xml
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<!-- This is a 7kg rotating wing drone
* Airframe: TUD00361
* Autopilot: Cube orange+
* Datalink: Herelink
* GPS: UBlox F9P
* RC: SBUS Crossfire
-->
<airframe name="RotatingWingV3G">
<description>RotatingWingV3G</description>
<firmware name="rotorcraft">
<target name="ap" board="cube_orangeplus">
<configure name="PERIODIC_FREQUENCY" value="500"/> <!-- Configure the main periodic frequency to 500Hz -->
<module name="radio_control" type="sbus">
<configure name="SBUS_PORT" value="UART3"/> <!-- On the TELEM2 port -->
</module>
<module name="sys_mon"/>
<module name="flight_recorder"/>
<!-- RC switches -->
<define name="RADIO_TH_HOLD" value="RADIO_AUX1"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
<define name="RADIO_FMODE" value="RADIO_AUX2"/>
<define name="RADIO_FBW_MODE" value="RADIO_AUX3"/>
<define name="RADIO_CONTROL_THRUST_X" value="RADIO_AUX4"/>
<!-- EKF2 configure inputs -->
<define name="INS_EKF2_GYRO_ID" value="IMU_CUBE1_ID"/>
<define name="INS_EKF2_ACCEL_ID" value="IMU_CUBE1_ID"/>
<define name="INS_EKF2_MAG_ID" value="MAG_RM3100_SENDER_ID"/>
<!--Only send gyro and accel that is being used-->
<define name="IMU_GYRO_ABI_SEND_ID" value= "IMU_CUBE1_ID"/>
<define name="IMU_ACCEL_ABI_SEND_ID" value= "IMU_CUBE1_ID"/>
<!-- Range sensor connected to supercan -->
<module name="range_sensor_uavcan"/>
<!-- Log in high speed (Remove for outdoor flights) -->
<!-- <define name="IMU_LOG_HIGHSPEED" value="TRUE"/> -->
<define name="I2C2_CLOCK_SPEED" value="100000"/>
</target>
<target name="nps" board="pc">
<module name="radio_control" type="datalink"/>
<module name="fdm" type="jsbsim"/>
<!--Not dealing with these in the simulation-->
<define name="RADIO_TH_HOLD" value="0"/> <!-- Throttle hold in command laws -->
<define name="RADIO_FMODE" value="0"/> <!-- Throttle curve select -->
<define name="RADIO_FBW_MODE" value="0"/> <!-- Switch between AP and FBW control -->
<define name="RADIO_KILL_SWITCH" value="0"/>
<define name="RADIO_CONTROL_THRUST_X" value="0"/>
</target>
<!-- Herelink datalink -->
<module name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="B460800"/>
</module>
<!-- Sensors -->
<module name="mag" type="rm3100">
<define name="MODULE_RM3100_UPDATE_AHRS" value="TRUE"/>
<configure name="MAG_RM3100_I2C_DEV" value="I2C2"/>
</module>
<module name="airspeed" type="ms45xx_i2c">
<define name="MS45XX_I2C_DEV" value="i2c2"/>
<define name="MS45XX_PRESSURE_SCALE" value="1.65"/>
<define name="USE_AIRSPEED_LOWPASS_FILTER" value="TRUE"/>
<define name="MS45XX_LOWPASS_TAU" value="0.15"/>
<define name="AIRSPEED_MS45XX_SEND_ABI" value="1"/>
</module>
<module name="airspeed" type="uavcan">
<define name="AIRSPEED_UAVCAN_LOWPASS_FILTER" value="TRUE" />
<define name="AIRSPEED_UAVCAN_LOWPASS_PERIOD" value="0.1" />
<define name="AIRSPEED_UAVCAN_LOWPASS_TAU" value="0.15" />
<define name="AIRSPEED_UAVCAN_SEND_ABI" value="0" /> <!-- Read Airspeed for logging but do not use it -->
</module>
<module name="air_data"/>
<module name="gps" type="ublox">
<configure name="UBX_GPS_BAUD" value="B460800"/>
<define name="USE_GPS_UBX_RTCM" value="TRUE"/>
</module>
<!-- IMU / INS -->
<module name="imu" type="cube"/>
<module name="ins" type="ekf2"/>
<!-- Actuators on dual CAN bus -->
<module name="actuators" type="uavcan">
<configure value="TRUE" name="UAVCAN_USE_CAN1"/>
<configure value="TRUE" name="UAVCAN_USE_CAN2"/>
