mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 15:30:08 +08:00
Make GFI 8 work with new xml scheme.
This commit is contained in:
Martin Mueller
@@ -1,8 +1,7 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
|
||||
|
||||
<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
|
||||
Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
|
||||
PerkinElmer TPS334 IR Sensors
|
||||
Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
|
||||
XBee modem
|
||||
Payload: Sensirion humidity/temp, VTI pressure/temp
|
||||
@@ -11,7 +10,46 @@
|
||||
|
||||
<airframe name="Funjet GFI 8 K68">
|
||||
|
||||
<!-- commands section -->
|
||||
<firmware name="fixedwing">
|
||||
<target name="ap" board="tiny_2.11"/>
|
||||
<target name="sim" board="pc"/>
|
||||
|
||||
<define name="AGR_CLIMB"/>
|
||||
<define name="LOITER_TRIM"/>
|
||||
<define name="ALT_KALMAN"/>
|
||||
<define name="WIND_INFO"/>
|
||||
<define name="WIND_INFO_RET"/>
|
||||
<define name="SENSOR_SYNC_SEND"/>
|
||||
|
||||
<!-- RC -->
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" type="xbee_api"/>
|
||||
<!-- Actuators are automatically chosen according to board-->
|
||||
<subsystem name="control"/>
|
||||
<!-- Sensors -->
|
||||
<subsystem name="attitude" type="infrared"/>
|
||||
<subsystem name="gps" type="ublox_lea5h"/>
|
||||
<!-- Nav -->
|
||||
<subsystem name="navigation"/>
|
||||
<!-- Interfaces -->
|
||||
<subsystem name="spi"/>
|
||||
</firmware>
|
||||
|
||||
<!-- modules -->
|
||||
<modules>
|
||||
<load name="baro_scp.xml"/>
|
||||
<load name="humid_sht.xml"/>
|
||||
</modules>
|
||||
|
||||
<firmware name="setup">
|
||||
<target name="tunnel" board="tiny_2.11"/>
|
||||
<target name="usb_tunnel_0" board="tiny_2.11"/>
|
||||
<target name="usb_tunnel_1" board="tiny_2.11"/>
|
||||
<target name="setup_actuators" board="tiny_2.11"/>
|
||||
</firmware>
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1563" max="1100"/>
|
||||
@@ -38,7 +76,7 @@
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
</command_laws>
|
||||
@@ -81,8 +119,6 @@
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<!-- 0.0247311828 -->
|
||||
<!-- 0.02432905 -->
|
||||
<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
|
||||
</section>
|
||||
|
||||
@@ -91,8 +127,6 @@
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
|
||||
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
@@ -125,7 +159,6 @@
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.1"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
@@ -140,10 +173,6 @@
|
||||
<define name="PITCH_DGAIN" value="0.4"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="2400"/>
|
||||
|
||||
<!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
|
||||
<define name="ROLL_RATE_GAIN" value="-1500"/-->
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
@@ -160,87 +189,14 @@
|
||||
<define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive Decent -->
|
||||
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
|
||||
<define name="DESCENT_NAV_RATIO" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
|
||||
</section>
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
CONFIG = \"tiny_2_1.h\"
|
||||
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
|
||||
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
|
||||
|
||||
ap.srcs += commands.c
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
|
||||
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
#TRANSPARENT
|
||||
#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
|
||||
#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
ap.srcs += inter_mcu.c
|
||||
|
||||
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
|
||||
# -DGPS_LED=2
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
ap.srcs += nav_line.c
|
||||
ap.srcs += nav_survey_rectangle.c
|
||||
|
||||
ap.srcs += humid_sht.c
|
||||
ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3 -DSCK_PIN=2
|
||||
|
||||
ap.srcs += baro_scp.c
|
||||
ap.CFLAGS += -DUSE_BARO_SCP
|
||||
|
||||
ap.srcs += joystick.c
|
||||
ap.CFLAGS += -DUSE_JOYSTICK
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
sim.srcs += nav_line.c nav_survey_rectangle.c
|
||||
|
||||
sim.srcs += joystick.c
|
||||
sim.CFLAGS += -DUSE_JOYSTICK
|
||||
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
|
||||
@@ -14,6 +14,8 @@
|
||||
<event fun="baro_scp_event()"/>
|
||||
<makefile target="ap">
|
||||
<file name="baro_scp.c"/>
|
||||
<flag name="SPI_MASTER"/>
|
||||
<flag name="USE_SPI"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
|
||||
Reference in New Issue
Block a user