[conf] update Enac rotorcraft so that they work in simulation as well (…

…#3235) - update Enac rotorcraft airframes - remove dead aircraft - add jsbsim model files - update bebop2 example
paparazzi · Feb 7, 2024 · 2ae4fed · 2ae4fed
1 parent 19952d8
commit 2ae4fed
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Showing 13 changed files with 1,010 additions and 459 deletions.
diff --git a/conf/airframes/ENAC/conf_enac.xml b/conf/airframes/ENAC/conf_enac.xml
@@ -43,17 +43,6 @@
    settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/filter_1euro_imu.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/jevois.xml modules/logger_sd_chibios.xml modules/nav_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/stabilization_indi.xml modules/switch_servo.xml modules/tag_tracking.xml"
    gui_color="#fdd12f992f99"
   />
-  <aircraft
-   name="ULYSSE"
-   ac_id="218"
-   airframe="airframes/ENAC/quadrotor/ulysse_indi.xml"
-   radio="radios/FrSky_X-Lite.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/competitions/IMAV2022_drop.xml"
-   settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/jevois.xml modules/logger_sd_chibios.xml modules/nav_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/stabilization_indi.xml modules/switch_servo.xml modules/tag_tracking.xml"
-   gui_color="#c6d33e3ef958"
-  />
   <aircraft
    name="CobraV2"
    ac_id="11"

diff --git a/conf/airframes/ENAC/quadrotor/anton_indi_aruco.xml b/conf/airframes/ENAC/quadrotor/anton_indi_aruco.xml
@@ -11,6 +11,8 @@
   </description>
 
   <firmware name="rotorcraft">
+    <!--autopilot name="rotorcraft_autopilot"/-->
+
     <configure name="PERIODIC_FREQUENCY" value="1000"/>
     <configure name="AHRS_PROPAGATE_FREQUENCY" value="$(PERIODIC_FREQUENCY)"/>
 
@@ -28,18 +30,12 @@
 
     <module name="telemetry" type="xbee_api"/>
 
-    <module name="motor_mixing"/>
-
-    <module name="actuators" type="dshot">
-      <!--define name="DSHOT_SPEED" value="300"/-->
-    </module>
+    <module name="actuators" type="dshot"/>
 
     <module name="board" type="tawaki">
       <define name="IMU_MPU_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ"/>
       <define name="IMU_MPU_ACCEL_LOWPASS_FILTER" value="MPU60X0_DLPF_ACC_218HZ"/>
       <define name="IMU_MPU_SMPLRT_DIV" value="0"/>
-      <!--configure name="BOARD_TAWAKI_ROTATED" value="TRUE"/-->
-      <configure name="MAG_LIS3MDL_I2C_DEV" value="i2c2"/>
     </module>
     <module name="gps" type="ublox">
       <configure name="GPS_BAUD" value="B115200"/>
@@ -50,23 +46,20 @@
       <define name="WLS_N_U" value="4" />
       <define name="WLS_N_V" value="4" />
     </module>
-    <module name="guidance" type="indi">
-      <define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
-      <define name="GUIDANCE_INDI_THRUST_DYNAMICS_FREQ" value="30.5"/>
-      <define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
-    </module>
+    <module name="guidance" type="indi"/>
 
-    <module name="ins"/>
-    <module name="ahrs" type="int_cmpl_quat"/>
+    <module name="ins" type="ekf2"/>
+    <!--module name="ins"/>
+    <module name="ahrs" type="int_cmpl_quat"/-->
     <module name="air_data"/>
 
     <module name="actuators" type="pwm"/>
     <module name="switch" type="servo"/>
 
-    <module name="filter" type="1euro_imu">
+    <!--module name="filter" type="1euro_imu">
       <define name="AHRS_ICQ_IMU_ID" value="IMU_F1E_ID"/>
       <define name="AHRS_ALIGNER_IMU_ID" value="IMU_F1E_ID"/>
-    </module>
+    </module-->
 
     <!--module name="sonar_adc">
       <configure name="ADC_SONAR" value="ADC_1"/>
@@ -100,13 +93,6 @@
     <axis name="THRUST" failsafe_value="0"/>
   </commands>
 
