Rotorcraft Configuration - Revision history

Matejkarasek: Links added

2017-11-28T10:25:26Z

Links added

← Older revision		Revision as of 04:25, 28 November 2017
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	** switch kill switch off to arm the motors		** switch kill switch off to arm the motors
	** if kill switch is off during startup, you need to kill again first, then unkill to start		** if kill switch is off during startup, you need to kill again first, then unkill to start
	** throttle needs to be down, other sticks centered to start motors		** throttle needs to be down, other sticks (including the trims) centered to start motors
	** need to be in ~~manual~~ mode to start the motors		** need to be in [[AutopilotModes\|MANUAL mode]] to start the motors

	* USE_THROTTLE_FOR_MOTOR_ARMING defined (to 1):		* USE_THROTTLE_FOR_MOTOR_ARMING defined (to 1):
	** automatically start motors when applying throttle		** automatically start motors when applying throttle
	** if throttle was not down at startup, you need to put throttle down again first		** if throttle was not down at startup, you need to put throttle down again first
	** other sticks need to be centered to start motors		** other sticks (including the trims) need to be centered to start motors
	** need to be in ~~manual~~ mode to start the motors		** need to be in [[AutopilotModes\|MANUAL mode]] to start the motors

	== Autopilot modes ==		== Autopilot modes ==

IHaveADrone: /* Motor Mixing */ XML "

2017-04-26T18:36:14Z

Motor Mixing: XML "

← Older revision		Revision as of 12:36, 26 April 2017
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	<command_laws>		<command_laws>
	<call fun="motor_mixing_run(autopilot_motors_on, FALSE, values)"/>		<call fun="motor_mixing_run(autopilot_motors_on, FALSE, values)"/>
	<set servo="FRONT" value="motor_mixing.commands[0]/>		<set servo="FRONT" value="motor_mixing.commands[0]"/>
	<set servo="BACK" value="motor_mixing.commands[1]/>		<set servo="BACK" value="motor_mixing.commands[1]"/>
	<set servo="RIGHT" value="motor_mixing.commands[2]/>		<set servo="RIGHT" value="motor_mixing.commands[2]"/>
	<set servo="LEFT" value="motor_mixing.commands[3]/>		<set servo="LEFT" value="motor_mixing.commands[3]"/>
	</command_laws>		</command_laws>
	</source>		</source>

IHaveADrone: /* Commands */ XML syntax typo

2017-04-26T18:22:39Z

Commands: XML syntax typo

← Older revision		Revision as of 12:22, 26 April 2017
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	<axis name="PITCH" failsafe_value="0"/>		<axis name="PITCH" failsafe_value="0"/>
	<axis name="ROLL" failsafe_value="0"/>		<axis name="ROLL" failsafe_value="0"/>
	<axis name="YAW" failsafe_value="0 />		<axis name="YAW" failsafe_value="0" />
	<axis name="THRUST" failsafe_value="0"/>		<axis name="THRUST" failsafe_value="0"/>
	</commands>		</commands>

Eazy at 21:03, 16 April 2016

2016-04-16T21:03:36Z

← Older revision		Revision as of 15:03, 16 April 2016
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	</section>		</section>
	</source>		</source>


	; Time Cross : [[Image:cross_time_simple.png\|200px]]		; Time Cross : [[Image:cross_time_simple.png\|200px]]
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	<section name="MIXING" prefix="MOTOR_MIXING_">		<section name="MIXING" prefix="MOTOR_MIXING_">
	<define name="TYPE" value="QUAD_X_CCW"/>		<define name="TYPE" value="QUAD_X_CCW"/>
			</section>
			</source>
			This is equivalent to (available since v5.9_devel):
			<source lang="xml">
			<section name="MIXING" prefix="MOTOR_MIXING_">
			<define name="TYPE" value="QUAD_X"/>
			<define name="REVERSE" value="true"/>
	</section>		</section>
	</source>		</source>

Flixr: update mixing examples to recommended values as also provided by the standard motor mixing types

2015-07-09T19:15:04Z

update mixing examples to recommended values as also provided by the standard motor mixing types

Show changes

Earthpatrol: /* Mixing Examples */

2015-02-06T20:52:32Z

Mixing Examples

← Older revision		Revision as of 14:52, 6 February 2015
Line 296:		Line 296:


	; Octo (plus cross): ~~rotor 1 on x-axis~~ [[~~Images~~:Octo_plus_motor_layout.png\|border\|200px]]		; Octo (plus cross): [[Image:Octo_plus_motor_layout.png\|border\|200px]]
	<source lang="xml">		<source lang="xml">
	<define name="ROLL_COEF" value="{ 0, -181, -256, -181, 0, 181, 256, 181 }"/>		<define name="ROLL_COEF" value="{ 0, -181, -256, -181, 0, 181, 256, 181 }"/>

