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https://github.com/ArduPilot/ardupilot
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hwdef: added Jumper Xiake 800
this is for the jumper xiake 800 tilt-tri quadplane
This commit is contained in:
Andrew Tridgell
parent
814104cb33
commit
17e598fcff
178
libraries/AP_HAL_ChibiOS/hwdef/JumperXiake800/defaults.parm
Normal file
178
libraries/AP_HAL_ChibiOS/hwdef/JumperXiake800/defaults.parm
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@ -0,0 +1,178 @@
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ARMING_CHECK 1
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ARMING_RUDDER 0
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ARSPD_TYPE 0
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ARSPD_FBW_MIN 8
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TRIM_ARSPD_CM 1300
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BATT_CAPACITY 2200
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BATT_VOLT_MULT 11.16842
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# no compass
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COMPASS_ENABLE 0
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COMPASS_USE 0
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# notch filter using BDShot
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INS_HNTCH_ENABLE 1
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INS_HNTCH_MODE 3
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INS_HNTCH_REF 1
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INS_HNTCH_FREQ 80
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INS_HNTCH_BW 20
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INS_HNTCH_ATT 60
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INS_HNTCH_HMNCS 7
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INS_HNTCH_REF 1
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INS_HNTCH_MODE 3
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INS_HNTCH_OPTS 16
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# higher gyro filter
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INS_GYRO_FILTER 72
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WP_RADIUS 40
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RSSI_TYPE 3
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# FW roll tune
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RLL2SRV_RMAX 90
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RLL2SRV_TCONST 0.4
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RLL_RATE_FLTD 4
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RLL_RATE_FLTE 7
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# FW pitch tune
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PTCH2SRV_RMAX_DN 90
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PTCH2SRV_RMAX_UP 90
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PTCH2SRV_TCONST 0.4
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PTCH_RATE_FLTD 4
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PTCH_RATE_FLTT 2
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PTCH_RATE_FLTE 7
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RTL_AUTOLAND 1
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RUDD_DT_GAIN 3
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# tilt-tri quadplane
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Q_ENABLE 1
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Q_FRAME_CLASS 7
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Q_ASSIST_ANGLE 40
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Q_ASSIST_SPEED 5
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Q_A_ACCEL_P_MAX 110000
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Q_A_ACCEL_R_MAX 110000
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Q_A_ACCEL_Y_MAX 27000
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Q_A_ANG_PIT_P 6.497873
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Q_A_ANG_RLL_P 3.117773
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Q_A_ANG_YAW_P 3
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# VTOL rate tune
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Q_A_RAT_PIT_D 0.001
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Q_A_RAT_PIT_FLTD 15
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Q_A_RAT_PIT_I 0.06162097
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Q_A_RAT_PIT_P 0.06162097
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Q_A_RAT_PIT_SMAX 100
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Q_A_RAT_RLL_D 0.0025
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Q_A_RAT_RLL_FLTD 15
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Q_A_RAT_RLL_I 0.15
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Q_A_RAT_RLL_P 0.3
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Q_A_RAT_RLL_SMAX 100
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Q_A_RAT_YAW_FLTE 4.75
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Q_A_RAT_YAW_P 0.5607804
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Q_A_RAT_YAW_FF 0.1
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Q_A_RAT_YAW_I 0.05607804
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Q_A_RAT_YAW_SMAX 100
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Q_FW_LND_APR_RAD 85
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# 4S battery
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Q_M_BAT_VOLT_MAX 16.8
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Q_M_BAT_VOLT_MIN 13.2
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Q_M_THST_HOVER 0.33
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Q_M_SPOOL_TIME 1
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Q_M_THST_EXPO 0.56
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Q_M_YAW_HEADROOM 50
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Q_M_YAW_SV_ANGLE 12
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Q_OPTIONS 525344
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Q_RTL_ALT 30
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Q_TRANS_FAIL 3
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Q_VFWD_ALT 2
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Q_VFWD_GAIN 0.05
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# no weather vaning
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Q_WVANE_ENABLE 0
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Q_P_ACCZ_I 0.7
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Q_P_ACCZ_P 0.35
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Q_RTL_MODE 0
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Q_TILT_ENABLE 1
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Q_TILT_MASK 3
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Q_TILT_MAX 55
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Q_TILT_RATE_DN 15
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Q_TILT_RATE_UP 75
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Q_TILT_TYPE 2
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Q_TILT_YAW_ANGLE 6