</module>
<!-- Actuators on PWM -->
<module name="actuators" type="pwm" >
<define name="SERVO_HZ" value="400"/>
</module>
<!-- Control -->
<module name="stabilization" type="indi">
<configure name="INDI_NUM_ACT" value="9"/>
<configure name="INDI_OUTPUTS" value="5"/>
<define name="WLS_N_U" value="9"/>
<define name="WLS_N_V" value="5"/>
</module>
<module name="eff_scheduling_rot_wing"/>
<module name="guidance" type="indi_hybrid_quadplane"/>
<module name="nav" type="hybrid">
<define name="GUIDANCE_H_USE_REF" value="FALSE"/>
</module>
<!-- Other -->
<module name="sys_id_doublet"/>
<module name="sys_id_auto_doublets"/>
<module name="rot_wing_automation"/>
<module name="ground_detect_sensor"/>
<module name="rotwing_state"/>
<module name="preflight_checks"/>
<module name="pfc_actuators"/>
<module name="agl_dist"/>
<module name="approach_moving_target"/>
<!--Airspeed estimation using EKF-->
<module name="ekf_aw">
<define name="EKF_AW_WRAPPER_ROT_WING_TYPE_A" value="0" description="1 for A, 0 for b"/>
<define name="EKF_AW_P0_V_BODY" value="1.E-2f" description="Initial covariance body velocity"/>
<define name="EKF_AW_P0_MU" value="1.E-5f" description="Initial covariance wind"/>
<define name="EKF_AW_P0_OFFSET" value="1.E-10f" description="Initial covariance offset"/>
<define name="EKF_AW_Q_ACCEL" value="1.0E-4f" description="Accel process noise"/>
<define name="EKF_AW_Q_GYRO" value="1.0E-9f" description="Gyro process noise"/>
<define name="EKF_AW_Q_MU" value="1.0E-6f" description="Wind process noise"/>
<define name="EKF_AW_Q_OFFSET" value="1.0E-8f" description="Offset process noise"/>
<define name="EKF_AW_R_V_GND" value="1.E-5f" description="GPS Velocity measurement noise"/>
<define name="EKF_AW_R_ACCEL_FILT_X" value="1.E-5f" description="Filtered x accel measurement noise"/>
<define name="EKF_AW_R_ACCEL_FILT_Y" value="1.E-5f" description="Filtered y accel measurement noise"/>
<define name="EKF_AW_R_ACCEL_FILT_Z" value="1.E-5f" description="Filtered z accel measurement noise"/>
<define name="EKF_AW_R_V_PITOT" value="1.E-7f" description="Pitot Tube Velocity measurement noise"/>
<define name="EKF_AW_AZ_SCHED_GAIN" value="2" />
<define name="EKF_AW_AZ_SCHED_START_DEG" value="60" />
<define name="EKF_AW_AZ_SCHED_END_DEG" value="70" />
<define name="EKF_AW_AX_SCHED_GAIN" value="0" />
<define name="EKF_AW_AX_SCHED_START_DEG" value="45" />
<define name="EKF_AW_AX_SCHED_END_DEG" value="60" />
<define name="EKF_AW_QUICK_CONVERGENCE" value="true" />
<define name="EKF_AW_QUICK_CONVERGENCE_TIME" value="15" />
<define name="EKF_AW_WING_INSTALLED" value="true" description="Use wing contribution"/>
<define name="EKF_AW_USE_MODEL_BASED_X" value="true" description="Use model based to augment filter"/>
<define name="EKF_AW_USE_MODEL_BASED_Y" value="true" description="Use model based to augment filter"/>
<define name="EKF_AW_USE_MODEL_BASED_Z" value="true" description="Use model based to augment filter"/>
<define name="EKF_AW_VEHICLE_MASS" value="6.5" description="Mass of the vehicle"/>
<define name="EKF_AW_K2_FX_FUSELAGE" value="-4E-2f" description="K*u*u"/>
<define name="EKF_AW_K3_FX_HOVER" value="-3E-1f" description="K*u"/>
<define name="EKF_AW_K1_FX_WING" value="-3.21432e-02f" description="Fx2 = (k1*(1+k5*skew)+(k2*alpha+k3*alpha^2))*(sin(skew)^2+k4)*V^2"/>
<define name="EKF_AW_K2_FX_WING" value="1.67195e-01f" description="Fx2 = (k1*(1+k5*skew)+(k2*alpha+k3*alpha^2))*(sin(skew)^2+k4)*V^2"/>