Earthpatrol: /* Mixing Examples */

2015-02-06T20:51:10Z

Mixing Examples

← Older revision		Revision as of 14:51, 6 February 2015
Line 296:		Line 296:


	; Octo (plus cross): rotor 1 on x-axis ~~(image anyone?)~~		; Octo (plus cross): rotor 1 on x-axis [[Images:Octo_plus_motor_layout.png\|border\|200px]]
	<source lang="xml">		<source lang="xml">
	<define name="ROLL_COEF" value="{ 0, -181, -256, -181, 0, 181, 256, 181 }"/>		<define name="ROLL_COEF" value="{ 0, -181, -256, -181, 0, 181, 256, 181 }"/>

Flixr: /* Autopilot modes */

2014-12-20T12:02:54Z

Autopilot modes

← Older revision		Revision as of 06:02, 20 December 2014
Line 153:		Line 153:

	; AP_MODE_CARE_FREE_DIRECT (CF):		; AP_MODE_CARE_FREE_DIRECT (CF):
	~~Safety pilot direct commands for helicopter~~, but the roll and pitch commands are based on the yaw angle when entering this mode.		Same as AP_MODE_ATTITUDE_DIRECT, but the roll and pitch commands are based on the yaw angle when entering this mode.

	== XML Parameters ==		== XML Parameters ==

IHaveADrone: added box code for consistency

2014-08-13T14:43:20Z

added box code for consistency

← Older revision		Revision as of 08:43, 13 August 2014
Line 5:		Line 5:

	This is one example of a pretty standard quadcopter firmware definition:		This is one example of a pretty standard quadcopter firmware definition:
	{{Box Code\|conf/airframes/~~myplane~~.xml\|		{{Box Code\|conf/airframes/myrotorcraft.xml\|
	<source lang="xml">		<source lang="xml">
	<firmware name="rotorcraft">		<firmware name="rotorcraft">
Line 27:		Line 27:
	Make sure you use the <b>rotorcraft [[Airframe_Configuration#Firmware\|firmware]]</b> and choose the correct board, e.g.		Make sure you use the <b>rotorcraft [[Airframe_Configuration#Firmware\|firmware]]</b> and choose the correct board, e.g.

	{{Box Code\|conf/airframes/~~myplane~~.xml\|		{{Box Code\|conf/airframes/myrotorcraft.xml\|
	<source lang="xml">		<source lang="xml">
	<firmware name="rotorcraft">		<firmware name="rotorcraft">
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	=== Actuators ===		=== Actuators ===
	You have to specify which ESCs you have by adding the appropriate [[Subsystem/actuators\|actuators subsystem.]]		You have to specify which ESCs you have by adding the appropriate [[Subsystem/actuators\|actuators subsystem.]]
	{{Box Code\|conf/airframes/~~myplane~~.xml\|		{{Box Code\|conf/airframes/myrotorcraft.xml\|
	<source lang="xml">		<source lang="xml">
	<firmware name="rotorcraft">		<firmware name="rotorcraft">
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	Since v4.9x the INS subsystem is mandatory, to use the same as in v4.2 omit the type.		Since v4.9x the INS subsystem is mandatory, to use the same as in v4.2 omit the type.
	{{Box Code\|conf/airframes/~~myplane~~.xml\|		{{Box Code\|conf/airframes/myrotorcraft.xml\|
	<source lang="xml">		<source lang="xml">
	<firmware name="rotorcraft">		<firmware name="rotorcraft">
Line 71:		Line 71:
	}}		}}
	You can also compensate for GPS lag in hff (horizontal filter float) if it is known (in seconds):		You can also compensate for GPS lag in hff (horizontal filter float) if it is known (in seconds):
	{{Box Code\|conf/airframes/~~myplane~~.xml\|		{{Box Code\|conf/airframes/myrotorcraft.xml\|
	<source lang="xml">		<source lang="xml">
	<firmware name="rotorcraft">		<firmware name="rotorcraft">
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	=== Mode ===		=== Mode ===
	In the mode section you can set the autopilot modes associated with your 3-way mode switch on your RC.		In the mode section you can set the autopilot modes associated with your 3-way mode switch on your RC.
			{{Box Code\|conf/airframes/myrotorcraft.xml\|
	<source lang="xml">		<source lang="xml">
	<section name="MODE" prefix="MODE_">		<section name="MODE" prefix="MODE_">
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	</section>		</section>
	</source>		</source>
			}}