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <define name="TYPE" value="QUAD_X"/>
-    <define name="TRIM_ROLL" value="0"/>
-    <define name="TRIM_PITCH" value="0"/>
-    <define name="TRIM_YAW" value="0"/>
-  </section>
-
   <command_laws>
     <set servo="FR" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
     <set servo="BR" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
@@ -129,15 +115,15 @@
     <define name="ACCEL_Y_SENS" value="2.450207588413862" integer="16"/>
     <define name="ACCEL_Z_SENS" value="2.4560049628471914" integer="16"/>
 
-    <define name="MAG_X_SIGN" value="1"/>
-    <define name="MAG_Y_SIGN" value="1"/>
+    <define name="MAG_X_SIGN" value="-1"/>
+    <define name="MAG_Y_SIGN" value="-1"/>
     <define name="MAG_Z_SIGN" value="1"/>
-    <define name="MAG_X_NEUTRAL" value="-3868"/>
-    <define name="MAG_Y_NEUTRAL" value="2013"/>
-    <define name="MAG_Z_NEUTRAL" value="-101"/>
-    <define name="MAG_X_SENS" value="0.6497766229092939" integer="16"/>
-    <define name="MAG_Y_SENS" value="0.6352026516080006" integer="16"/>
-    <define name="MAG_Z_SENS" value="0.6627284899394246" integer="16"/>
+    <define name="MAG_X_NEUTRAL" value="415"/>
+    <define name="MAG_Y_NEUTRAL" value="-2365"/>
+    <define name="MAG_Z_NEUTRAL" value="1626"/>
+    <define name="MAG_X_SENS" value="0.6639205812316621" integer="16"/>
+    <define name="MAG_Y_SENS" value="0.6470134039115051" integer="16"/>
+    <define name="MAG_Z_SENS" value="0.6456573321937272" integer="16"/>
 
     <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
     <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
@@ -147,10 +133,10 @@
   <section name="MAG">
     <define name="LIS3MDL_MAG_TO_IMU_PHI" value="0." unit="deg"/>
     <define name="LIS3MDL_MAG_TO_IMU_THETA" value="0." unit="deg"/>
-    <define name="LIS3MDL_MAG_TO_IMU_PSI" value="90." unit="deg"/>
+    <define name="LIS3MDL_MAG_TO_IMU_PSI" value="0." unit="deg"/>
   </section>
 
-  <include href="conf/mag/delft_valkenburg.xml"/>
+  <include href="conf/mag/toulouse_muret.xml"/>
 
   <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
     <!-- setpoints -->
@@ -198,37 +184,29 @@
     <define name="WLS_PRIORITIES" value="{1000, 1000, 1, 100}"/>
   </section>
 
+  <section name="GUIDANCE_INDI" prefix="GUIDANCE_INDI_">
+    <define name="THRUST_DYNAMICS_FREQ" value="30.5"/>
+    <define name="RC_DEBUG" value="FALSE"/>
+  </section>
 
   <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
     <define name="REF_MIN_ZDD" value="-0.4*9.81"/>
     <define name="REF_MAX_ZDD" value=" 0.4*9.81"/>
     <define name="REF_MIN_ZD" value="-1.5"/>
     <define name="REF_MAX_ZD" value=" 1."/>
-    <define name="HOVER_KP" value="87"/>
-    <define name="HOVER_KD" value="120"/>
-    <define name="HOVER_KI" value="11"/>
     <define name="NOMINAL_HOVER_THROTTLE" value="0.30"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
-    <define name="ADAPT_NOISE_FACTOR" value="1."/>
-    <define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.25"/>
   </section>
 
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
     <define name="MAX_BANK" value="20" unit="deg"/>
-    <define name="PGAIN" value="40"/>
-    <define name="DGAIN" value="108"/>
-    <define name="IGAIN" value="20"/>
-    <define name="NGAIN" value="0"/>
-      <!-- feedforward -->
-    <define name="AGAIN" value="0"/>
     <define name="REF_MAX_SPEED" value="2.5"/>
     <define name="REF_MAX_ACCEL" value="2.5"/>
   </section>
 
   <section name="NAV">
     <define name="ARRIVED_AT_WAYPOINT" value="2.0"/>
-    <define name="NAV_CLIMB_VSPEED" value="1.0"/>
-    <define name="NAV_DESCEND_VSPEED" value="-0.5"/>
+    <define name="NAV_CLIMB_VSPEED" value="1.5"/>
+    <define name="NAV_DESCEND_VSPEED" value="-0.8"/>
     <define name="RECTANGLE_SURVEY_HEADING_NS" value="0."/>
   </section>
 
