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Support for TawakiV2 (STM32H7) (#3199)
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* tawakiV2 support.
* clean and update linker scripts
* update ram configuration
* update chibios
* update airframe
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@Fabien-B
Fabien-B committed Dec 14, 2023
1 parent 38d8388 commit f7a981a
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11 changes: 11 additions & 0 deletions conf/airframes/ENAC/conf_enac.xml
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settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/gps.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_rotorcraft.xml modules/stabilization_int_quat.xml"
gui_color="red"
/>
<aircraft
name="CobraV2"
ac_id="11"
airframe="airframes/ENAC/quadrotor/cobraV2.xml"
radio="radios/FrSky_X-Lite.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/electrical.xml modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/jevois.xml modules/logger_sd_chibios.xml modules/nav_rotorcraft.xml modules/preflight_checks.xml modules/stabilization_indi.xml modules/switch_servo.xml modules/tag_tracking.xml"
gui_color="#55005500ff00"
/>
</conf>
228 changes: 228 additions & 0 deletions conf/airframes/ENAC/quadrotor/cobra.xml
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">

<airframe name="Cobra">

<description>
* Autopilot: Tawaki
* Actuators: 4 in 1
* Telemetry: XBee
* GPS: datalink
* RC: SBUS
</description>

<firmware name="rotorcraft">
<!--configure name="RTOS_DEBUG" value="TRUE"/-->
<configure name="PERIODIC_FREQUENCY" value="500"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="$(PERIODIC_FREQUENCY)"/>

<target name="ap" board="tawaki_1.1">
<module name="radio_control" type="sbus"/>
<configure name="BARO_PERIODIC_FREQUENCY" value="50"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>
</target>
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>

<module name="telemetry" type="xbee_api"/>
<!--module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="usb_serial"/>
</module-->

<module name="actuators" type="dshot"/>
<module name="actuators" type="pwm"/>
<module name="switch" type="servo"/>
<define name="SWITCH_SERVO_ON_VALUE" value="SERVO_SWITCH_MAX"/>
<define name="SWITCH_SERVO_OFF_VALUE" value="SERVO_SWITCH_MIN"/>

<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"/>
</module>

<!--module name="gps" type="ublox">
<configure name="GPS_BAUD" value="B115200"/>
<define name="USE_GPS_UBX_RTCM" value="TRUE"/>
<define name="GPS_FIX_TIMEOUT" value="0.5"/>
</module-->
<module name="gps" type="optitrack"/>

<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="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>

<module name="flight_recorder"/>
</firmware>

<servos driver="Pwm">
<servo name="SWITCH" no="1" min="800" neutral="800" max="1500"/>
</servos>

<servos driver="DShot">
<servo name="FR" no="3" min="0" neutral="100" max="2000"/>
<servo name="BR" no="4" min="0" neutral="100" max="2000"/>
<servo name="BL" no="2" min="0" neutral="100" max="2000"/>
<servo name="FL" no="1" 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"/>
<set servo="BL" value="autopilot_get_motors_on() ? actuators_pprz[2] : -MAX_PPRZ"/>
<set servo="FL" value="autopilot_get_motors_on() ? actuators_pprz[3] : -MAX_PPRZ"/>
</command_laws>

<section name="IMU" prefix="IMU_">
<define name="ACCEL_CALIB" value="{{.abi_id=9, .calibrated={.neutral=true, .scale=true},.neutral={-12,23,29}, .scale={{65369,62166,40813},{28737,25351,16753}}}}"/>
<!--define name="MAG_CALIB" value="{{.abi_id=3, .calibrated={.neutral=true, .scale=true},.neutral={-833,-5969,-931}, .scale={{22816,38799,15650},{34941,60353,24187}}}}"/-->

<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>

<include href="conf/mag/toulouse_muret.xml"/>

<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoint limits for attitude stabilization rc flight -->
<define name="SP_MAX_PHI" value="45" unit="deg"/>
<define name="SP_MAX_THETA" value="45" unit="deg"/>
<define name="SP_MAX_R" value="60" unit="deg/s"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="50"/>
</section>

<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
<define name="NUM_ACT" value="4"/>
<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="120"/>
<define name="REF_ERR_Q" value="130"/>
<define name="REF_ERR_R" value="120"/>
<define name="REF_RATE_P" value="15"/>
<define name="REF_RATE_Q" value="15"/>
<define name="REF_RATE_R" value="10"/>
<define name="MAX_R" value="60" unit="deg/s"/>

<!-- second order filter parameters -->
<define name="FILT_CUTOFF" value="4.0"/>
<define name="FILT_CUTOFF_R" value="4.0"/>

<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.0001"/>

<!-- Full INDI -->
<!-- control effectiveness -->
<define name="G1_ROLL" value="{ -20.0, -20.0, 20.0, 20.0 }"/>
<define name="G1_PITCH" value="{ 20.0, -20.0, -20.0, 20.0 }"/>
<define name="G1_YAW" value="{ 3, -3, 3, -3 }"/>
<define name="G1_THRUST" value="{ -1., -1., -1., -1.}"/>
<!--Counter torque effect of spinning up a rotor-->
<define name="G2" value="{80, -80, 80, -80.0 }"/>
<!-- first order actuator dynamics -->
<define name="ACT_FREQ" value="{10.10, 10.10, 10.10, 10.10}"/>
<define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
<!--Priority for each axis (roll, pitch, yaw and thrust)-->
<define name="WLS_PRIORITIES" value="{1000, 1000, 1, 100}"/>
</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="-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>

<section name="GUIDANCE_INDI" prefix="GUIDANCE_INDI_">
<define name="SPECIFIC_FORCE_GAIN" value="-500.0"/>
<define name="THRUST_DYNAMICS_FREQ" value="25.64"/>
<define name="RC_DEBUG" value="FALSE"/>
<define name="SPEED_GAINZ" value="2.5"/>
</section>

<section name="NAV">
<define name="ARRIVED_AT_WAYPOINT" value="0.25"/>
<define name="NAV_CLIMB_VSPEED" value="0.8"/>
<define name="NAV_DESCEND_VSPEED" value="-0.5"/>
<define name="NAV_CARROT_DIST" value="18"/>
</section>

<section name="BAT">
<define name="CRITIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>

<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
<define name="FAILSAFE_FIXED_THROTTLE" value="0.4"/>
</section>

<section name="TAG_TRACKING" prefix="TAG_TRACKING_">
<define name="BODY_TO_CAM_PSI" value="M_PI_2"/>
<define name="CAM_POS_X" value="0.15"/>
</section>

<section name="GCS">
<define name="ALT_SHIFT_PLUS_PLUS" value="3"/>
<define name="ALT_SHIFT_PLUS" value="1"/>
<define name="ALT_SHIFT_MINUS" value="-0.5"/>
</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"/>
</section>

</airframe>

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