Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-10 06:59:54 +08:00
Code Issues Actions 31 Packages Projects Releases Wiki Activity

added auto1 commands

Browse Source
This commit is contained in:
Developer
2017-04-05 01:46:09 +02:00
parent 7c06074168
commit 060e6dd2e6
5 changed files with 76 additions and 677 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/OPENUAS/openuas_eflite_t28.xml
+12 -12
View File
@@ -4,7 +4,7 @@
+ Pixracer http://arsovtech.com/?page_id=1590
* in Fixedwing (http://www.openuas.org/)
+ Airframe to test the PX4 Pixracer v1 firmware while developing...
E-Flite T28 Trojan fully equiped with Retractable gear and Flaps
E-Flite T28 Trojan fully equiped with Retractable gear and flap
+ Autopilot: PX4FMU 4.0 aka Pixracer v1.0
+ Actuators: Regular digital servos
+ GPS: Ublox M8N GNSS
@@ -75,7 +75,7 @@ NOTES:
<!-- <define name="RADIO_CONTROL_NB_CHANNEL" value="9"/> -->
<!-- Mode set one a three way switch -->
<define name="RADIO_MODE" value="4"/> <!-- yes, already done by default if not redefined to something else-->
<!-- Per defaulr already GEAR if not defined <define name="RADIO_MODE" value="RADIO_GEAR"/> --><!-- yes, already done by default if not redefined to something else-->
<define name="RADIO_GEAR" value="RADIO_AUX1"/>
<define name="RADIO_FLAP" value="RADIO_AUX2"/>
<!-- <define name="SPEKTRUM_HAS_SOFT_BIND_PIN" value="1"/> -->
@@ -162,8 +162,8 @@ NOTES:
<configure name="AHRS_USE_MAGNETOMETER" value="FALSE"/> <!-- First autoflight set to false better make sure it works and is callibrated if set to TRUE -->
<configure name="AHRS_ALIGNER_LED" value="2"/>
<define name="AHRS_MAG_UPDATE_ALL_AXES" value="TRUE"/> <!-- with those high roll n pith angles better id calibrated well -->
<define name="AHRS_USE_GPS_HEADING" value="TRUE"/> <!-- Use GPS course to update heading for time being,if FALSE data from magneto only, testing, brrrr... -->
<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" value="TRUE"/> <!-- Compensation of centrifugal force via GPS speed (to fly in circles with a fixedwing)"-->
<!-- TRUE by default <define name="AHRS_USE_GPS_HEADING" value="FALSE"/> --><!-- Use GPS course to update heading for time being,if FALSE data from magneto only, testing, brrrr... -->
<!-- TRUE by default <define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" value="FALSE"/>--> <!-- Compensation of centrifugal force via GPS speed (to fly in circles with a fixedwing)"-->
<define name="AHRS_GPS_SPEED_IN_NEGATIVE_Z_DIRECTION" value="FALSE"/> <!-- AHRS_GRAVITY_UPDATE_COORDINATED_TURN assumes the GPS speed is in the X axis direction. Quadshot, DelftaCopter and other hybrids can have the GPS speed in the negative Z direction" -->
<define name="AHRS_PROPAGATE_LOW_PASS_RATES" value="TRUE"/> <!-- apply a low pass filter on rotational velocity"-->
<define name="AHRS_BIAS_UPDATE_HEADING_THRESHOLD" value="5.0"/> <!-- don't update gyro bias if heading deviation is above this threshold in degrees"-->
@@ -266,7 +266,7 @@ NOTES:
<!-- ************************* MODULES ************************* -->
<modules>
<!-- <module name="auto1_commands"/>--><!-- NOT finished for NON intermcu to be able to set GEAR and FLAPS etc. in stabiized mode for easier testflights -->
<module name="auto1_commands"/><!-- NOT finished for NON intermcu to be able to set GEAR and FLAP etc. in stabiized mode for easier testflights -->