<define name="EKF_AW_K3_FX_WING" value="5.9441e-01f" description="Fx2 = (k1*(1+k5*skew)+(k2*alpha+k3*alpha^2))*(sin(skew)^2+k4)*V^2"/>
<define name="EKF_AW_K4_FX_WING" value="3.9839e-03f" description="Fx2 = (k1*(1+k5*skew)+(k2*alpha+k3*alpha^2))*(sin(skew)^2+k4)*V^2"/>
<define name="EKF_AW_K5_FX_WING" value="3.5321e-03f" description="Fx2 = (k1*(1+k5*skew)+(k2*alpha+k3*alpha^2))*(sin(skew)^2+k4)*V^2"/>
<define name="EKF_AW_K_FY_V" value="-3.2E-1f" description="Fy beta coefficient"/>
<define name="EKF_AW_K1_FY_WING" value="0.0f" description="Fy = K1*cos(skew)*sin(skew)*u^2"/>
<define name="EKF_AW_K1_FZ_WING" value="-1.0008e-01f" description="Fz1 = ((k1+k2*alpha+k3*alpha^2)*(sin(skew)^2+k4)*V^2"/>
<define name="EKF_AW_K2_FZ_WING" value="-8.6965e-01f" description="Fz1 = ((k1+k2*alpha+k3*alpha^2)*(sin(skew)^2+k4)*V^2"/>
<define name="EKF_AW_K3_FZ_WING" value="1.45783e-01f" description="Fz1 = ((k1+k2*alpha+k3*alpha^2)*(sin(skew)^2+k4)*V^2"/>
<define name="EKF_AW_K4_FZ_WING" value="2.185395e-01f" description="Fz1 = ((k1+k2*alpha+k3*alpha^2)*(sin(skew)^2+k4)*V^2"/>
<define name="EKF_AW_TELEMETRY_DEBUG" value="false" description="debug mode to send timing info through telemetry"/>
</module>
</firmware>
<!-- Can bus 1 actuators -->
<servos driver="Uavcan1">
<servo no="0" name="MOTOR_FRONT" min="0" neutral="1000" max="8191"/>
<servo no="1" name="MOTOR_RIGHT" min="0" neutral="1000" max="8191"/>
<servo no="2" name="MOTOR_BACK" min="0" neutral="1000" max="8191"/>
<servo no="3" name="MOTOR_LEFT" min="0" neutral="1000" max="8191"/>
<servo no="4" name="MOTOR_PUSH" min="0" neutral="0" max="8191"/>
<servo no="5" name="ROTATION_MECH" min="-1671" neutral="188" max="2048"/>
</servos>
<!-- CAN BUS 1 command outputs-->
<servos driver="Uavcan1Cmd">
<servo no="6" name="SERVO_ELEVATOR" min="3500" neutral="3500" max="-6102"/>
<servo no="7" name="SERVO_RUDDER" min="-5225" neutral="0" max="5225"/>
</servos>
<!-- Can bus 2 actuators -->
<servos driver="Uavcan2">
<servo no="0" name="BMOTOR_FRONT" min="0" neutral="1000" max="8191"/>
<servo no="1" name="BMOTOR_RIGHT" min="0" neutral="1000" max="8191"/>
<servo no="2" name="BMOTOR_BACK" min="0" neutral="1000" max="8191"/>
<servo no="3" name="BMOTOR_LEFT" min="0" neutral="1000" max="8191"/>
<servo no="5" name="BROTATION_MECH" min="-1671" neutral="188" max="2048"/>
</servos>
<!-- CAN BUS 2 command outputs-->
<servos driver="Uavcan2Cmd">
<servo no="8" name="AIL_LEFT" min="-3250" neutral="0" max="3250"/> <!-- min can go up to -9600-->
<servo no="9" name="FLAP_LEFT" min="-3250" neutral="0" max="3250"/> <!-- min can go up to -9600-->
<servo no="10" name="FLAP_RIGHT" min="-3250" neutral="0" max="3250"/> <!-- max can go up to -9600-->
<servo no="11" name="AIL_RIGHT" min="-3250" neutral="0" max="3250"/> <!-- max can go up to -9600-->
</servos>
<commands>
<!-- commands from INDI -->
<axis name="FRONT_MOTOR" failsafe_value="0"/>
<axis name="RIGHT_MOTOR" failsafe_value="0"/>
<axis name="BACK_MOTOR" failsafe_value="0"/>
<axis name="LEFT_MOTOR" failsafe_value="0"/>
<axis name="RUDDER" failsafe_value="0"/>
<axis name="ELEVATOR" failsafe_value="0"/>
<axis name="AILERON" failsafe_value="0"/>
<axis name="FLAP" failsafe_value="0"/>
<axis name="THRUST_X" failsafe_value="0"/>
<!-- commands modules -->
<axis name="SKEW" failsafe_value="0"/>
<!-- default commands -->