	=== Commands ===		=== Commands ===

	The <b><tt>commands</tt></b> lists the abstract commands you need to control the aircraft. For most multicopter you just need:		The <b><tt>commands</tt></b> lists the abstract commands you need to control the aircraft. For most multicopter you just need:
			{{Box Code\|conf/airframes/myrotorcraft.xml\|
	<source lang="xml">		<source lang="xml">
	<commands>		<commands>
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	</commands>		</commands>
	</source>		</source>
			}}

	Each command is also associated with a failsafe value which will be used if no controller is active, for example during initialization of the autopilot board.		Each command is also associated with a failsafe value which will be used if no controller is active, for example during initialization of the autopilot board.
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	In '''firmware''' section:		In '''firmware''' section:
			{{Box Code\|conf/airframes/myrotorcraft.xml\|
	<source lang="xml">		<source lang="xml">
	<subsystem name="motor_mixing"/>		<firmware name="rotorcraft">
			...
			<subsystem name="motor_mixing"/>
			...
			</firmware>
	</source>		</source>
			}}

	Configuration of the motor mixing:		Configuration of the motor mixing:
			{{Box Code\|conf/airframes/myrotorcraft.xml\|
	<source lang="xml">		<source lang="xml">
	<section name="MIXING" prefix="MOTOR_MIXING_">		<section name="MIXING" prefix="MOTOR_MIXING_">
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	<define name="TRIM_PITCH" value="0"/>		<define name="TRIM_PITCH" value="0"/>
	<define name="TRIM_YAW" value="0"/>		<define name="TRIM_YAW" value="0"/>
			<define name="MAX_SATURATION_OFFSET" value="MAX_PPRZ/10"/>
	<define name="NB_MOTOR" value="4"/>		<define name="NB_MOTOR" value="4"/>
	<define name="SCALE" value="256"/>		<define name="SCALE" value="256"/>
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	</section>		</section>
	</source>		</source>
			}}

	; ''TRIM_ROLL'' : trim added to roll command		; ''TRIM_ROLL'' : trim added to roll command
	; ''TRIM_PITCH'' : trim added to pitch command		; ''TRIM_PITCH'' : trim added to pitch command
	; ''TRIM_YAW'' : trim added to yaw command		; ''TRIM_YAW'' : trim added to yaw command
			; ''MAX_SATURATION_OFFSET'' : set at "MAX_PPRZ/10" by default
	; x''_COEF'' : roll/pitch/yaw/thrust coefficients, see [[RotorcraftMixing]] for details or the examples below		; x''_COEF'' : roll/pitch/yaw/thrust coefficients, see [[RotorcraftMixing]] for details or the examples below

	In '''command_laws''' section (placed after section MIXING):		In '''command_laws''' section (placed after section MIXING):
			{{Box Code\|conf/airframes/myrotorcraft.xml\|
	<source lang="xml">		<source lang="xml">
	<command_laws>		<command_laws>
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	</command_laws>		</command_laws>
	</source>		</source>
			}}

	==== Mixing Examples ====		==== Mixing Examples ====
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	==== vertical guidance ====		==== vertical guidance ====
			{{Box Code\|conf/airframes/myrotorcraft.xml\|
	<source lang="xml">		<source lang="xml">
	<section name="GUIDANCE_V" prefix="GUIDANCE_V_">		<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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	</section>		</section>
	</source>		</source>
			}}

	; ''HOVER_K''x : PID parameters for vertical hover control loop		; ''HOVER_K''x : PID parameters for vertical hover control loop
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	==== horizontal guidance ====		==== horizontal guidance ====
			{{Box Code\|conf/airframes/myrotorcraft.xml\|
	<source lang="xml">		<source lang="xml">
	<section name="GUIDANCE_H" prefix="GUIDANCE_H_">		<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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	</section>		</section>
	</source>		</source>
			}}

	; [PID]''GAIN'' : PID gains for horizontal control		; [PID]''GAIN'' : PID gains for horizontal control

IHaveADrone: /* Mixing Examples */ added hex(time cross) rotor image

2014-08-04T23:43:49Z

Mixing Examples: added hex(time cross) rotor image

← Older revision		Revision as of 17:43, 4 August 2014
Line 261:		Line 261:


	; Hex (Time Cross) : ~~(image coming soon)~~		; Hex (Time Cross) : [[Image:Hex_cross_layout.png\|200px]]
	Assuming that the order of motors, described in the "servos" section is FRONT_LEFT, FRONT_RIGHT, RIGHT, BACK_RIGHT, BACK_LEFT, LEFT.		Assuming that the order of motors, described in the "servos" section is FRONT_LEFT, FRONT_RIGHT, RIGHT, BACK_RIGHT, BACK_LEFT, LEFT.
	<source lang="xml">		<source lang="xml">