<module name="baro_ms5611_spi" >
<configure name="MS5611_SPI_DEV" value="spi1"/>
@@ -352,9 +352,9 @@ NOTES:
<!-- Just name a few, value can be used in e.g. flightplan -->
<define name="LANINGGEAR_EXTEND" value="-MAX_PPRZ" />
<define name="LANDINGGEAR_RETRACT" value="MAX_PPRZ" />
<define name="FLAPS_FULL" value="-MAX_PPRZ" />
<define name="FLAPS_HALF" value="-MAX_PPRZ/2" />
<define name="FLAPS_NONE" value="0" /><!-- TODO hardware mod use full servo range -->
<define name="FLAP_FULL" value="-MAX_PPRZ" />
<define name="FLAP_HALF" value="-MAX_PPRZ/2" />
<define name="FLAP_NONE" value="0" /><!-- TODO hardware mod use full servo range -->
<define name="BEACON_ROTATE" value="MAX_PPRZ" />
<define name="BEACON_FLASH" value="0" />
<define name="BEACON_OFF" value="-MAX_PPRZ" />
@@ -369,7 +369,7 @@ NOTES:
<servo name="S_FLAP" no="5" min="1100" neutral="1500" max="1900"/>
</servos>
<!--For mixed controlflaps -->
<!--For mixed controls -->
<section name="MIXER">
<!-- just a tiny bit works well-->
<define name="ASSIST_ROLL_WITH_RUDDER" value="0.09"/>
@@ -395,7 +395,7 @@ NOTES:
<!-- To still be able to use rudder in auto mode, which is handy with sidewind landing in auto1 stabilization mode only YAW
Handy if in auto1 for sidewind stabilized crabbing landing, also for steering if someting not OK with course gains in Autonomous flight
TODO disable again after strong wind sidewind autolanding is 100% tuned
Note that in auto2 mode the Flaps and Gears are after test then controlable by flightplan conditions e.g landng block extend gear and flaps -->
Note that in auto2 mode the Flap and Gear are after test then controlable by flightplan conditions e.g landng block extend gear and flap -->
<set command="YAW" value="@YAW"/> <!-- TODO: Diable later -->
<set command="GEAR" value="@GEAR"/> <!-- TODO: Diable later -->
<set command="FLAP" value="@FLAP"/> <!-- TODO: Diable later -->
@@ -444,7 +444,7 @@ NOTES:
<define name="DEFAULT_GEAR" value="1100"/>
<define name="DEFAULT_ROLL" value="10.0" unit="deg"/>
<define name="DEFAULT_PITCH" value="-5.0" unit="deg"/>
<!-- TODO Maybe extent flaps to landing position, testfly it first -->
<!-- TODO Maybe extent flap to landing position, testfly it first -->
<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
<define name="KILL_MODE_DISTANCE" value="MAX_DIST_FROM_HOME*1.3+HOME_RADIUS" unit="m"/><!-- improve value by default turn radius calc -->
<define name="DELAY_WITHOUT_GPS" value="4" unit="s"/>
@@ -656,7 +656,7 @@ NOTES:
<define name="CLIMB_AIRSPEED" value="7." unit="m/s"/> <!-- TODO get best values -->
<define name="TRACKING_AIRSPEED" value="20." unit="m/s"/> <!-- TODO get best values -->
<define name="GLIDE_AIRSPEED" value="16." unit="m/s"/> <!-- TODO get best values -->
<define name="STALL_AIRSPEED" value="12." unit="m/s"/> <!-- measue limit of plane in testflight and set 80% from this --> <!-- No flaps, an pct flp ratio-->
<define name="STALL_AIRSPEED" value="12." unit="m/s"/> <!-- measue limit of plane in testflight and set 80% from this --> <!-- No flap, an pct flp ratio-->
<define name="RACE_AIRSPEED" value="21." unit="m/s"/> <!-- TODO determine -->
<define name="MIN_SPEED_FOR_TAKEOFF" value="4." unit="m/s"/> <!-- TODO determine and change to make it for airspeed -->
conf/control_panel.xml