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Q_TRANSITION_MS 1000
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Q_TRANS_FAIL_ACT -1
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RC_OPTIONS 288
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RC7_OPTION 153
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RC6_OPTION 4
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SERVO_BLH_TRATE 100
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SERVO_DSHOT_ESC 1
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SERVO1_FUNCTION 36
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SERVO11_FUNCTION 0
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SERVO2_FUNCTION 33
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SERVO3_FUNCTION 78
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SERVO3_REVERSED 1
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SERVO4_FUNCTION 76
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SERVO4_REVERSED 1
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SERVO5_FUNCTION 77
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SERVO6_FUNCTION 0
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SERVO7_FUNCTION 75
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SERVO8_FUNCTION 34
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SERIAL1_BAUD 115
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SERIAL1_PROTOCOL 23
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SERIAL2_PROTOCOL -1
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SERIAL3_PROTOCOL -1
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# serial4 for DJI
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SERIAL4_BAUD 115
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SERIAL4_PROTOCOL 33
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SERIAL5_BAUD 38
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SERIAL5_PROTOCOL 5
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SERIAL6_BAUD 57
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SERIAL6_PROTOCOL 2
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# tweak TECS
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TECS_PTCH_FF_V0 13
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THR_MAX 75
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TRIM_PITCH_CD 500
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FLTMODE_CH 8
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FLTMODE1 17
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FLTMODE2 5
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FLTMODE3 19
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FLTMODE4 5
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FLTMODE5 6
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FLTMODE6 7
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FS_LONG_ACTN 1
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FS_LONG_TIMEOUT 3
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FS_SHORT_ACTN 1
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FS_SHORT_TIMEOUT 1
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KFF_RDDRMIX 0
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NAVL1_PERIOD 11
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NTF_BUZZ_TYPES 3
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NTF_LED_TYPES 2247
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OSD_TYPE 3
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# save some logging space
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LOG_BLK_RATEMAX 50
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# BLHeli enable, with BDShot
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SERVO_BLH_AUTO 1
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SERVO_BLH_OTYPE 4
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SERVO_BLH_BDMASK 131
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SERVO_BLH_POLES 14
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159
libraries/AP_HAL_ChibiOS/hwdef/JumperXiake800/hwdef.dat
Normal file
159
libraries/AP_HAL_ChibiOS/hwdef/JumperXiake800/hwdef.dat
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@ -0,0 +1,159 @@
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# JumperXiake800 hwdef.dat
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# This plane comes with a 4.2.2 firmware. Jumper loosely based the hwdef.dat on the MatekF405-Wing
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# but with some significant changes.
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# Unfortunately they didn't change the APJ_BOARD_ID, so we now have two boards with different
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# setups but the same ID
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###########################################################################
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# NOTE!! If you are the Jumper developer responsible for this firmware then
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# please contact Andrew Tridgell to discuss
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###########################################################################
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MCU STM32F4xx STM32F405xx
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# sigh. Same ID as MatekF405-Wing
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APJ_BOARD_ID 127
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OSCILLATOR_HZ 8000000
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DEFAULTGPIO OUTPUT LOW PULLDOWN
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# use timer 5
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define STM32_ST_USE_TIMER 5
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define CH_CFG_ST_RESOLUTION 32
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# reserve 4 sectors
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FLASH_RESERVE_START_KB 64
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FLASH_SIZE_KB 1024
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# parameters in flash
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define HAL_STORAGE_SIZE 15360
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STORAGE_FLASH_PAGE 1
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I2C_ORDER I2C1
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SERIAL_ORDER OTG1 USART1 EMPTY EMPTY UART4 UART5 USART2
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# SERIAL1 is RCIN
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PA9 USART1_TX USART1
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PA10 USART1_RX USART1
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# DJI FPV serial
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PA0 UART4_TX UART4
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PA1 UART4_RX UART4
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# debug and RCIN serial?
