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Re: [Paparazzi-devel] stabilization problem

From: Eduardo lavratti
Subject: Re: [Paparazzi-devel] stabilization problem
Date: Tue, 29 Apr 2014 12:11:26 -0300
Way are  you using 
<define name="BODY_TO_IMU_THETA" value="90." unit="deg"/>

how you lisa is mounted in the frame (orientation)

if the lisa board front is pointed to frame front you dont need to change any BODY_To _IMU.

If the lisa board have any degree offset inreference to frame front you need to change the BODY_TO_IMU_PSI.



> Date: Tue, 29 Apr 2014 07:55:17 -0700
> From: address@hidden
> To: address@hidden
> Subject: [Paparazzi-devel] stabilization problem
>
> Hi all,
> I've tried to test my quadcopter in X configuration mounted with Lisa/M and
> Aspirin v2.1 (no barometer and magnetometer) but I can't manage to let it
> stabilize itself. When moving the airframe, the front right engine suddenly
> switches off and remains off. It only turns back on when I switch off and on
> all the engines. I am using the following airframe file:
>
> <!DOCTYPE airframe SYSTEM &quot;../airframe.dtd&quot;>
>
>
>
> <airframe name="AGR-Quad">
>
> <servos driver="Pwm">
> <servo name="FRONTRIGHT" no="0" min="1000" neutral="1050" max="2000"/>
> <servo name="REARRIGHT" no="1" min="1000" neutral="1050" max="2000"/>
> <servo name="REARLEFT" no="2" min="1000" neutral="1050" max="2000"/>
> <servo name="FRONTLEFT" no="3" min="1000" neutral="1050" 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>
>
> <command_laws>
> <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
> <set servo="FRONTRIGHT"
> value="motor_mixing.commands[SERVO_FRONTRIGHT]"/>
> <set servo="FRONTLEFT"
> value="motor_mixing.commands[SERVO_FRONTLEFT]"/>
> <set servo="REARRIGHT" value="motor_mixing.commands[SERVO_REARRIGHT]"/>
> <set servo="REARLEFT" value="motor_mixing.commands[SERVO_REARLEFT]"/>
> </command_laws>
>
> </section>
>
> <section name="MIXING" prefix="MOTOR_MIXING_">
> <define name="TRIM_ROLL" value="0"/>
> <define name="TRIM_PITCH" value="0"/>
> <define name="TRIM_YAW" value="0"/>
> <define name="NB_MOTOR" value="4"/>
> <define name="SCALE" value="256"/>
> <define name="ROLL_COEF" value="{ -256, -256, 256, 256 }"/>
> <define name="PITCH_COEF" value="{ 256, -256, -256, 256 }"/>
> <define name="YAW_COEF" value="{ 256, -256, 256, -256 }"/>
> <define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
> </section>
>
>
>
> <section name="IMU" prefix="IMU_">
>
>
>
>
> <define name="ACCEL_X_NEUTRAL" value="50"/>
> <define name="ACCEL_Y_NEUTRAL" value="23"/>
> <define name="ACCEL_Z_NEUTRAL" value="-35"/>
> <define name="ACCEL_X_SENS" value="4.88655662149" integer="16"/>
> <define name="ACCEL_Y_SENS" value="4.87360495603" integer="16"/>
> <define name="ACCEL_Z_SENS" value="4.84554588728" integer="16"/>
>
> <define name="MAG_X_NEUTRAL" value="0"/>
> <define name="MAG_Y_NEUTRAL" value="0"/>
> <define name="MAG_Z_NEUTRAL" value="0"/>
> <define name="MAG_X_SENS" value="4.19385009207" integer="16"/>
> <define name="MAG_Y_SENS" value="4.32306399648" integer="16"/>
> <define name="MAG_Z_SENS" value="4.63243801309" integer="16"/>
> </section>
>
> <section name="IMU" prefix="IMU_">
> <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
> <define name="BODY_TO_IMU_THETA" value="90." unit="deg"/>
> <define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
> </section>
>
> <section name="AUTOPILOT">
> <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
> <define name="MODE_AUTO1" value="AP_MODE_HOVER_DIRECT"/>
> <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
> </section>
>
> <section name="BAT">
> <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
> <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
> <define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
> <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
> <define name="MILLIAMP_AT_FULL_THROTTLE" value="30000"/>
> </section>
>
>
> <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="GAIN_P" value="-300"/>
> <define name="GAIN_Q" value="-300"/>
> <define name="GAIN_R" value="-350"/>
> </section>
>
> <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
>
> <define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
> <define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
