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[xml] final quadplane xml files rotwing (#3176)
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* [xml] final quadplane xml files rotwing

* Since no other airframes use crossfire AUX4 we can modify the original instead of making a copy
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@dewagter
dewagter committed Nov 15, 2023
1 parent 9634e56 commit 80ad17c
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Showing 5 changed files with 226 additions and 10 deletions.
2 changes: 1 addition & 1 deletion conf/airframes/tudelft/rot_wing_25kg.xml
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Expand Up @@ -36,7 +36,7 @@
<define name="USE_I2C1"/>

<!-- Log in high speed (Remove for outdoor flights) -->
<define name="IMU_LOG_HIGHSPEED" value="TRUE"/>
<!-- <define name="IMU_LOG_HIGHSPEED" value="TRUE"/> -->
</target>

<target name="nps" board="pc">
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6 changes: 5 additions & 1 deletion conf/airframes/tudelft/rot_wing_v3b.xml
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Expand Up @@ -41,6 +41,9 @@
<configure name="MAVLINK_PORT" value="UART8"/>
</module> -->

<!-- Log in high speed (Remove for outdoor flights) -->
<!-- <define name="IMU_LOG_HIGHSPEED" value="TRUE"/> -->

</target>

<target name="nps" board="pc">
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</section>

<section name="IMU" prefix="IMU_">
<define name="ACCEL_CALIB" value="{{.abi_id=20, .calibrated={.neutral=true, .scale=true},.neutral={-6,-3,23}, .scale={{6478,36819,14396},{661,3766,1477}}}, {.abi_id=21, .calibrated={.neutral=true, .scale=true},.neutral={-63,-15,-22}, .scale={{23554,58016,33455},{4537,11839,6837}}}, {.abi_id=22, .calibrated={.neutral=true, .scale=true},.neutral={-40,-9,6}, .scale={{17919,36647,49183},{3659,7481,10067}}}}"/>
<define name="ACCEL_CALIB" value="{{.abi_id=20, .calibrated={.neutral=true, .scale=true, .filter=true},.neutral={-6,-3,23}, .scale={{6478,36819,14396},{661,3766,1477}}, .filter_sample_freq=1127, .filter_freq=30}, {.abi_id=21, .calibrated={.neutral=true, .scale=true},.neutral={-63,-15,-22}, .scale={{23554,58016,33455},{4537,11839,6837}}}, {.abi_id=22, .calibrated={.neutral=true, .scale=true},.neutral={-40,-9,6}, .scale={{17919,36647,49183},{3659,7481,10067}}}}"/>
<define name="MAG_CALIB" value="{{.abi_id=5, .calibrated={.neutral=true, .scale=true, .rotation=true},.neutral={-14,3,42}, .scale={{17279,2209,36874},{30247,3800,64095}}, .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"/>
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212 changes: 212 additions & 0 deletions conf/flight_plans/tudelft/rotating_wing_EHVB.xml
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<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">