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PA2 USART2_TX USART2 NODMA
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PA3 USART2_RX USART2 NODMA ALT(1)
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# SERIAL5 is GPS
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PC12 UART5_TX UART5 NODMA
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PD2 UART5_RX UART5 NODMA
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# RCIN on PA4
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PA3 TIM9_CH2 TIM9 RCININT PULLDOWN LOW
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# IMU MPU6000
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PB11 MPU6500_CS CS
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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# enable USB
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# single LED
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PB9 LED_GREEN OUTPUT LOW GPIO(1)
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define HAL_GPIO_A_LED_PIN 0
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define HAL_GPIO_B_LED_PIN 1
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# 8 PWM, with BDShot
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PC6 TIM3_CH1 TIM3 PWM(1) GPIO(50) BIDIR # rear motor, CCW
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PC7 TIM3_CH2 TIM3 PWM(2) GPIO(51) # front-right motor, CCW
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PC8 TIM8_CH3 TIM8 PWM(3) GPIO(52) NODMA # elevon right
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PC9 TIM8_CH4 TIM8 PWM(4) GPIO(53) NODMA # tilt right
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PA15 TIM2_CH1 TIM2 PWM(5) GPIO(54) NODMA # elevon-left
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PA8 TIM1_CH1 TIM1 PWM(6) GPIO(55) NODMA
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PB8 TIM4_CH3 TIM4 PWM(7) GPIO(56) NODMA # tilt left
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PB0 TIM3_CH3 TIM3 PWM(8) GPIO(57) BIDIR # front-left motor, CW
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# don't share BDShot DMA
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DMA_NOSHARE TIM3_UP
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# SPI3 for flash logging
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PB3 SPI3_SCK SPI3
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PB4 SPI3_MISO SPI3
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PB5 SPI3_MOSI SPI3
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PC0 FLASH_CS CS
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# single I2C
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PB6 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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# OSD on SPI2
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PB15 SPI2_MOSI SPI2
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PB14 SPI2_MISO SPI2
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PB13 SPI2_SCK SPI2
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PB10 OSD_CS CS
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# analog battery monitoring
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PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
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# RSSI on PC4
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PC5 RSSI_ADC_PIN ADC1 SCALE(1)
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PC13 VBUS INPUT OPENDRAIN
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# buzzer
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PC15 BUZZER OUTPUT GPIO(80) LOW
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define HAL_BUZZER_PIN 80
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define HAL_BUZZER_ON 1
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define HAL_BUZZER_OFF 0
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# SPI devices
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SPIDEV mpu6000 SPI1 DEVID1 MPU6500_CS MODE3 1*MHZ 8*MHZ
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SPIDEV osd SPI2 DEVID2 OSD_CS MODE0 10*MHZ 10*MHZ
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SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ
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# one IMU
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IMU Invensense SPI:mpu6000 ROTATION_YAW_270
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# two possible barometers, ships with BMP280
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BARO BMP280 I2C:0:0x76
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BARO DPS310 I2C:0:0x76
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define HAL_PROBE_EXTERNAL_I2C_BAROS
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define HAL_BARO_ALLOW_INIT_NO_BARO
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# default batt monitor setup
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define HAL_BATT_MONITOR_DEFAULT 4
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define HAL_BATT_VOLT_PIN 12
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define HAL_BATT_CURR_PIN 11
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define HAL_BATT_VOLT_SCALE 11
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define HAL_BATT_CURR_SCALE 35
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define BOARD_RSSI_ANA_PIN 15
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# no compass, but allow one to be fitted
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define ALLOW_ARM_NO_COMPASS
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 0
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2
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define HAL_LOGGING_DATAFLASH_ENABLED 1
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define OSD_ENABLED 1
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define HAL_OSD_TYPE_DEFAULT 1
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# build in one OSD font
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin
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define STM32_PWM_USE_ADVANCED TRUE
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# larger defaults file
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define AP_PARAM_MAX_EMBEDDED_PARAM 4096
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# save some flash
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include ../include/minimal.inc
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