@@ -267,9 +245,9 @@
   </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"/>
+    <define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
+    <define name="COMMANDS_NB" value="4"/>
+    <define name="JSBSIM_MODEL" value="anton" type="string"/>
     <define name="NO_MOTOR_MIXING" value="TRUE"/>
   </section>
 

diff --git a/conf/airframes/ENAC/quadrotor/cobra.xml b/conf/airframes/ENAC/quadrotor/cobra.xml
@@ -19,6 +19,7 @@
       <module name="radio_control" type="sbus"/>
       <configure name="BARO_PERIODIC_FREQUENCY" value="50"/>
       <define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>
+      <define name="INS_EKF2_OPTITRACK" value="TRUE"/>
     </target>
     <target name="nps" board="pc">
       <module name="fdm" type="jsbsim"/>
@@ -52,18 +53,14 @@
     <module name="stabilization" type="indi"/>
     <module name="guidance" type="indi"/>
 
-    <module name="ins" type="ekf2">
-      <define name="INS_EKF2_OPTITRACK" value="TRUE"/>
-    </module>
+    <module name="ins" type="ekf2"/>
     <module name="preflight_checks"/>
 
     <!--module name="filter" type="1euro_imu">
       <define name="AHRS_ICQ_IMU_ID" value="IMU_F1E_ID"/>
       <define name="AHRS_ALIGNER_IMU_ID" value="IMU_F1E_ID"/>
     </module-->
 
-    <module name="motor_mixing"/>
-
     <module name="tag_tracking">
       <configure name="JEVOIS_UART" value="UART3"/>
     </module>
@@ -89,11 +86,6 @@
     <axis name="THRUST" failsafe_value="0"/>
   </commands>
 
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <define name="TYPE" value="QUAD_X"/>
-    <define name="REVERSE" value="TRUE"/>
-  </section>
-
   <command_laws>
     <set servo="FR" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
     <set servo="BR" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
@@ -172,23 +164,11 @@
     <define name="REF_MAX_ZDD" value=" 0.4*9.81"/>
     <define name="REF_MIN_ZD" value="-2."/>
     <define name="REF_MAX_ZD" value=" 2."/>
-    <define name="HOVER_KP" value="90"/>
-    <define name="HOVER_KD" value="110"/>
-    <define name="HOVER_KI" value="10"/>
     <define name="NOMINAL_HOVER_THROTTLE" value="0.35"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
-    <define name="ADAPT_NOISE_FACTOR" value="1."/>
-    <define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.3"/>
   </section>
 
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
     <define name="MAX_BANK" value="30" unit="deg"/>
-    <define name="PGAIN" value="41"/>
-    <define name="DGAIN" value="108"/>
-    <define name="IGAIN" value="20"/>
-    <define name="NGAIN" value="0"/>
-    <!-- feedforward -->
-    <define name="AGAIN" value="0"/>
     <define name="REF_MAX_SPEED" value="0.5"/>
     <define name="REF_MAX_ACCEL" value="2."/>
   </section>
@@ -231,8 +211,10 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
     <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
+    <define name="COMMANDS_NB" value="4"/>
+    <define name="NO_MOTOR_MIXING" value="TRUE"/>
   </section>
 
 </airframe>

diff --git a/conf/airframes/ENAC/quadrotor/cobraV2.xml b/conf/airframes/ENAC/quadrotor/cobraV2.xml
@@ -19,6 +19,7 @@
       <module name="radio_control" type="sbus"/>
       <configure name="BARO_PERIODIC_FREQUENCY" value="50"/>
       <define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>
+      <define name="INS_EKF2_OPTITRACK" value="TRUE"/>
     </target>
     <target name="nps" board="pc">
       <module name="fdm" type="jsbsim"/>
@@ -48,18 +49,14 @@
     <module name="stabilization" type="indi"/>
     <module name="guidance" type="indi"/>
 
-    <module name="ins" type="ekf2">
-      <define name="INS_EKF2_OPTITRACK" value="TRUE"/>
-    </module>
+    <module name="ins" type="ekf2"/>
     <module name="preflight_checks"/>
 
