Merge remote-tracking branch 'gautier/overview' into dev

2026-05-25 23:46:04 +08:00 · 2011-07-21 22:24:33 +02:00
parent 3b5934cdeb b25ad64158
commit 11622d2a40
6 changed files with 288 additions and 2 deletions
@@ -0,0 +1,188 @@
+<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+
+<!-- Twinstar II, 2x Jeti 18 advance plus, AXI 2212/26
+     Tiny 2.11
+     ArduIMU
+     XBee modem with API Mode
+     LEA 5H GPS
+-->
+
+<airframe name="Twinstar">
+
+  <modules>
+    <load name="ins_arduimu_basic.xml">
+      <define name="USE_HIGH_ACCEL_FLAG"/>
+    </load>
+    <load name="cam_point.xml">
+      <define name="POINT_CAM_ROLL"/>
+    </load>
+    <!--load name="cam_segment.xml"/-->
+  </modules>
+
+  <firmware name="fixedwing">
+    <target name="ap" 			board="tiny_2.11"/>
+    <target name="sim" 			board="pc"/>
+
+    <define name="LOITER_TRIM"/>
+    <define name="ALT_KALMAN"/>
+    <define name="AGR_CLIMB"/>
+    <define name="USE_I2C0"/>
+
+    <subsystem name="i2c"/>
+    <subsystem name="radio_control" type="ppm"/>
+    <subsystem name="telemetry"     type="xbee_api"/>
+    <subsystem name="control"/>
+    <subsystem name="gps"           type="ublox_lea5h"/>
+    <subsystem name="navigation"/>
+  </firmware>
+
+  <firmware name="setup">
+    <target name="tunnel" 		board="tiny_2.11"/>
+    <target name="setup_actuators" 	board="tiny_2.11"/>
+  </firmware>
+
+<!-- commands section -->
+  <servos>
+    <servo name="MOTOR"         no="2" min="1000" neutral="1000" max="2000"/>
+    <servo name="AILERON_RIGHT" no="7" min="1000" neutral="1500" max="2000"/>
+    <servo name="AILERON_LEFT"  no="6" min="1000" neutral="1500" max="2000"/>
+    <servo name="ELEVATOR"      no="3" min="2000" neutral="1500" max="1000"/>
+    <servo name="RUDDER"        no="4" min="1000" neutral="1500" max="2000"/>
+    <servo name="CAM_TILT"      no="1" min="1000" neutral="1500" max="2000"/>
+  </servos>
+
+  <commands>
+    <axis name="THROTTLE"  failsafe_value="0"/>
+    <axis name="ROLL"      failsafe_value="0"/>
+    <axis name="PITCH"     failsafe_value="0"/>
+    <axis name="YAW"       failsafe_value="0"/>
+    <axis name="CAM_TILT"  failsafe_value="0"/>
+  </commands>
+
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL"     value="@ROLL"/>
+    <set command="PITCH"    value="@PITCH"/>
+    <set command="YAW"      value="@YAW"/>
+    <set command="CAM_TILT" value="@GAIN1"/>
+  </rc_commands>
+
+  <section name="MIXER">
+    <define name="AILERON_DIFF" value="0.8"/>
+  </section>
+
+  <command_laws>
+    <set servo="MOTOR" value="@THROTTLE"/>
+    <set servo="ELEVATOR" value="@PITCH"/>
+    <let var="roll" value="@ROLL"/>
+    <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
+    <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
+    <set servo="RUDDER" value="@YAW"/>
+    <set servo="CAM_TILT" value="@CAM_TILT"/>
+  </command_laws>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="0.85"/>
+    <define name="MAX_PITCH" value="0.6"/>
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="rad"/>
+  </section>
+
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+  </section>
+
+  <section name="CAM" prefix="CAM_">
+    <define name="TILT_MAX" value="45" unit="deg"/>
+    <define name="TILT_NEUTRAL" value="0" unit="deg"/>
+    <define name="TILT_MIN" value="-45" unit="deg"/>
+    <define name="TILT0" value="0" unit="deg"/>
+  </section>
+
+  <section name="MISC">
+    <define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
+    <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
+    <define name="MAXIMUM_AIRSPEED" value="18." unit="m/s"/>
+    <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="ALT_KALMAN_ENABLED" value="FALSE"/>
+
+    <define name="TRIGGER_DELAY" value="1."/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
+  </section>
+
+
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="-0.06"/>
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
+
+    <!-- auto pitch inner loop -->
+    <define name="AUTO_PITCH_PGAIN" value="-0.06"/>
+    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
+    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
+    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
+
+    <define name="THROTTLE_SLEW" value="0.1"/>
+  </section>
+
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="-1.0"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.60" unit="radians"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+
+    <define name="ROLL_ATTITUDE_GAIN" value="-9000."/>
+    <define name="ROLL_RATE_GAIN" value="-3000."/>
+
+    <define name="PITCH_PGAIN" value="-9000."/>
+    <define name="PITCH_DGAIN" value="0.4"/>
+
+    <define name="AILERON_OF_THROTTLE" value="0.0"/>
+    <define name="ELEVATOR_OF_ROLL" value="1500"/>
+  </section>
+
+  <section name="NAV">
+    <define name="NAV_PITCH" value="0."/>
+    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+  </section>
+
+  <section name="AGGRESSIVE" prefix="AGR_">
+    <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
+    <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
+    <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
+    <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
+    <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
+    <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="0.17" unit="rad"/>
+    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
+    <define name="HOME_RADIUS" value="100" unit="m"/>
+  </section>
+
+</airframe>
@@ -0,0 +1,13 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="cam_segment" dir="cam_control">
+  <!--depend require="cam_point.xml"/-->
+  <header>
+    <file name="cam_segment.h"/>
+  </header>
+  <init fun="cam_segment_init()"/>
+  <periodic fun="cam_segment_periodic()" stop="cam_segment_stop()" freq="10." autorun="FALSE"/>
+  <makefile>
+    <file name="cam_segment.c"/>
+  </makefile>
+</module>
@@ -3,7 +3,7 @@
 <settings>
  <dl_settings NAME="control">
    <dl_settings name="cam">
-      <dl_setting MAX="5" MIN="0" STEP="1" module="cam_control/cam" VAR="cam_mode">
+      <dl_setting MAX="5" MIN="0" STEP="1" module="cam_control/cam" VAR="cam_mode" values="0FF|ANGLES|NADIR|XY_TARGET|WP_TARGET|AC_TARGET">
        <strip_button name="AC_TARGET" value="5"/>
        <strip_button name="WP_TARGET" value="4"/>
        <strip_button name="XY_TARGET" value="3"/>
@@ -63,7 +63,7 @@ extern float cam_pan_c, cam_tilt_c;
 /* pan (move left and right), tilt (move up and down) */
 /** Radians, for CAM_MODE_ANGLES mode */

