Revision 649f2bd1dbc5702edbc4cbacf44d25ba3ccd8cc9 authored by Felix Ruess on 09 July 2013, 09:34:43 UTC, committed by Felix Ruess on 09 July 2013, 19:17:16 UTC
- krooz: don't use TIM2 for PWM - change to 6 ticks per usec to fit all frequencies - on the F1 we assume to run at 72MHz for HCLK and both timer clocks TIM1 -> APB2 = HCLK = 72MHz TIM2 -> 2 * APB1 = 2 * 36MHz = 72MHz - on the F4 we assume 2 * AHB clock: TIM1 -> 2 * APB2 = 168MHz TIM2 -> 2 * APB1 = 84MHz
1 parent 60a6d89
ardrone2_sdk.xml
<!DOCTYPE airframe SYSTEM "airframe.dtd">
<airframe name="ardrone2_sdk">
<firmware name="rotorcraft">
<target name="ap" board="ardrone2_sdk">
<define name="USE_INS_NAV_INIT" />
<define name="ROTORCRAFT_COMMANDS_YAW_ALWAYS_ENABLED"/>
<!-- <define name="USE_GPS_HEIGHT" /> -->
<!-- <define name="ARDRONE_FLIGHT_INDOOR" /> -->
<!-- <define name="ARDRONE_WITHOUT_SHELL" /> -->
<!-- <define name="ARDRONE_OWNER_MAC" value="00:24:d7:47:f0:f4" /> -->
</target>
<subsystem name="radio_control" type="datalink" />
<subsystem name="telemetry" type="udp" />
<subsystem name="gps" type="ardrone2" />
<subsystem name="ahrs" type="ardrone2" />
<subsystem name="ins" type="ardrone2" />
<subsystem name="actuators" type="ardrone2" />
<subsystem name="stabilization" type="passthrough"/>
<subsystem name="imu" type="ardrone2" />
</firmware>
<modules main_freq="512">
<load name="sys_mon.xml" />
</modules>
<commands>
<axis name="PITCH" failsafe_value="0" />
<axis name="ROLL" failsafe_value="0" />
<axis name="YAW" failsafe_value="0" />
<axis name="THRUST" failsafe_value="0" />
</commands>
<servos driver="Default" />
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000" />
<define name="SP_MAX_Q" value="10000" />
<define name="SP_MAX_R" value="10000" />
<define name="DEADBAND_P" value="20" />
<define name="DEADBAND_Q" value="20" />
<define name="DEADBAND_R" value="200" />
<define name="REF_TAU" value="4" />
<!-- feedback -->
<define name="GAIN_P" value="400" />
<define name="GAIN_Q" value="400" />
<define name="GAIN_R" value="350" />
<define name="IGAIN_P" value="75" />
<define name="IGAIN_Q" value="75" />
<define name="IGAIN_R" value="50" />
<!-- feedforward -->
<define name="DDGAIN_P" value="300" />
<define name="DDGAIN_Q" value="300" />
<define name="DDGAIN_R" value="300" />
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="30." unit="deg" />
<define name="SP_MAX_THETA" value="30." unit="deg" />
<define name="SP_MAX_R" value="90." unit="deg/s" />
<define name="DEADBAND_A" value="0" />
<define name="DEADBAND_E" value="0" />
<define name="DEADBAND_R" value="250" />
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)" />
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)" />
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)" />
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)" />
<define name="MAX_SUM_ERR" value="2000000" />
<define name="HOVER_KP" value="425" />
<define name="HOVER_KD" value="200" />
<define name="HOVER_KI" value="125" />
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163" />
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000" />
<!-- NOMINAL_HOVER_THROTTLE sets a fixed value instead of the adaptive
estimation -->
<define name="NOMINAL_HOVER_THROTTLE" value="0.5" />
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="30." unit="deg" />
<define name="PGAIN" value="7" />
<define name="DGAIN" value="2" />
<define name="IGAIN" value="0" />
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_RC_DIRECT" />
<define name="MODE_AUTO1" value="AP_MODE_NAV" />
<define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD" />
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value=".2" unit="V" />
<define name="CRITIC_BAT_LEVEL" value="1.9" unit="V" />
<define name="LOW_BAT_LEVEL" value="2.5" unit="V" />
<define name="MAX_BAT_LEVEL" value="10.0" unit="V" />
</section>
<section name="IMU" prefix="IMU_">
<define name="ACCEL_X_NEUTRAL" value="2072" />
<define name="ACCEL_Y_NEUTRAL" value="2040" />
<define name="ACCEL_Z_NEUTRAL" value="2047" />
<define name="ACCEL_X_SENS" value="19.1079036954" integer="16" />
<define name="ACCEL_Y_SENS" value="19.5393623518" integer="16" />
<define name="ACCEL_Z_SENS" value="19.6539180847" integer="16" />
<define name="ACCEL_X_SIGN" value="1" />
<define name="ACCEL_Y_SIGN" value="-1" />
<define name="ACCEL_Z_SIGN" value="-1" />
<define name="GYRO_P_SENS_NUM" value="4359" />
<define name="GYRO_P_SENS_DEN" value="1000" />
<define name="GYRO_Q_SENS_NUM" value="4359" />
<define name="GYRO_Q_SENS_DEN" value="1000" />
<define name="GYRO_R_SENS_NUM" value="4359" />
<define name="GYRO_R_SENS_DEN" value="1000" />
<define name="GYRO_P_SIGN" value="1" />
<define name="GYRO_Q_SIGN" value="-1" />
<define name="GYRO_R_SIGN" value="-1" />
<define name="MAG_X_NEUTRAL" value="118" />
<define name="MAG_Y_NEUTRAL" value="-65" />
<define name="MAG_Z_NEUTRAL" value="110" />
<define name="MAG_X_SENS" value="14.6416865144" integer="16" />
<define name="MAG_Y_SENS" value="14.5167340835" integer="16" />
<define name="MAG_Z_SENS" value="15.1670335124" integer="16" />
<define name="MAG_X_SIGN" value="-1" />
<define name="MAG_Y_SIGN" value="1" />
<define name="MAG_Z_SIGN" value="-1" />
<!-- roll -->
<define name="BODY_TO_IMU_PHI" value="0." unit="deg" />
<!-- pitch -->
<define name="BODY_TO_IMU_THETA" value="0." unit="deg" />
<!-- yaw -->
<define name="BODY_TO_IMU_PSI" value="0." unit="deg" />
</section>
</airframe>
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