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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,199 @@ | ||
| <!DOCTYPE airframe SYSTEM "../../airframe.dtd"> | ||
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| <airframe name="Panache_1"> | ||
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| <description> | ||
| Talon GT Rebel | ||
| Project Panache | ||
| AP: Tawaki | ||
| GPS: Ublox | ||
| Modem: XBee | ||
| </description> | ||
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| <firmware name="fixedwing"> | ||
| <configure name="PERIODIC_FREQUENCY" value="100"/> | ||
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| <target name="ap" board="tawaki_1.1"> | ||
| <module name="radio_control" type="sbus"/> | ||
| <define name="USE_PWM5"/> | ||
| <define name="USE_PWM_TIM4"/> | ||
| </target> | ||
| <target name="nps" board="pc"> | ||
| <module name="radio_control" type="ppm"/> | ||
| <module name="fdm" type="jsbsim"/> | ||
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| <!-- to use real panache board in simulation, remove target="ap" from extra_dl.xml --> | ||
| <module name="uart"/> | ||
| <define name="UART6_DEV" value="/dev/ttyUSB0"/> | ||
| </target> | ||
| <module name="telemetry" type="xbee_api"/> | ||
| <module name="board" type="tawaki"/> | ||
| <module name="ahrs" type="float_dcm"/> <!--Attitude and heading reference system--> | ||
| <module name="ins" type="alt_float"/><!--Inertial navigation system--> | ||
| <module name="air_data"/> | ||
| <module name="gps" type="ublox"> | ||
| <configure name="GPS_BAUD" value="B115200"/> | ||
| </module> | ||
| <module name="control" type="new"/> | ||
| <module name="navigation"/> | ||
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| <module name="e_identification_fr"> | ||
| <configure name="E_ID_PORT" value="UART3"/> | ||
| <configure name="E_ID_BAUD" value="B115200"/> | ||
| </module> | ||
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| <module name="flight_recorder"/> | ||
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| <!-- panache_sensor depends on flight_recorder and extra_dl >--> | ||
| <!--module name="panache_sensor"> | ||
| <configure name="PANACHE_PORT" value="uart3"/> | ||
| <configure name="PANACHE_BAUD" value="B230400"/> | ||
| </module--> | ||
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| </firmware> | ||
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| <commands> | ||
| <axis name="THROTTLE" failsafe_value="0"/> | ||
| <axis name="ROLL" failsafe_value="0"/> | ||
| <axis name="PITCH" failsafe_value="0"/> | ||
| <axis name="YAW" failsafe_value="0"/> | ||
| </commands> | ||
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| <servos> | ||
| <servo name="TAIL_RIGHT" no="1" min="1000" neutral="1400" max="1800"/> | ||
| <servo name="TAIL_LEFT" no="2" min="1950" neutral="1550" max="1150"/> | ||
| <servo name="AILERON_RIGHT" no="3" min="1960" neutral="1660" max="1260"/> | ||
| <servo name="AILERON_LEFT" no="4" min="1780" neutral="1380" max="1080"/> | ||
| <servo name="MOTOR" no="5" min="1000" neutral="1000" max="2000"/> | ||
| </servos> | ||
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| <rc_commands> | ||
| <set command="THROTTLE" value="@THROTTLE"/> | ||
| <set command="ROLL" value="@ROLL"/> | ||
| <set command="PITCH" value="@PITCH"/> | ||
| <set command="YAW" value="@YAW"/> | ||
| </rc_commands> | ||
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| <section name="MIXER"> | ||
| <define name="AILERON_RATE" value="0.85"/> | ||
| <define name="ELEVATOR_RATE" value="0.85"/> | ||
| <define name="RUDDER_RATE" value="0.75"/> | ||
| </section> | ||
|
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| <command_laws> | ||
| <set servo="MOTOR" value="@THROTTLE"/> | ||
| <set servo="AILERON_LEFT" value="@ROLL * AILERON_RATE"/> | ||
| <set servo="AILERON_RIGHT" value="@ROLL * AILERON_RATE"/> | ||
| <set servo="TAIL_LEFT" value="- @PITCH * ELEVATOR_RATE - @YAW * RUDDER_RATE"/> | ||
| <set servo="TAIL_RIGHT" value="- @PITCH * ELEVATOR_RATE + @YAW * RUDDER_RATE"/> | ||
| </command_laws> | ||
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| <section name="GVF" prefix="GVF_"> | ||
| <define name="LINE_KE" value="2.5"/> | ||
| <define name="ELLIPSE_KE" value="0.8"/> | ||
| <define name="ELLIPSE_KN" value="0.6"/> | ||
| </section> | ||
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| <section name="GVF_PARAMETRIC" prefix="GVF_PARAMETRIC_"> | ||
| <define name="3D_LISSAJOUS_KX" value="0.001"/> | ||
| <define name="3D_LISSAJOUS_KY" value="0.001"/> | ||
| <define name="3D_LISSAJOUS_KZ" value="0.001"/> | ||
| </section> | ||
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| <section name="AUTO1" prefix="AUTO1_"> | ||
| <define name="MAX_ROLL" value="45." unit="deg"/> | ||
| <define name="MAX_PITCH" value="30." unit="deg"/> | ||
| </section> | ||
|
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| <section name="IMU" prefix="IMU_"> | ||
| <define name="ACCEL_X_NEUTRAL" value="-89"/> | ||
| <define name="ACCEL_Y_NEUTRAL" value="40"/> | ||
