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https://github.com/paparazzi/paparazzi.git
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This commit is contained in:
Pascal Brisset
@@ -1,130 +0,0 @@
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<airframe name="FlyingTux">
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<section name="adc" prefix="ADC_CHANNEL_">
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<define name="IR1" value="1"/>
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<define name="IR2" value="0"/>
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<define name="IR_NB_SAMPLES" value="16"/>
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<define name="VSUPPLY" value="3" />
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</section>
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<servos min="1000" neutral="1500" max="2000">
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<servo name="GAZ" no="0" min="1250" neutral="1250" max="1850"/>
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<servo name="AILEVON_RIGHT" no="1" min="1200" neutral="1425" max="2000"/>
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<servo name="AILEVON_LEFT" no="2" min="1200" neutral="1520" max="2000"/>
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</servos>
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<commands>
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<axis name="THROTTLE" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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</commands>
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<rc_commands>
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<set command="THROTTLE" value="@THROTTLE"/>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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</rc_commands>
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<command_laws>
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<set servo="GAZ" value="@THROTTLE"/>
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<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
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<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
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<set servo="AILEVON_LEFT" value="$aileron + $elevator"/>
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<set servo="AILEVON_RIGHT" value="$aileron - $elevator"/>
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</command_laws>
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<section name="MIXER">
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<define name="AILEVON_AILERON_RATE" value="0.55"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
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</section>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="0.8"/>
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<define name="MAX_PITCH" value="0.6"/>
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</section>
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<section name="INFRARED" prefix="IR_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="-3" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="6" unit="deg"/>
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<define name="DEFAULT_CONTRAST" value="400"/>
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<define name="RAD_OF_IR_CONTRAST" value="0.6"/>
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<define name="RAD_OF_IR_MIN_VALUE" value="0.0008"/>
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<define name="RAD_OF_IR_MAX_VALUE" value="0.008"/>
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<linear name="RollOfIrs" arity="2" coeff1="-1" coeff2="1"/>
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<linear name="PitchOfIrs" arity="2" coeff1="1" coeff2="1"/>
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<define name="ADC_ROLL_NEUTRAL" value="0"/>
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<define name="ADC_PITCH_NEUTRAL" value="1020"/>
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</section>
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<section name="PID">
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<define name="ROLL_PGAIN" value="6000."/>
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<define name="PITCH_OF_ROLL" value="0.2"/>
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<define name="PITCH_PGAIN" value="10000."/>
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<define name="MAX_ROLL" value="0.4"/>
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<define name="MAX_PITCH" value="0.25"/>
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<define name="MIN_PITCH" value="-0.35"/>
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<define name="AILERON_OF_GAZ" value="-0.13"/>
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<define name="CRUISE_THROTTLE" value="0.5"/>
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</section>
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<section name="ALT" prefix="CLIMB_">
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<define name="PITCH_PGAIN" value="-0.1"/>
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<define name="PITCH_IGAIN" value="1.0"/>
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<define name="PGAIN" value="-0.025"/>
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<define name="IGAIN" value="0.01"/>
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<define name="MAX" value="1."/>
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<define name="GAZ_OF_CLIMB" value="0.15" unit="% / m/s"/>
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<define name="PITCH_OF_VZ_PGAIN" value="0.05"/>
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</section>
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<section name="NAV">
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<define name="COURSE_PGAIN" value="-0.3"/>
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<define name="ALTITUDE_PGAIN" value="-0.05"/>
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<define name="NAV_PITCH" value="0."/>
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</section>
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<section name="BAT" channel="3">
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<define name="MILLIAMP_PER_PERCENT" value="1.25"/>
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<define name="VOLTAGE_ADC_A" value="0.0178771"/>
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<define name="VOLTAGE_ADC_B" value="-0.556983"/>
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<define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
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<define name="LOW_BATTERY" value="9.0" unit="V"/>
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</section>
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<section name="SERVOS" channel="6">
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<define name="SERVOS_FALLING_EDGE" value="1"/>
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<define name="SERVOS_VOLTAGE_ADC_A" value="0.005661"/>
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<define name="SERVOS_VOLTAGE_ADC_B" value="0.014948"/>
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<define name="ServosVoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="9."/>
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<define name="CARROT" value="5." unit="s"/>
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</section>
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<section name="SIMU">
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<define name="ROLL_RESPONSE_FACTOR" value="-10."/>
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<define name="YAW_RESPONSE_FACTOR" value="1."/>
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<define name="WEIGHT" value="0.45"/>
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</section>
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
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<define name="DEFAULT_GAZ" value="CRUISE_THROTTLE+0.05" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
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<define name="HOME_RADIUS" value="50" unit="m"/>
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</section>
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<section name="CAM" prefix="CAM_">
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<define name="THETA0" value="45" unit="deg"/>
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<define name="PHI0" value="45" unit="deg"/>
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</section>
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<makefile>
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include $(PAPARAZZI_SRC)/conf/autopilot/v1_2.makefile
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include $(PAPARAZZI_SRC)/conf/autopilot/twin_mcu_avr.makefile
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ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
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ap.srcs += pprz_transport.c downlink.c
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ap.CFLAGS += -DMODEM -DDOWNLINK_AP_DEVICE=Modem
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ap.srcs += $(SRC_ARCH)/modem_hw.c
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ap.CFLAGS += -DRADIO_CONTROL_SETTINGS
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ap.srcs += rc_settings.c
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</makefile>
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</airframe>
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@@ -1,112 +0,0 @@
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<!DOCTYPE airframe SYSTEM "airframe.dtd">
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<!-- Board to be used as handheld GPS, with waypoints remotely controlled
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from a ground station
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Minimum configuration to be compiled
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-->
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<airframe name="UGV Tiny 0.99">
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<servos>
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<servo name="THROTTLE" no="0" min="1290" neutral="1290" max="1810"/>
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</servos>
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<commands>
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<axis name="THROTTLE" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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</commands>
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<command_laws>
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<set servo="THROTTLE" value="@THROTTLE"/>
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</command_laws>
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<section name="BAT">
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<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="CONTROL_RATE" value="60" unit="Hz"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="-0.03"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="2."/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
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</section>
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="-1.4"/>
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<define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
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<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
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<define name="PITCH_PGAIN" value="-10000."/>
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<define name="PITCH_DGAIN" value="1.5"/>
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<define name="ELEVATOR_OF_ROLL" value="1250"/>
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<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
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<define name="ROLL_RATE_GAIN" value="-1500"/>
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</section>
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<makefile>
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include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
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FLASH_MODE=IAP
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ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny_0_99.h\" -DLED -DTIME_LED=1
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ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
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ap.srcs += commands.c
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ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
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ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
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ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
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ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
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ap.CFLAGS += -DINTER_MCU
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ap.srcs += inter_mcu.c
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ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DDOWNLINK_GPS_1Hz
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ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
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# -DUSER_GPS_CONFIGURE=\"ugv_gps_configure.h\"
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ap.srcs += gps_ubx.c gps.c latlong.c
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ap.srcs += estimator.c
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ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
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ap.CFLAGS += -DNAV
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# Config for SITL simulation
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sim.ARCHDIR = $(ARCHI)
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sim.ARCH = sitl
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sim.TARGET = autopilot
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sim.TARGETDIR = autopilot
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sim.CFLAGS += -DSITL -DAP -DFBW -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport
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sim.srcs = latlong.c downlink.c commands.c gps.c inter_mcu.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c
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sim.CFLAGS += -DCONFIG=\"tiny.h\"
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</makefile>
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</airframe>
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