> <define name="SP_MAX_PSI" value="RadOfDeg(45.)"/>
> <define name="SP_MAX_R" value="RadOfDeg(90.)"/>
> <define name="SP_MAX_Q" value="RadOfDeg(90.)"/>
> <define name="SP_MAX_P" value="RadOfDeg(90.)"/>
> <define name="DEADBAND_R" value="150"/>
> <define name="DEADBAND_A" value="150"/>
>
>
>
>
> <define name="REF_OMEGA_R" value="RadOfDeg(600)"/>
> <define name="REF_ZETA_R" value="0.90"/>
> <define name="REF_MAX_R" value="RadOfDeg(400.)"/>
> <define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
>
> <define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
> <define name="REF_ZETA_Q" value="0.90"/>
> <define name="REF_MAX_Q" value="RadOfDeg(500.)"/>
> <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
>
> <define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
> <define name="REF_ZETA_P" value="0.90"/>
> <define name="REF_MAX_P" value="RadOfDeg(500.)"/>
> <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
>
>
>
> <define name="THETA_PGAIN" value="-600"/>
> <define name="THETA_DGAIN" value="-500"/>
> <define name="THETA_IGAIN" value="-20"/>
>
> <define name="PHI_PGAIN" value="-600"/>
> <define name="PHI_DGAIN" value="-500"/>
> <define name="PHI_IGAIN" value="-20"/>
>
> <define name="PSI_PGAIN" value="-2000"/>
> <define name="PSI_DGAIN" value="-470"/>
> <define name="PSI_IGAIN" value="-100"/>
>
>
> <define name="THETA_DDGAIN" value=" 200"/>
> <define name="PHI_DDGAIN" value=" 200"/>
> <define name="PSI_DDGAIN" value=" 200"/>
>
> </section>
>
> <section name="INS" prefix="INS_">
> <define name="BARO_SENS" value="24.0" integer="16"/>
> </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="150"/>
> <define name="HOVER_KD" value="100"/>
> <define name="HOVER_KI" value="40"/>
>
> <define name="RC_CLIMB_COEF" value="163"/>
>
> <define name="RC_CLIMB_DEAD_BAND" value="160000"/>
> <define name="INV_M" value="0.21"/>
> </section>
>
>
>
>
> <section name="AHRS" prefix="AHRS_">
> <define name="PROPAGATE_FREQUENCY" value="512"/>
> <define name="AHRS_MAG_UPDATE_YAW_ONLY"/>
>
> <define name="H_X" value=" 0.75127"/>
> <define name="H_Y" value=" 0.21477"/>
> <define name="H_Z" value=" 0.62406"/>
> </section>
>
> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
> <define name="PGAIN" value="5"/>
> <define name="DGAIN" value="10"/>
> <define name="IGAIN" value="1"/>
> </section>
>
> <section name="SIMULATOR" prefix="NPS_">
> <define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;,
> &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
> <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
> <define name="SENSORS_PARAMS"
> value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
> </section>
>
>
> <firmware name="rotorcraft">
> <target name="ap" board="lisa_m_2.0">
> <define name="USE_THROTTLE_FOR_MOTOR_ARMING"/>
> <configure name="FLASH_MODE" value="DFU"/>
> </target>
>
> <subsystem name="radio_control" type="ppm">
> <configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/>
> </subsystem>
>
> <subsystem name="telemetry" type="transparent">
> <configure name="MODEM_BAUD" value="B57600" />
> <configure name="MODEM_PORT" value="UART2" />
> </subsystem>
>
> <subsystem name="motor_mixing"/>
> <subsystem name="actuators" type="pwm">
> <define name="SERVO_HZ" value="400"/>
> <define name="USE_SERVOS_7AND8"/>
> </subsystem>
>
>
> <target name="sim" board="pc">
> <subsystem name="fdm" type="nps"/>
> <subsystem name="radio_control" type="ppm"/>
> <subsystem name="actuators" type="mkk">
> </subsystem>
> </target>
>
> <subsystem name="imu" type="aspirin_v2.1"/>
>
> <subsystem name="gps" type="ublox">
> <configure name="GPS_BAUD" value="B57600"/>
> </subsystem>
>
> <subsystem name="ins"/>
> <subsystem name="stabilization" type="int_quat"/>
> <subsystem name="ahrs" type="int_cmpl_quat">
> <define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
> </subsystem>
>
> </firmware>
>
> </airframe>
>
> I assume there is something wrong with the airframe file but I can't find
> what this could be. Can someone help me with this problem or send a working
> airframe file for quadcopters with X configuration?
>
> Thanks
>
>
>
> --
> View this message in context: http://lists.paparazziuav.org/stabilization-problem-tp15246.html
> Sent from the paparazzi-devel mailing list archive at Nabble.com.
>
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