<axis name="THRUST" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
</commands>
<command_laws>
<let var="th_hold" value="Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), !autopilot_get_motors_on())"/>
<let VAR="servo_hold" VALUE="LessThan(RadioControlValues(RADIO_TH_HOLD), -4800)"/>
<let VAR="hover_off" VALUE="Or($th_hold, bool_disable_hover_motors)"/>
<let var="ail_limit_hit" value="LessThan(rotwing_state_skewing.wing_angle_deg, 20)"/>
<let var="flap_limit_hit" value="LessThan(rotwing_state_skewing.wing_angle_deg, 50)"/>
<call fun="sys_id_doublet_add_values(autopilot_get_motors_on(),FALSE,actuators_pprz)"/>
<call fun="pfc_actuators_run()"/>
<set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(7, -9600)) : actuators_pprz[0])" SERVO="MOTOR_FRONT"/>
<set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(8, -9600)) : actuators_pprz[1])" SERVO="MOTOR_RIGHT"/>
<set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(9, -9600)) : actuators_pprz[2])" SERVO="MOTOR_BACK"/>
<set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(10, -9600)) : actuators_pprz[3])" SERVO="MOTOR_LEFT"/>
<set VALUE="($servo_hold? RadioControlValues(RADIO_YAW) : pfc_actuators_value(1, actuators_pprz[4]))" SERVO="SERVO_RUDDER"/>
<set VALUE="($servo_hold? (RadioControlValues(RADIO_PITCH)/4+7200) : (!autopilot_in_flight()? pfc_actuators_value(0, 0) : actuators_pprz[5]))" SERVO="SERVO_ELEVATOR"/>
<set VALUE="($th_hold? ($servo_hold? -9600 : pfc_actuators_value(11, -9600)) : actuators_pprz[8])" SERVO="MOTOR_PUSH"/>
<set VALUE="pfc_actuators_value(6, rotwing_state_skewing.servo_pprz_cmd)" SERVO="ROTATION_MECH"/>
<set VALUE="$ail_limit_hit? pfc_actuators_value(2, 0) : ($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[6])" SERVO="AIL_LEFT"/>
<set VALUE="$ail_limit_hit? pfc_actuators_value(5, 0) : ($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[6])" SERVO="AIL_RIGHT"/>
<set VALUE="$flap_limit_hit? pfc_actuators_value(3, 0) : ($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[7])" SERVO="FLAP_LEFT"/>
<set VALUE="$flap_limit_hit? pfc_actuators_value(4, 0) : ($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[7])" SERVO="FLAP_RIGHT"/>
<!-- Backup commands -->
<set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(7, -9600)) : actuators_pprz[0])" SERVO="BMOTOR_FRONT"/>
<set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(8, -9600)) : actuators_pprz[1])" SERVO="BMOTOR_RIGHT"/>
<set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(9, -9600)) : actuators_pprz[2])" SERVO="BMOTOR_BACK"/>
<set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(10, -9600)) : actuators_pprz[3])" SERVO="BMOTOR_LEFT"/>
<set VALUE="pfc_actuators_value(6, rotwing_state_skewing.servo_pprz_cmd)" SERVO="BROTATION_MECH"/>
</command_laws>
<section PREFIX="SYS_ID_" NAME="SYS_ID">
<define name="DOUBLET_AXES" value="{0,1,2,3,4,5,6,7,8}"/>
<define name="DOUBLET_RADIO_CHANNEL" value="6"/>
<define name="AUTO_DOUBLETS_N_ACTUATORS" value="4"/>
<define name="AUTO_DOUBLETS_ACTUATORS" value="{0,1,2,3}"/>
<define name="AUTO_DOUBLETS_AMPLITUDE" value="{1500,1500,1500,1500}"/>
<define name="CHIRP_AXES" value="{0,1,2,3}"/>
<define name="CHIRP_RADIO_CHANNEL" value="9"/>
</section>
<section name="CTRL_EFF_SHED" prefix="ROT_WING_EFF_SCHED_">
<define name="IXX_BODY" value="0.04780"/>
<define name="IYY_BODY" value="0.7546"/>
<define name="IZZ" value="0.9752"/>