<flight_plan alt="70" ground_alt="0" lat0="52.168595" lon0="4.412444" max_dist_from_home="1070" name="Rotating wing Valkenburg" security_height="2">
<header/>
<waypoints>
<waypoint name="HOME" x="12.6" y="-48.7"/>
<waypoint name="CLIMB" x="62.6" y="-80.4"/>
<waypoint name="trans" x="100." y="100."/>
<waypoint name="decel" x="100." y="100."/>
<waypoint name="end_trans" x="100." y="100."/>
<waypoint name="STDBY" lat="52.1682655" lon="4.4135103"/>
<waypoint name="begin_trans" lat="52.168412" lon="4.4149282"/>
<!--<waypoint name="p1" lat="52.1674262" lon="4.4141448"/>-->
<waypoint name="p1" lat="52.1672408" lon="4.4144528"/>
<waypoint name="p2" lat="52.1682897" lon="4.4138441"/>
<waypoint name="p3" lat="52.1687878" lon="4.4155648"/>
<waypoint name="p4" lat="52.1678559" lon="4.4164701"/>
<waypoint name="circ" lat="52.1684116" lon="4.4149282"/>
<waypoint name="TD" lat="52.1681602" lon="4.4127708"/>
<waypoint name="APP" lat="52.1679567" lon="4.4136344"/>
<waypoint name="FOLLOW" lat="52.16850964562752" lon="4.413635008734417"/>
<waypoint lat="52.169189" lon="4.410820" name="C1"/>
<waypoint lat="52.168049" lon="4.406923" name="C2"/>
<waypoint lat="52.166515" lon="4.408235" name="C3"/>
<waypoint lat="52.163255" lon="4.407668" name="C4"/>
<waypoint lat="52.161908" lon="4.410082" name="C5"/>
<waypoint lat="52.162641" lon="4.416992" name="C6"/>
<waypoint lat="52.164861" lon="4.427268" name="C7"/>
<waypoint lat="52.170422" lon="4.427511" name="C8"/>
<waypoint lat="52.172276" lon="4.424011" name="C9"/>
</waypoints>
<sectors>
<sector color="red" name="Flyzone">
<corner name="C1"/>
<corner name="C2"/>
<corner name="C3"/>
<corner name="C4"/>
<corner name="C5"/>
<corner name="C6"/>
<corner name="C7"/>
<corner name="C8"/>
<corner name="C9"/>
</sector>
</sectors>
<modules>
<!--<module name="follow_me"/>-->
</modules>
<exceptions>
<exception cond="Or(!InsideFlyzone(GetPosX(), GetPosY()), GetPosAlt() @GT GetAltRef() + 1500) @AND !(nav_block == IndexOfBlock('Wait GPS')) @AND !(nav_block == IndexOfBlock('Geo init')) @AND !(nav_block == IndexOfBlock('Holding point'))" deroute="Holding point"/>
<exception cond="datalink_time @GT 25 @AND !(nav_block == IndexOfBlock('Wait GPS')) @AND !(nav_block == IndexOfBlock('Geo init')) @AND !(nav_block == IndexOfBlock('Holding point')) @AND !(nav_block == IndexOfBlock('Standby'))" deroute="Standby"/>
</exceptions>
<blocks>
<block name="Wait GPS">
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
<call_once fun="NavKillThrottle()"/>
<while cond="!GpsFixValid() || !state.ned_initialized_i"/>
</block>
<block name="Geo init">
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
<while cond="LessThan(NavBlockTime(), 10)"/>
<call_once fun="NavSetAltitudeReferenceHere()"/>
</block>
<block name="Holding point">
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
<call_once fun="NavKillThrottle()"/>
<set var="stabilization_cmd[COMMAND_THRUST_X]" value="0"/>
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
</block>
<block name="Start Engine" strip_button="Start Engines" strip_icon="on.png">
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
<call_once fun="NavResurrect()"/>
<attitude pitch="0" roll="0" throttle="0" until="stage_time>10" vmode="throttle"/>
</block>
<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
<exception cond="agl_dist_valid @AND (agl_dist_value @GT 1.0)" deroute="Climb"/>
<call_once fun="autopilot_set_in_flight(true)"/><!-- this is a hack to solve INDI not being active fast enough -->