-653
View File
File diff suppressed because it is too large Load Diff
conf/control_panel.xml
Symlink
+1
View File
@@ -0,0 +1 @@
userconf/OPENUAS/openuas_control_panel.xml
sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.h
+4 -1
View File
@@ -52,9 +52,12 @@
#ifndef RADIO_YAW
#define RADIO_YAW 3
#endif
#ifndef RADIO_GEAR
#define RADIO_GEAR 4
#endif
#ifndef RADIO_FLAP
#define RADIO_FLAP 5
#endif
#define RADIO_AUX1 5
#define RADIO_AUX2 6
#define RADIO_AUX3 7
sw/airborne/boards/px4fmu_4.0.h
+2 -2
View File
@@ -177,8 +177,8 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
/* MDL */
// FIXME: Test n fix of not working
#define SPI_SELECT_SLAVE1_PORT GPIOE
#define SPI_SELECT_SLAVE1_PIN GPIO15 */
//#define SPI_SELECT_SLAVE1_PORT GPIOE
//#define SPI_SELECT_SLAVE1_PIN GPIO15 */
/* MPU_9250_CS on SPI1 */
#define SPI_SELECT_SLAVE2_PORT GPIOC
sw/airborne/modules/switching/auto1_commands.c
+57 -9
View File
@@ -28,12 +28,60 @@
void periodic_auto1_commands(void)
{
// Copy Radio commands in AUTO1
if (pprz_mode == PPRZ_MODE_AUTO1) {
#ifdef COMMAND_HATCH
#ifndef RADIO_HATCH
#error auto1_commands COMMAND_HATCH needs RADIO_HATCH channel
if (autopilot_get_mode() == PPRZ_MODE_AUTO1) {
#ifdef COMMAND_GEAR
#ifndef RADIO_GEAR
#error auto1_commands COMMAND_GEAR needs RADIO_GEAR channel
#endif
imcu_set_command(COMMAND_HATCH, imcu_get_radio(RADIO_HATCH));
imcu_set_command(COMMAND_GEAR, imcu_get_radio(RADIO_GEAR));
#endif
#ifdef COMMAND_FLAP
#ifndef RADIO_FLAP
#error auto1_commands COMMAND_FLAP needs RADIO_FLAP channel
#endif
imcu_set_command(COMMAND_FLAP, imcu_get_radio(RADIO_FLAP));
#endif
#ifdef COMMAND_AUX1
#ifndef RADIO_AUX1
#error auto1_commands COMMAND_AUX1 needs RADIO_AUX1 channel
#endif
imcu_set_command(COMMAND_AUX1, imcu_get_radio(RADIO_AUX1));
#endif
#ifdef COMMAND_AUX2
#ifndef RADIO_AUX2
#error auto1_commands COMMAND_AUX2 needs RADIO_AUX2 channel
#endif
imcu_set_command(COMMAND_AUX2, imcu_get_radio(RADIO_AUX2));
#endif
#ifdef COMMAND_AUX3
#ifndef RADIO_AUX3
#error auto1_commands COMMAND_AUX1 needs RADIO_AUX3 channel
#endif
imcu_set_command(COMMAND_AUX3, imcu_get_radio(RADIO_AUX3));
#endif
#ifdef COMMAND_AUX4
#ifndef RADIO_AUX4
#error auto1_commands COMMAND_AUX4 needs RADIO_AUX4 channel
#endif
imcu_set_command(COMMAND_AUX4, imcu_get_radio(RADIO_AUX4));
#endif
#ifdef COMMAND_AUX5
#ifndef RADIO_AUX5
#error auto1_commands COMMAND_AUX5 needs RADIO_AUX5 channel
#endif
imcu_set_command(COMMAND_AUX5, imcu_get_radio(RADIO_AUX5));
#endif
#ifdef COMMAND_AUX6
#ifndef RADIO_AUX6
#error auto1_commands COMMAND_AUX6 needs RADIO_AUX6 channel
#endif
imcu_set_command(COMMAND_AUX6, imcu_get_radio(RADIO_AUX6));
#endif
#ifdef COMMAND_AUX7
#ifndef RADIO_AUX7
#error auto1_commands COMMAND_AUX7 needs RADIO_AUX7 channel
#endif
imcu_set_command(COMMAND_AUX7, imcu_get_radio(RADIO_AUX7));
#endif
#ifdef COMMAND_BRAKE
#ifndef RADIO_BRAKE
@@ -41,11 +89,11 @@ void periodic_auto1_commands(void)
#endif
imcu_set_command(COMMAND_BRAKE, imcu_get_radio(RADIO_BRAKE));
#endif
#ifdef COMMAND_FLAPS
#ifndef RADIO_FLAPS
#error auto1_commands COMMAND_FLAPS needs RADIO_FLAPS channel
#ifdef COMMAND_HATCH
#ifndef RADIO_HATCH
#error auto1_commands COMMAND_HATCH needs RADIO_HATCH channel
#endif
imcu_set_command(COMMAND_FLAPS, imcu_get_radio(RADIO_FLAPS));
imcu_set_command(COMMAND_HATCH, imcu_get_radio(RADIO_HATCH));
#endif
}
}