<define name="IXX_WING" value="0.08099"/>
<define name="IYY_WING" value="0.1949"/>
<define name="M" value="6.67"/>
<define name="DM_DPPRZ_HOVER_PITCH" value="0.001734904"/>
<define name="DM_DPPRZ_HOVER_ROLL" value="0.001684595"/>
<define name="HOVER_ROLL_PITCH_COEF" value="{0.001600837,-0.000732843248849}"/>
<define name="HOVER_ROLL_ROLL_COEF" value="{-0.0000947144886298017, -0.000053954}"/>
<define name="K_ELEVATOR" value="{0.4603,-4.81466,-28.8464}"/>
<define name="K_RUDDER" value="{-26.1434,-0.336403,-1.16702}"/>
<define name="K_AILERON" value="2.777647188"/>
<define name="K_FLAPERON" value="2.0439"/>
<define name="K_PUSHER" value="{0.007777,-0.67521}"/>
<define name="K_ELEVATOR_DEFLECTION" value="{50.0,-0.0063}"/>
<define name="D_RUDDER_D_PPRZ" value="-0.0018"/>
<define name="K_RPM_PPRZ_PUSHER" value="{-131.497033952591,1.32098226269777,-0.0000291178067445214}"/>
<define name="K_LIFT_WING" value="{-0.335811392,-0.615611143}"/>
<define name="K_LIFT_FUSELAGE" value="-0.050653927"/>
<define name="K_LIFT_TAIL" value="-0.101691751"/>
</section>
<section name="MISC">
<!-- Voltage and current measurements -->
<define name="VoltageOfAdc(adc)" value="((3.3f/65536.0f) * 11.98389 * adc)"/>
<define name="VBoardOfAdc(adc)" value="((3.3f/65536.0f) * 1.89036 * adc)"/>
<!-- Preflight check actuators (ELE, RUD, AIL_L, FLAP_L, AIL_R, FLAP_R, ROT_M, M_FRONT, M_RIGHT_, M_BACK, M_LEFT, M_PUSH) -->
<define name="PFC_ACTUATORS" value="{{.feedback_id=SERVO_SERVO_ELEVATOR_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=0.85, .high_feedback=0.3, .timeout=1},{.feedback_id=SERVO_SERVO_RUDDER_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_ROTATION_MECH_IDX, .feedback_id2=SERVO_BROTATION_MECH_IDX, .low=-9600, .high=9600, .low_feedback=1.57, .high_feedback=0, .timeout=5},{.feedback_id=SERVO_MOTOR_FRONT_IDX, .feedback_id2=SERVO_BMOTOR_FRONT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_RIGHT_IDX, .feedback_id2=SERVO_BMOTOR_RIGHT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_BACK_IDX, .feedback_id2=SERVO_BMOTOR_BACK_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_LEFT_IDX, .feedback_id2=SERVO_BMOTOR_LEFT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_PUSH_IDX, .feedback_id2=255, .low=-9600, .high=2000, .low_feedback=0, .high_feedback=2200, .timeout=3}}"/>
<!-- Others -->
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
<define name="NAV_CLIMB_VSPEED" value="2.0" />
<define name="NAV_DESCEND_VSPEED" value="-1.0"/>
<define name="NAV_CARROT_DIST" value="200"/>
<define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="300"/>
<define name="ARRIVED_AT_WAYPOINT" value="50.0"/>
<define name="NO_GPS_LOST_WITH_DATALINK_TIME" value="20"/>
<define name="NO_GPS_LOST_WITH_RC_VALID" value="TRUE"/>
<define name="USE_AIRSPEED" value="TRUE"/>
<define name="NAV_HYBRID_MAX_DECELERATION" value="0.5"/>
<define name="ROTWING_STATE_USE_ROTATION_REF_MODEL" value="TRUE"/>
</section>
<section name="GROUND_DETECT">
<define name="THRESHOLD_GROUND_DETECT" value="40"/>
<define name="USE_GROUND_DETECT_INDI_THRUST" value="TRUE"/>
<define name="USE_GROUND_DETECT_AGL_DIST" value="TRUE"/>
<define name="GROUND_DETECT_SENSOR_AGL_MIN_VALUE" value="0.24"/>
<define name="AGL_DIST_MIN_DISTANCE_CHECK" value="0.20"/>
<define name="AGL_DIST_MAX_DISTANCE_CHECK" value="0.25"/>
