Skip to content

Commit

Permalink
New final corrections (#3224)
Browse files Browse the repository at this point in the history 
* Silent warning: accel_x shadows global declaration

* [disco] was a shared airframe file with ENAC
  • Loading branch information
@dewagter
dewagter committed Dec 20, 2023
1 parent 378b936 commit d509719
Show file tree
Hide file tree
Showing 3 changed files with 242 additions and 6 deletions.
236 changes: 236 additions & 0 deletions conf/airframes/tudelft/disco.xml
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,236 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">

<!--
Parrot Disco
-->

<airframe name="Disco">

<firmware name="fixedwing">
<configure name="USE_MAGNETOMETER" value="TRUE"/>

<target name="ap" board="disco">
<configure name="PERIODIC_FREQUENCY" value="120"/>
<module name="radio_control" type="sbus"/>
</target>
<target name="sim" board="pc">
<configure name="SYS_TIME_FREQUENCY" value="120"/>
<configure name="PERIODIC_FREQUENCY" value="60"/>
<module name="radio_control" type="ppm"/>
</target>

<module name="telemetry" type="transparent_udp"/>

<module name="imu" type="disco"/>
<module name="ahrs" type="float_dcm"/>
<module name="gps" type="ublox"/>
<module name="gps" type="ubx_ucenter"/>
<module name="ins" type="alt_float"/>
<module name="airspeed" type="ms45xx_i2c">
<define name="MS45XX_I2C_DEV" value="i2c1"/>
<define name="MS45XX_PRESSURE_RANVE" value="0.05"/>
</module>
<module name="air_data"/>
<module name="actuators" type="disco"/>
<module name="control" type="new"/>
<module name="navigation"/>
<module name="sonar_bebop">
<define name="USE_SONAR"/>
<define name="SENSOR_SYNC_SEND_SONAR"/>
</module>
</firmware>

<servos>
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="12500"/>
<servo name="AILEVON_RIGHT" no="6" min="1900" neutral="1500" max="1100"/>
<servo name="AILEVON_LEFT" no="1" min="1100" neutral="1500" max="1900"/>
</servos>

<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
</commands>

<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
</rc_commands>

<section name="MIXER">
<define name="AILEVON_AILERON_RATE" value="0.75"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
</section>

<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="MOTOR" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
</command_laws>

<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.85"/>
<define name="MAX_PITCH" value="0.6"/>
</section>

<section name="IMU" prefix="IMU_">
<define name="ACCEL_X_NEUTRAL" value="-141"/>
<define name="ACCEL_Y_NEUTRAL" value="13"/>
<define name="ACCEL_Z_NEUTRAL" value="-12"/>
<define name="ACCEL_X_SENS" value="2.43116617606" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.46264528353" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.41899590699" integer="16"/>

<define name="MAG_X_NEUTRAL" value="-164"/>
<define name="MAG_Y_NEUTRAL" value="-244"/>
<define name="MAG_Z_NEUTRAL" value="-590"/>
<define name="MAG_X_SENS" value="7.76268606256" integer="16"/>
<define name="MAG_Y_SENS" value="7.53777959342" integer="16"/>
<define name="MAG_Z_SENS" value="8.13033580043" integer="16"/>

<define name="BODY_TO_IMU_PHI" value="0"/>
<define name="BODY_TO_IMU_THETA" value="0"/>
<define name="BODY_TO_IMU_PSI" value="0"/>
</section>

<!--section name="AHRS" prefix="AHRS_">
<define name="H_X" value="0.5141"/>
<define name="H_Y" value="0.0002"/>
<define name="H_Z" value="0.8576"/>
</section-->

<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="H_X" value="0.5141"/>
<define name="H_Y" value="0.0002"/>
<define name="H_Z" value="0.8576"/>
</section>

<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="MilliAmpereOfAdc(_adc)" value="(_adc-632)*4.14"/>
</section>

<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>

<define name="UNLOCKED_HOME_MODE" value="TRUE"/>

<define name="APP_ANGLE" value="8" unit="deg"/>
</section>

<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="0.12"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="4."/>
<!-- disable climb rate limiter -->
<define name="AUTO_CLIMB_LIMIT" value="2*V_CTL_ALTITUDE_MAX_CLIMB"/>

<!-- Cruise throttle + limits -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.4"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>

