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params.yaml
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params.yaml
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# ___________________________________________________
# | _____ _____ _ _ _ |
# | | __ \ | __ (_) | | | |
# | | |__) |__ _ __ __ _ _ _| |__) || | ___ | |_ |
# | | ___/ _ \ '_ \ / _` | | | | ___/ | |/ _ \| __| |
# | | | | __/ | | | (_| | |_| | | | | | (_) | |_ |
# | |_| \___|_| |_|\__, |\__,_|_| |_|_|\___/ \__| |
# | __/ | |
# | GNU/Linux based |___/ Multi-Rotor UAV Autopilot |
# |___________________________________________________|
#
# System Parameters Configuration File
#
# Copyright (C) 2014 Tobias Simon, Integrated Communication Systems Group, TU Ilmenau
#
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
u3_penguio_mw: # ODROID U3 with multiwii nano as io board
mass: 1.1 # Kg
thrust_max: 40.0 # N
rx_type: 'dsl'
arduino_serial: # U3 IO shield serial interface
path: '/dev/ttyACM0'
speed: 115200
gpsp_serial: # GPS publisher
path: "/dev/gps0" # created by udev rule
speed: 115200
nrf_serial: "/dev/nrf0" # created by udev rule
motors:
driver: 'arduino'
f2e: 'hk20_roxxy282735_1045'
n_motors: 4
order: '1, 4, 3, 2'
marg:
rot_quat: # marg orientation with reference to uav
x: 0.0
y: 0.0
z: 1.0
w: 135.0 # degrees
mag:
rot_quat: # magnetometer orientation with reference to marg platform
x: 0.0
y: 0.0
z: 1.0
w: 0.0
u3_bitbang_arduino: # ODROID U3 with raw i2c sensors and arduino for PWM / ADC
mass: 1.1 # Kg
thrust_max: 40.0 # N
rx_type: 'dsl'
arduino_serial: # U3 IO shield serial interface
path: '/dev/ttySAC0'
speed: 115200
gpsp_serial: # GPS publisher
path: "/dev/gps0" # created by udev rule
speed: 115200
nrf_serial: "/dev/nrf0" # created by udev rule
motors:
driver: 'arduino'
f2e: 'hk20_roxxy282735_1045'
n_motors: 4
order: '1, 4, 3, 2'
marg:
rot_quat: # marg orientation with reference to uav
x: 0.0
y: 0.0
z: 1.0
w: 135.0 # degrees
mag:
rot_quat: # magnetometer orientation with reference to marg platform
x: 0.0
y: 0.0
z: 1.0
w: 0.0
aircomm:
id: 1
psk: "This is the PenguPilot Standard Pre-Shared Key for NRF24L01+ Communication"
battmon:
cells: 4
low_cell_voltage_idle: 3.6 # [V]
low_cell_voltage_load: 3.4 # [V]
current_treshold: 3.0 # [A]
low_voltage_hysteresis: 10.0 # [s], battery needs to go below battery_low_cell_voltage for this time period in order to trigger a low power event
acc_cal: # accelerometer calibration
acc_bias_x: 0.0
acc_bias_y: 0.0
acc_bias_z: 0.0
acc_scale_x: 1.0
acc_scale_y: 1.0
acc_scale_z: 1.0
mag_adc_cal: # magnetometer calibration data
mag_bias_x: 0.0
mag_bias_y: 0.0
mag_bias_z: 0.0
mag_scale_x: 1.0
mag_scale_y: 1.0
mag_scale_z: 1.0
cmc: # current magnetometer calibration
bias: 0.0
scale_x: 0.0
scale_y: 0.0
scale_z: 0.0
rc_cal:
pitch:
index: -1
min: -1.0
max: 1.0
roll:
index: -1
min: -1.0
max: 1.0
yaw:
index: -1
min: -1.0
max: 1.0
gas:
index: -1
min: -1.0
max: 1.0
two_state:
index: -1
min: -1.0
max: 1.0
three_state:
index: -1
min: -1.0
max: 1.0
logger:
level: 3
details: 2
ahrs: # attitude and heading reference system
p_start: 20.0
p_step: 0.01
p_end: 0.05
i: 0.001