<define name="AGL_DIST_FILTER" value="0.07"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="ACCEL_CALIB" value="{{.abi_id=20, .calibrated={.neutral=true, .scale=true, .filter=true},.neutral={-19,0,28}, .scale={{1537,43219,6232},{157,4410,641}}, .filter_sample_freq=1127, .filter_freq=30}, {.abi_id=21, .calibrated={.neutral=true, .scale=true},.neutral={-1,2,33}, .scale={{21914,8531,5489},{4477,1738,1120}}}, {.abi_id=22, .calibrated={.neutral=true, .scale=true},.neutral={-47,0,3}, .scale={{17288,29444,25808},{3531,6031,5293}}}}"/>
<define name="MAG_CALIB" value="{{.abi_id=5, .calibrated={.neutral=true, .scale=true, .rotation=true},.neutral={3163,2783,1623}, .scale={{25833,28413,12237},{45868,51206,22472}}, .body_to_sensor={{0,16384,0,16384,0,0,0,0,-16384}}}}"/>
<define name="GYRO_CALIB" value="{{.abi_id=20, .calibrated={.filter=true}, .filter_sample_freq=1127, .filter_freq=30}}"/>
<!-- Define axis in hover frame -->
<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>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- Limits -->
<define name="SP_MAX_PHI" value="45." unit="deg" />
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="DEADBAND_R" value="200"/>
<define name="SP_PSI_DELTA_LIMIT" value="45" unit="deg"/>
<!-- Reference model -->
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="300." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="300." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
<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.)"/>
<!-- Gains -->
<define name="PHI_PGAIN" value="500"/>
<define name="PHI_DGAIN" value="230"/>
<define name="PHI_IGAIN" value="10"/>
<define name="PHI_DDGAIN" value="0"/>
<define name="THETA_PGAIN" value="500"/>
<define name="THETA_DGAIN" value="230"/>
<define name="THETA_IGAIN" value="10"/>
<define name="THETA_DDGAIN" value="0"/>
<define name="PSI_PGAIN" value="700"/>
<define name="PSI_DGAIN" value="200"/>
<define name="PSI_IGAIN" value="10"/>
<define name="PSI_DDGAIN" value="0"/>
</section>
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
<!-- G1 and G2 7 kg-->
<define name="G1_ROLL" value="{ 0.0, -15.0, 0.0, 15.0, 0.0, 0.0, 0.0, 0.0, 0.0}"/>
<define name="G1_PITCH" value="{ 1.5, 0.0, -1.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}"/>
<define name="G1_YAW" value="{- 0.3, 0.3, -0.3, 0.3, 0.0, 0.0, 0.0, 0.0, 0.0}"/>
<define name="G1_THRUST" value="{-0.575, -0.575, -0.575, -0.575, 0.0, 0.0, 0.0, 0.0, 0.0}"/>
<define name="G1_THRUST_X" value="{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.55}"/>
<define name="G2" value="{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}"/>
<!-- Actuator dynamics -->
<define name="ACT_FREQ" value="{10.1, 10.1, 10.1, 10.1, 52.7, 52.7, 52.7, 52.7, 24.1}"/>
<define name="ACT_IS_SERVO" value="{ 0, 0, 0, 0, 1, 1, 1, 1, 0}"/>
<define name="ACT_IS_THRUSTER_X" value="{ 0, 0, 0, 0, 0, 0, 0, 0, 1}"/>
<!-- Reference -->
<define name="REF_ERR_P" value="30.0"/>
<define name="REF_ERR_Q" value="32.0"/>
<define name="REF_ERR_R" value="23.0"/>
<define name="REF_RATE_P" value="5.0"/>
<define name="REF_RATE_Q" value="7.2"/>
<define name="REF_RATE_R" value="3.9"/>
<define name="MAX_R" value="30.0" unit="deg/s"/>
<!-- Filters -->
<define name="FILTER_RATES_SECOND_ORDER" value="TRUE"/>
<define name="FILT_CUTOFF_P" value="5.0"/>
<define name="FILT_CUTOFF_Q" value="20.0"/>
<define name="FILT_CUTOFF_R" value="5.0"/>
<define name="FILT_CUTOFF" value="2.0"/>
<define name="ESTIMATION_FILT_CUTOFF" value="2.0"/>