<!-- Climb loop (throttle) -->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.088" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.004"/>
<define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
<define name="AUTO_THROTTLE_IGAIN" value="0."/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.077"/>

<!-- Climb loop (pitch) -->
<define name="AUTO_PITCH_PGAIN" value="0.027"/>
<define name="AUTO_PITCH_DGAIN" value="0.01"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<!--define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/-->
<define name="AUTO_PITCH_MAX_PITCH" value="20" unit="deg"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-20" unit="deg"/>

<!-- airspeed control -->
<define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
<define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
<define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
<define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
<define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
<define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
<define name="AIRSPEED_MAX" value="30"/>
<define name="AIRSPEED_MIN" value="10"/>

<!-- groundspeed control -->
<define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
<define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>

<!-- pitch trim -->
<define name="PITCH_LOITER_TRIM" value="0." unit="deg"/>
<define name="PITCH_DASH_TRIM" value="0." unit="deg"/>

<define name="THROTTLE_SLEW" value="0.1"/>
</section>

<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="0.743"/>
<define name="COURSE_TAU" value="0.5"/>
<define name="ROLL_MAX_SETPOINT" value="30." unit="deg"/>
<define name="PITCH_MAX_SETPOINT" value="30." unit="deg"/>
<define name="PITCH_MIN_SETPOINT" value="-30." unit="deg"/>

<define name="ROLL_ATTITUDE_GAIN" value="11000."/>
<define name="ROLL_RATE_GAIN" value="1000."/>
<define name="ROLL_IGAIN" value="100."/>
<define name="ROLL_KFFA" value="0"/>
<define name="ROLL_KFFD" value="0"/>

<define name="PITCH_PGAIN" value="17250"/>
<define name="PITCH_DGAIN" value="500."/>
<define name="PITCH_IGAIN" value="400"/>
<define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/>

<define name="PITCH_OF_ROLL" value="1." unit="deg"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="ELEVATOR_OF_ROLL" value="1400"/>
</section>

<section name="NAV">
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>

<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="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>

<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive Decent -->
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
<define name="DESCENT_NAV_RATIO" value="1.0"/>
</section>

<section name="SIMU">
<define name="ROLL_RESPONSE_FACTOR" value="20"/>
<define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
<!--define name="JSBSIM_INIT" value="&quot;Malolo1-IC&quot;"/-->
<define name="JSBSIM_LAUNCHSPEED" value="15.0"/>
<define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
<define name="JSBSIM_IR_PITCH_NEUTRAL" value="RadOfDeg(0.)"/>
</section>

</airframe>
4 changes: 2 additions & 2 deletions conf/userconf/tudelft/conf.xml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -134,12 +134,12 @@
<aircraft
name="Disco"
ac_id="16"
airframe="airframes/ENAC/fixed-wing/disco.xml"
airframe="airframes/tudelft/disco.xml"
radio="radios/T14SG_SBUS.xml"
telemetry="telemetry/default_fixedwing.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml"
settings_modules="modules/ahrs_float_dcm.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
settings_modules="modules/ahrs_float_dcm.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
gui_color="blue"
/>
<aircraft
Expand Down
8 changes: 4 additions & 4 deletions sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -348,10 +348,10 @@ static void guidance_h_update_reference(void)
/* compute reference even if usage temporarily disabled via guidance_h_use_ref */
#if GUIDANCE_H_USE_REF
if (guidance_h.sp.h_mask == GUIDANCE_H_SP_ACCEL) {
struct FloatVect2 sp_accel;
sp_accel.x = ACCEL_FLOAT_OF_BFP(guidance_h.sp.accel.x);
sp_accel.y = ACCEL_FLOAT_OF_BFP(guidance_h.sp.accel.y);
gh_update_ref_from_accel_sp(sp_accel);
struct FloatVect2 sp_accel_local;
sp_accel_local.x = ACCEL_FLOAT_OF_BFP(guidance_h.sp.accel.x);
sp_accel_local.y = ACCEL_FLOAT_OF_BFP(guidance_h.sp.accel.y);
gh_update_ref_from_accel_sp(sp_accel_local);
}
else if (guidance_h.sp.h_mask == GUIDANCE_H_SP_SPEED) {
struct FloatVect2 sp_speed;
Expand Down

0 comments on commit d509719

Please sign in to comment.