<call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
<attitude pitch="0" roll="0" throttle="0.75" until="stage_time>3" vmode="throttle"/>
</block>
<block name="Climb">
<exception cond="GetPosAlt() @GT 20.0" deroute="Standby"/>
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
<call_once fun="nav_set_heading_current()"/>
<stay climb="nav.climb_vspeed" vmode="climb" wp="CLIMB"/>
</block>
<block name="Standby" strip_button="Standby" strip_icon="home.png">
<set value="7" var="nav_max_speed"/>
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
<stay wp="STDBY" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
</block>
<block name="Approach APP">
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
<stay alt="WaypointAlt(WP_APP)" pre_call="approach_moving_target_enable(WP_APP)" wp="APP"/>
</block>
<!--<block name="follow_module">
<set value="false" var="force_forward"/>
<stay pre_call="follow_me_set_wp(WP_FOLLOW, 0)" wp="FOLLOW"/>
</block>-->
<block name="stay_begin-trans">
<set value="7" var="nav_max_speed"/>
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
<stay wp="begin_trans" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
</block>
<block name="line_trans_fwd">
<set value="50" var="nav_max_speed"/>
<call_once fun="request_rotwing_state(ROTWING_STATE_SKEWING)"/>
<call_once fun="NavSetWaypointHere(WP_begin_trans)"/>
<go wp="end_trans"/>
<deroute block="end_transition"/>
</block>
<block name="end_transition">
<set value="7" var="nav_max_speed"/>
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
<stay wp="end_trans"/>
</block>
<block name="transition_CW">
<set value="50" var="nav_max_speed"/>
<call_once fun="request_rotwing_state(ROTWING_STATE_SKEWING)"/>
<stay wp="end_trans"/>
<exception cond="RotWingAutomationReadyForForward()" deroute="Circle_CW_fwd"/>
</block>
<block name="transition_CCW">
<set value="50" var="nav_max_speed"/>
<call_once fun="request_rotwing_state(ROTWING_STATE_SKEWING)"/>
<stay wp="end_trans"/>
<exception cond="RotWingAutomationReadyForForward()" deroute="Circle_CCW_fwd"/>
</block>
<block name="route">
<call_once fun="request_rotwing_state(ROTWING_STATE_FW)"/>
<set value="50" var="nav_max_speed"/>
<go from="p1" hmode="route" wp="p2"/>
<go from="p2" hmode="route" wp="p3"/>
<go from="p3" hmode="route" wp="p4"/>
<go from="p4" hmode="route" wp="p1"/>
<deroute block="route"/>
</block>
<block name="small_route" strip_button="Route" strip_icon="path.png">
<set value="50" var="nav_max_speed"/>
<call_once fun="request_rotwing_state(ROTWING_STATE_FW)"/>
<go wp="p2"/>
<go wp="p3"/>
<go wp="p4"/>
<go wp="p1"/>
<deroute block="small_route"/>
</block>
<block name="Circle_CW_fwd" strip_button="CircleRight" strip_icon="circle-right.png">
<set value="50" var="nav_max_speed"/>
<call_once fun="request_rotwing_state(ROTWING_STATE_FW_HOV_MOT_OFF)"/>
<circle radius="100" wp="circ" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
</block>
<block name="Circle_CCW_fwd" strip_button="CircleLeft" strip_icon="circle-left.png">
<set value="50" var="nav_max_speed"/>
<call_once fun="request_rotwing_state(ROTWING_STATE_FW_HOV_MOT_OFF)"/>
<circle radius="-100" wp="circ" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
</block>
<block name="big_Circle_CW_fwd">
<set value="50" var="nav_max_speed"/>
<call_once fun="request_rotwing_state(ROTWING_STATE_FW_HOV_MOT_IDLE)"/>
<circle radius="150" wp="circ" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
</block>
<block name="big_Circle_CCW_fwd">
<set value="50" var="nav_max_speed"/>
<call_once fun="request_rotwing_state(ROTWING_STATE_FW_HOV_MOT_IDLE)"/>
<circle radius="-150" wp="circ" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
</block>
<block name="Transition_quad">
<set value="50" var="nav_max_speed"/>
<call_once fun="request_rotwing_state(ROTWING_STATE_SKEWING)"/>
<go wp="STDBY"/>
<deroute block="Standby"/>
</block>
<block name="land here" strip_button="Land Here" strip_icon="land-right.png">
<set value="7" var="nav_max_speed"/>
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
<call_once fun="NavSetWaypointHere(WP_TD)"/>
</block>
<block name="land">
<set value="7" var="nav_max_speed"/>
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
<go wp="TD"/>
</block>
<block name="descend">
<set value="7" var="nav_max_speed"/>
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
<exception cond="GetPosAlt() @LT 12.0" deroute="flare"/>
<stay climb="-1.0" vmode="climb" wp="TD"/>