<define name="FILTER_YAW_RATE" value="TRUE"/>
<define name="FILT_CUTOFF_RDOT" value="0.5"/>
<!-- Other -->
<define name="WLS_PRIORITIES" value="{1000, 1000, 1, 100, 100}"/>
<define name="WLS_WU" value="{1.3, 1.3, 1.3, 1.3, 1.0, 1.0, 1.0, 1.0, 1.0}"/>
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.001"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<!-- Gains -->
<define name="HOVER_KP" value="310"/>
<define name="HOVER_KD" value="130"/>
<define name="HOVER_KI" value="10"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.42"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
<!-- Reference -->
<define name="REF_MIN_ZD" value="-4.0"/> <!-- climb -->
<define name="REF_MAX_ZD" value="4.0"/> <!-- descend -->
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="30" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<!-- Gains -->
<define name="PGAIN" value="60"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="20"/>
<define name="AGAIN" value="0"/>
</section>
<section name="GUIDANCE_INDI_HYBRID" prefix="GUIDANCE_INDI_">
<!--WLS settings-->
<define name="USE_WLS" value="TRUE"/>
<define name="WLS_PRIORITIES" value="{10., 10., 10.}"/>
<define name="WLS_WU" value="{10., 10., 100., 1.}"/>
<!-- Gains -->
<define name="POS_GAIN" value="0.3"/>
<define name="POS_GAINZ" value="0.5"/>
<define name="SPEED_GAIN" value="0.7"/>
<define name="SPEED_GAINZ" value="0.6"/>
<!-- Other -->
<define name="FILTER_CUTOFF" value="2.0"/>
<define name="HEADING_BANK_GAIN" value="5."/>
<define name="MAX_AIRSPEED" value="19.0"/>
<define name="PITCH_LIFT_EFF" value="0.0"/>
<define name="THRUST_Z_EFF" value="-0.0023"/>
<define name="THRUST_X_EFF" value="0.00055"/>
<define name="NAV_CIRCLE_DIST" value="60."/>
<define name="NAV_LINE_DIST" value="100"/>
<define name="LINE_GAIN" value="0.2"/>
<define name="CLIMB_SPEED_FWD" value="2.0"/>
<define name="DESCEND_SPEED_FWD" value="-3.0"/>
<define name="QUADPLANE" value="TRUE"/>
<define name="MAX_PITCH" value="12"/>
<define name="MIN_PITCH" value="-20"/>
</section>
<section name="FORWARD">
<define name="TURN_AIRSPEED_TH" value="8.0"/> <!-- This is the pitch angle that the drone will have in forward flight, where 0 degrees is hover-->
<define name="TRANSITION_MAX_OFFSET" value="0.0" unit="deg"/>
<define name="GUIDANCE_HEADING_IS_FREE" value="FALSE"/>
</section>
<section name="AMT" prefix="APPROACH_MOVING_TARGET_">
<define name="CUTOFF_FREQ_FILTERS_HZ" value="0.25"/>
<define name="ERR_SLOWDOWN_GAIN" value="0.25" />
<define name="SLOPE" value="60.0"/>
<define name="DISTANCE" value="70.0"/>
<define name="SPEED" value="0.0"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_FORWARD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="18.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="18.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="19.2" unit="V"/>
<define name="MAX_BAT_LEVEL" value="25.2" unit="V"/>
<define name="TAKEOFF_BAT_LEVEL" value="24.2" unit="V"/>
<define name="BAT_NB_CELLS" value="6"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="front_motor, right_motor, back_motor, left_motor, rudder, elevator, aileron, flap, pusher, skew" type="string[]"/>
<define name="JSBSIM_MODEL" value="rotwing3" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<define name="COMMANDS_NB" value="10"/>
<define name="NO_MOTOR_MIXING" value="TRUE"/>
<define name="JS_AXIS_MODE" value="4"/>
</section>
</airframe>