     <!--module name="filter" type="1euro_imu">
       <define name="AHRS_ICQ_IMU_ID" value="IMU_F1E_ID"/>
       <define name="AHRS_ALIGNER_IMU_ID" value="IMU_F1E_ID"/>
     </module-->
 
-    <module name="motor_mixing"/>
-
     <module name="tag_tracking">
       <configure name="JEVOIS_UART" value="UART3"/>
     </module>
@@ -85,11 +82,6 @@
     <axis name="THRUST" failsafe_value="0"/>
   </commands>
 
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <define name="TYPE" value="QUAD_X"/>
-    <define name="REVERSE" value="TRUE"/>
-  </section>
-
   <command_laws>
     <set servo="FR" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
     <set servo="BR" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
@@ -252,9 +244,10 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
     <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
     <define name="COMMANDS_NB" value="4"/>
+    <define name="NO_MOTOR_MIXING" value="TRUE"/>
   </section>
 
 </airframe>

diff --git a/conf/airframes/ENAC/quadrotor/maya_indoor.xml b/conf/airframes/ENAC/quadrotor/maya_indoor.xml
@@ -18,6 +18,7 @@
       <module name="radio_control" type="sbus"/>
       <configure name="BARO_PERIODIC_FREQUENCY" value="50"/>
       <define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>
+      <define name="INS_EKF2_OPTITRACK" value="TRUE"/>
     </target>
     <target name="nps" board="pc">
       <module name="fdm" type="jsbsim"/>
@@ -43,18 +44,14 @@
     <module name="stabilization" type="indi"/>
     <module name="guidance" type="indi"/>
 
-    <module name="ins" type="ekf2">
-      <define name="INS_EKF2_OPTITRACK" value="TRUE"/>
-    </module>
+    <module name="ins" type="ekf2"/>
     <!-- <module name="preflight_checks"/> -->
 
     <!--module name="filter" type="1euro_imu">
       <define name="AHRS_ICQ_IMU_ID" value="IMU_F1E_ID"/>
       <define name="AHRS_ALIGNER_IMU_ID" value="IMU_F1E_ID"/>
     </module-->
 
-    <module name="motor_mixing"/>
-
     <module name="tag_tracking">
       <configure name="JEVOIS_UART" value="UART3"/>
     </module>
@@ -73,19 +70,13 @@
     <servo name="FL" no="4" min="0" neutral="100" max="2000"/>
   </servos>
 
-
   <commands>
     <axis name="ROLL" failsafe_value="0"/>
     <axis name="PITCH" failsafe_value="0"/>
     <axis name="YAW" failsafe_value="0"/>
     <axis name="THRUST" failsafe_value="0"/>
   </commands>
 
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <define name="TYPE" value="QUAD_X"/>
-    <define name="REVERSE" value="TRUE"/>
-  </section>
-
   <command_laws>
     <set servo="FR" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
     <set servo="BR" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
@@ -167,23 +158,11 @@
     <define name="REF_MAX_ZDD" value=" 0.4*9.81"/>
     <define name="REF_MIN_ZD" value="-2."/>
     <define name="REF_MAX_ZD" value=" 2."/>
-    <define name="HOVER_KP" value="90"/>
-    <define name="HOVER_KD" value="110"/>
-    <define name="HOVER_KI" value="10"/>
     <define name="NOMINAL_HOVER_THROTTLE" value="0.35"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
-    <define name="ADAPT_NOISE_FACTOR" value="1."/>
-    <define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.3"/>
   </section>
 
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
     <define name="MAX_BANK" value="30" unit="deg"/>
-    <define name="PGAIN" value="41"/>
-    <define name="DGAIN" value="108"/>
-    <define name="IGAIN" value="20"/>
-    <define name="NGAIN" value="0"/>
-    <!-- feedforward -->
-    <define name="AGAIN" value="0"/>
     <define name="REF_MAX_SPEED" value="0.5"/>
     <define name="REF_MAX_ACCEL" value="2."/>
   </section>
@@ -225,9 +204,10 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
     <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
     <define name="COMMANDS_NB" value="4"/>
+    <define name="NO_MOTOR_MIXING" value="TRUE"/>
   </section>
 
 </airframe>