</block>
<block name="flare">
<set value="7" var="nav_max_speed"/>
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
<stay climb="-0.5" vmode="climb" wp="TD"/>
<!--<exception cond="!(GetPosAlt() @LT 2.0)" deroute="flare_low"/>-->
<exception cond="agl_dist_valid @AND (agl_dist_value @LT 0.28)" deroute="flare_low"/>
</block>
<block name="flare_low">
<set value="7" var="nav_max_speed"/>
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
<exception cond="NavDetectGround()" deroute="Holding point"/>
<exception cond="!nav_is_in_flight()" deroute="Holding point"/>
<exception cond="ground_detect()" deroute="Holding point"/>
<call_once fun="NavStartDetectGround()"/>
<stay climb="-0.5" vmode="climb" wp="TD"/>
</block>
<block name="landed">
<set value="7" var="nav_max_speed"/>
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
</block>
</blocks>
</flight_plan>
2 changes: 1 addition & 1 deletion conf/radios/crossfire_sbus.xml
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Expand Up @@ -9,7 +9,7 @@
<channel function="AUX1" min="1100" neutral="1500" max="1900" average="1"/> <!-- TH_HOLD -->
<channel function="AUX2" min="1100" neutral="1500" max="1900" average="1"/> <!-- FMODE -->
<channel function="AUX3" min="1100" neutral="1500" max="1900" average="1"/> <!-- FBW_MODE -->
<channel function="AUX4" min="1100" neutral="1500" max="1900" average="1"/>
<channel function="AUX4" min="1100" neutral="1100" max="1900" average="1"/> <!-- PUSHER/FLAPS -->
<channel function="AUX5" min="1100" neutral="1500" max="1900" average="1"/>
<channel function="AUX6" min="1100" neutral="1500" max="1900" average="1"/>
<channel function="AUX7" min="1100" neutral="1500" max="1900" average="1"/>
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14 changes: 7 additions & 7 deletions conf/userconf/tudelft/conf.xml
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Expand Up @@ -73,7 +73,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/tudelft/delft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml [modules/geo_mag.xml] modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml [modules/geo_mag.xml] modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_rotorcraft.xml modules/preflight_checks.xml modules/stabilization_indi_simple.xml"
gui_color="#ffffcccaccca"
/>
<aircraft
Expand Down Expand Up @@ -577,9 +577,9 @@
airframe="airframes/tudelft/rot_wing_v3b.xml"
radio="radios/crossfire_sbus.xml"
telemetry="telemetry/highspeed_rotorcraft.xml"
flight_plan="flight_plans/tudelft/rotating_wing25kg_EHVB.xml"
flight_plan="flight_plans/tudelft/rotating_wing_EHVB.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/ekf_aw.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/lidar_tfmini.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml modules/target_pos.xml modules/wing_rotation_controller_servo.xml"
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/ekf_aw.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/lidar_tfmini.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/preflight_checks.xml modules/rot_wing_automation.xml modules/rotwing_state.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml modules/target_pos.xml modules/wing_rotation_controller_servo.xml"
gui_color="red"
/>
<aircraft
Expand All @@ -588,20 +588,20 @@
airframe="airframes/tudelft/rot_wing_25kg.xml"
radio="radios/crossfire_sbus.xml"
telemetry="telemetry/highspeed_rotorcraft.xml"
flight_plan="flight_plans/tudelft/rotating_wing25kg_EHVB.xml"
flight_plan="flight_plans/tudelft/rotating_wing_EHVB.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/ctrl_eff_sched_rot_wing.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml"
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/preflight_checks.xml modules/rot_wing_automation.xml modules/rotwing_state.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml modules/target_pos.xml"
gui_color="red"
/>
<aircraft
name="nav_hybrid_test"
ac_id="23"
ac_id="31"
airframe="airframes/tudelft/hybrid_nav_test.xml"
radio="radios/crossfire_sbus.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/tudelft/delft_basic.xml"
settings=""
settings_modules="modules/air_data.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/stabilization_indi_simple.xml"
settings_modules="modules/air_data.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/stabilization_indi_simple.xml"
gui_color="red"
/>
</conf>

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