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This commit is contained in:
Pascal Brisset
2007-02-02 08:19:10 +00:00
parent c8ee71ef90
commit 0dd9e2c86c
2 changed files with 31 additions and 9 deletions
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conf/airframes/twinjet1.xml
+25 -3
View File
@@ -66,6 +66,17 @@
<define name="ADC_ROLL_NEUTRAL" value="-512"/>
<define name="ADC_PITCH_NEUTRAL" value="-512"/>
<define name="ADC_TOP_NEUTRAL" value="512"/>
<define name="CORRECTION_UP" value="1."/>
<define name="CORRECTION_DOWN" value="1."/>
<define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/>
<define name="ESTIMATED_PHI_PI_4" value="0.9"/>
<define name="360_LATERAL_CORRECTION" value="1."/>
<define name="360_LONGITUDINAL_CORRECTION" value="1."/>
<define name="360_VERTICAL_CORRECTION" value="1."/>
</section>
<section name="GYRO" prefix="GYRO_">
@@ -179,7 +190,10 @@
<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)" unit="s"/>
<define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
<define name="LIGHT_PIN_1" value="3"/>
<define name="MIN_CIRCLE_RADIUS" value="50."/>
</section>
<section name="SIMU">
@@ -258,16 +272,24 @@ ap.CFLAGS += -DUSE_AD1 -DUSE_AD1_2 -DUSE_AD1_3
ap.srcs += $(SRC_ARCH)/adc_hw.c
ap.CFLAGS += -DINFRARED
ap.CFLAGS += -DINFRARED -DIR_360
ap.srcs += infrared.c estimator.c
ap.CFLAGS += -DGYRO -DADXRS150 -DPID_RATE_LOOP
ap.srcs += gyro.c
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
ap.srcs += nav.c pid.c
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
ap.srcs += nav_line.c chemotaxis.c anemotaxis.c discsurvey.c
ap.srcs += bomb.c
# Hack to use the same tuning file than slayer1
ap.CFLAGS += -DUSE_GPIO
ap.srcs += $(SRC_ARCH)/gpio.c
ap.srcs += bomb3.c
test.CFLAGS += -DFBW -DCONFIG=\"classix.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK_FALLING -DUSE_UART0 -DDATALINK -DPPRZ_INPUT -DPPRZ_UART=Uart0 -DUART0_BAUD=B9600
conf/flight_plans/IS.xml
+6 -6
View File
@@ -1,6 +1,6 @@
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
<flight_plan ground_alt="185" alt="250" lat0="43.4624" lon0="1.2727" max_dist_from_home="500" name="Intelligent Surveillance" qfu="270" security_height="25">
<flight_plan ground_alt="185" alt="250" lat0="43.4624" lon0="1.2727" max_dist_from_home="600" name="Intelligent Surveillance" qfu="270" security_height="25">
<header>
#include "anemotaxis.h"
#include "chemotaxis.h"
@@ -16,8 +16,8 @@
<waypoint name="S1" x="-200" y="-200"/>
<waypoint name="S2" x="300" y="400"/>
<waypoint name="C" x="-250" y="-200"/>
<waypoint name="C1" x="-200" y="-200"/>
<waypoint name="C2" x="300" y="400"/>
<waypoint name="C1" x="-250" y="-200"/>
<waypoint name="C2" x="350" y="400"/>
<waypoint name="PLUME" x="400" y="300"/>
<waypoint name="BASELEG" x="400" y="300"/>
<waypoint name="RELEASE" x="400" y="300"/>
@@ -42,7 +42,7 @@
<circle radius="75" wp="1"/>
</block>
<block name="eight 1">
<block name="eight 1" strip_button="8">
<eight radius="75" center="1" turn_around="2"/>
</block>
@@ -68,7 +68,7 @@
<call fun="nav_anemotaxis(WP_C, WP_C1, WP_C2, WP_PLUME)"/>
</block>
<block name="Chemotaxis" strip_button="Chem">
<block name="Chemotaxis">
<call fun="nav_chemotaxis_init(WP_C, WP_PLUME)"/>
<call fun="nav_chemotaxis(WP_C, WP_PLUME)"/>
</block>
@@ -101,7 +101,7 @@
<circle radius="50+(estimator_z-ground_alt)/2" wp="1" climb="1" pitch="0.1" vmode="climb" until="10 > PowerVoltage()"/>
</block>
<block name="descent 0" strip_button="Descent">
<block name="descent 0">
<circle radius="50+(estimator_z-ground_alt)/2" wp="1" throttle="0.0" pitch="-0.3" vmode="throttle" until="ground_alt+50 > estimator_z"/>
<deroute block="wait"/>
</block>