| <define name="ACCEL_Z_NEUTRAL" value="42"/> | ||
| <define name="ACCEL_X_SENS" value="2.5489897051228363" integer="16"/> | ||
| <define name="ACCEL_Y_SENS" value="2.4490240616062073" integer="16"/> | ||
| <define name="ACCEL_Z_SENS" value="2.4604910680255285" integer="16"/> | ||
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| <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="180" unit="deg"/> | ||
| </section> | ||
|
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| <include href="conf/mag/toulouse_muret.xml"/> | ||
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| <section name="BAT"> | ||
| <define name="CATASTROPHIC_BAT_LEVEL" value="12.6" unit="V"/> | ||
| <define name="MAX_BAT_LEVEL" value="16.8"/> | ||
| <define name="BAT_NB_CELLS" value="4"/> | ||
| </section> | ||
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| <section name="MISC"> | ||
| <define name="NOMINAL_AIRSPEED" value="18." unit="m/s"/> | ||
| <define name="CARROT" value="5." unit="s"/> | ||
| <define name="DEFAULT_CIRCLE_RADIUS" value="100."/> | ||
| </section> | ||
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| <section name="VERTICAL CONTROL" prefix="V_CTL_"> | ||
| <!-- outer loop proportional gain --> | ||
| <define name="ALTITUDE_PGAIN" value="0.06"/> | ||
| <!-- outer loop saturation --> | ||
| <define name="ALTITUDE_MAX_CLIMB" value="3."/> | ||
| <!-- auto throttle inner loop --> | ||
| <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/> | ||
| <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/> | ||
| <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.6"/> | ||
| <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.08" unit="%/(m/s)"/> | ||
| <define name="AUTO_THROTTLE_PGAIN" value="0.003"/> | ||
| <define name="AUTO_THROTTLE_IGAIN" value="0.005"/> | ||
| <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.09"/> | ||
| <define name="AUTO_PITCH_PGAIN" value="0.024"/> | ||
| <define name="AUTO_PITCH_DGAIN" value="0.013"/> | ||
| <define name="AUTO_PITCH_IGAIN" value="0.0"/> | ||
| <define name="AUTO_PITCH_MAX_PITCH" value="20" unit="deg"/> | ||
| <define name="AUTO_PITCH_MIN_PITCH" value="-20" unit="deg"/> | ||
| <define name="PITCH_TRIM" value="-0.4" unit="deg"/> | ||
| </section> | ||
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| <section name="HORIZONTAL CONTROL" prefix="H_CTL_"> | ||
| <define name="COURSE_PGAIN" value="0.4"/> | ||
| <define name="PITCH_MAX_SETPOINT" value="30." unit="deg"/> | ||
| <define name="PITCH_MIN_SETPOINT" value="-30." unit="deg"/> | ||
| <define name="PITCH_PGAIN" value="10210"/> | ||
| <define name="PITCH_IGAIN" value="322"/> | ||
| <define name="PITCH_DGAIN" value="1485"/> | ||
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| <define name="ROLL_RATE_GAIN" value="1000"/> | ||
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| <define name="ROLL_MAX_SETPOINT" value="40" unit="deg"/> | ||
| <define name="ROLL_ATTITUDE_GAIN" value="11770"/> | ||
| </section> | ||
|
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| <section name="CATAPULT" prefix="NAV_CATAPULT_"> | ||
| <define name="ACCELERATION_THRESHOLD" value="1.2" description="acceleration threshold in multiples of g" unit="g"/> | ||
| <define name="ACCELERATION_DETECTION" value="2" description="number acceleration measurments above threshold for launch detection"/> | ||
| <define name="MOTOR_DELAY" value="0.5" description="delay until motor is turned on in seconds" unit="s"/> | ||
| <define name="HEADING_DELAY" value="3.0" description="delay until heading is unlocked in seconds" unit="s"/> | ||
| <define name="INITIAL_PITCH" value="15." description="inital pitch in radians (default 10deg)" unit="deg"/> | ||
| <define name="INITIAL_THROTTLE" value="1.0" description="initial throttle (0.0 to 1.0)" unit="%"/> | ||
| <define name="CLIMB_DISTANCE" value="200" description="distance of the climb waypoint in front of the catapult" unit="m"/> | ||
| <define name="TIMEOUT" value="30." description="timeout to disarm the high freq module" unit="s"/> | ||
| </section> | ||
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| <section name="NAV_LANDING" prefix="NAV_LANDING_"> | ||
| <define name="AF_HEIGHT" value="25"/> | ||
| <define name="FLARE_HEIGHT" value="8"/> | ||
| </section> | ||
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| <section name="FAILSAFE" prefix="FAILSAFE_"> | ||
| <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/> | ||
| <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/> | ||
| <define name="DEFAULT_ROLL" value="10." unit="deg"/> | ||
| <define name="DEFAULT_PITCH" value="4." unit="deg"/> | ||
| <define name="HOME_RADIUS" value="100" unit="m"/> | ||
| </section> | ||
|
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| <section name="SIMULATOR" prefix="NPS_"> | ||
| <define name="JSBSIM_LAUNCHSPEED" value="15"/> | ||
| <define name="JSBSIM_MODEL" value="easystar" type="string"/> | ||
| </section> | ||
| </airframe> |
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