-extern float cam_target_x, cam_target_y;
+extern float cam_target_x, cam_target_y, cam_target_alt;
 /** For CAM_MODE_XY_TARGET mode */

 extern uint8_t cam_target_wp;
@@ -0,0 +1,48 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2011 Gautier Hattenberger
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+/** \file cam_segment.c
+ *  \brief camera control to track a segment using the general cam driver (target mode)
+ *
+ * initial version: pointing towards the carrot
+ */
+
+#include "modules/cam_control/cam_segment.h"
+#include "modules/cam_control/cam.h"
+#include "subsystems/nav.h"
+#include "estimator.h"
+
+void cam_segment_init( void ) {
+}
+
+void cam_segment_stop ( void ) {
+  cam_mode = CAM_MODE_OFF;
+}
+
+void cam_segment_periodic( void ) {
+  cam_mode = CAM_MODE_XY_TARGET;
+  cam_target_x = desired_x;
+  cam_target_y = desired_y;
+  cam_target_alt = ground_alt;
+}
+
@@ -0,0 +1,37 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2011 Gautier Hattenberger
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+/** \file cam_segment.c
+ *  \brief camera control to track a segment using the general cam driver (target mode)
+ *
+ * initial version: pointing towards the carrot
+ */
+
+#ifndef CAM_SEGMENT_H
+#define CAM_SEGMENT_H
+
+extern void cam_segment_init( void );
+extern void cam_segment_stop ( void );
+extern void cam_segment_periodic( void );
+
+#endif