mixer: # enables different parts of the coupling matrix
imtx1: 1575696.45783 # gas column of matrix is multiplied with this
imtx2: 15562434.1515 # pitch and roll columns of matrix are multiplied with this
imtx3: 62229302.534 # yaw column is multiplied with this
f_c: 1.5866e-007
quad_matrix: '1.0, 1.0, 0.0, -1.0,
1.0, -1.0, 0.0, -1.0,
1.0, 0.0, 1.0, 1.0,
1.0, 0.0, -1.0, 1.0'
# gas pitch roll yaw
rs_ctrl: # basic stabilizing controller:
att_kd: 0.04
att_ki: 8.28
att_kp: 0.28
yaw_kd: 0.0
yaw_ki: 3.531770730332799
yaw_kp: 0.35127751586656414
filt_d: 0.15
rp_ctrl:
pr_p: 6.226615273654109
pr_d: 0.5402391324294383
yaw_p: 4.0
pitch_bias: 0.0
roll_bias: 0.0
angles_max: 40.0 # maximal angle allowed in attitude control
vs_ctrl: # vertical speed control
max_speed: 3.0
p: 4.0
i: 2.0
max_sum_err: 2.0
vp_ctrl: # vertical position control
p: 1.0
hs_ctrl: # horizontal speed control
p: 0.3
i: 0.2
max_sum_err: 2.0
angles_max: 15.0
hp_ctrl: # horizontal position control
p: 0.1
sticks:
pitch_roll_speed_max: 180.0 # [deg/s]
pitch_roll_angle_max: 35.0 # [deg]
vert_speed_max: 1.5
horiz_speed_max: 5.0 # maximal horizontal speed
horiz_deadzone: 0.05 # deadzone for angle and gps control
vert_deadzone: 0.15 # if magnitude of centered gas stick is lower than this value, altitude is locked
yaw_speed_max: 90.0 # maximum yaw rotation speed [deg/s]
yaw_deadzone: 0.02 # yaw deadzone
gas_acc_max: 20.0 # maximum positive/negative acceleration in m/s^2
rotation: 0.0 # 0 = "+" mode, 90 = "x mode"
expo: 6.0
pos_speed_est_neu: # NEU position estimate kalman filter
process_noise: 1.0e-6
baro_noise: 0.01
ultra_noise: 0.01
gps_noise: 0.01
use_gps_speed: 0 # use gps speed to correct estimate?
autopilot:
main:
acc_fg: 0.03 # accelerometer low-pass filter
cmc: # current magnetometer calibration
bias: 0.0
scale_x: 0.0
scale_y: 0.0
scale_z: 0.0
sticks:
pitch_roll_speed_max: 180.0 # [deg/s]
pitch_roll_angle_max: 35.0 # [deg]
vert_speed_max: 1.5
horiz_speed_max: 5.0 # maximal horizontal speed
horiz_deadzone: 0.05 # deadzone for angle and gps control
vert_deadzone: 0.15 # if magnitude of centered gas stick is lower than this value, altitude is locked
yaw_speed_max: 90.0 # maximum yaw rotation speed [deg/s]
yaw_deadzone: 0.02 # yaw deadzone
gas_acc_max: 20.0 # maximum positive/negative acceleration in m/s^2
rotation: 0.0 # 0 = "+" mode, 90 = "x mode"
expo: 6.0
controllers:
ne_speed: # north-east speed controller
p: 2.581019276508608
i: 1.827463461175307
i_max: 10.0
d: 0.0
lpfg: 50.0
attitude:
p: 6.226615273654109
i: 0.8956642009989297
i_max: 10.0
d: 0.5402391324294383
pitch_bias: 0.0
roll_bias: 0.0
angles_max: 40.0 # maximal angle allowed in attitude control
u_speed: # up speed controller (barometer)
i: 2.0
imax: 4.0
p: 7.0
u_pos: # ups position controller (barometer, ultrasonic)
d: 15.563081600990635
i: 15.563081600990635
imax: 20.0
p: 30.563081600990635
lpfg: 15.0
yaw: # yaw position controller
pid_lim: 2.0
p: 5.0
d: 0.0
i: 0.01
i_max: 0.5
navigation: # north-east position controller
speed_min: 0.5
speed_std: 2.0
speed_max: 3.5
sqrt_shift: 4.0
sqrt_scale: 0.25
square_shift: 0.2
pos_i: 0.015
pos_i_max: 5.0
ortho_p: 0.0