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https://github.com/paparazzi/paparazzi.git
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This commit is contained in:
Pascal Brisset
Executable
+79
@@ -0,0 +1,79 @@
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<airframe name="Ladybug" ctl_board="V1_2" gps="SAM_LS">
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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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</section>
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<servos min="1000" neutral="1500" max="2000">
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<servo name="GAZ" no="0" min="1000" neutral="1000" max="2000"/>
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<servo name="AILEVON_RIGHT" no="2" min="1800" neutral="1525" max="1200"/>
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<servo name="AILEVON_LEFT" no="4" min="1800" neutral="1510" max="1200"/>
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</servos>
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<command>
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<set servo="GAZ" value="2 * @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>
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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="INFRARED" prefix="IR_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="-1040"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="70"/>
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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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<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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</section>
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<section name="PID">
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<define name="ROLL_PGAIN" value="5000."/>
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<define name="PITCH_OF_ROLL" value="0.2"/>
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<define name="PITCH_PGAIN" value="7000."/>
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<define name="MAX_ROLL" value="0.4"/>
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<define name="AUTO1_MAX_ROLL" value="0.8"/>
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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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</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="LEVEL_GAZ" value="0.34"/>
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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="0.00"/>
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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="0.4"/>
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<define name="VOLTAGE_ADC_A" value="0.0139498"/>
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<define name="VOLTAGE_ADC_B" value="0.382856"/>
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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="90" unit="1e-1V"/>
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</section>
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<section name="SERVOS" channel="6">
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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="5."/>
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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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</airframe>
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@@ -4,7 +4,7 @@
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<define name="IR2" value="0"/>
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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="1000" neutral="1000" max="2000"/>
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<servo name="GAZ" no="0" min="1000" neutral="1000" max="1750"/>
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<servo name="AILEVON_RIGHT" no="5" min="1800" neutral="1480" max="1200"/>
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<servo name="AILEVON_LEFT" no="1" min="1800" neutral="1480" max="1200"/>
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</servos>
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@@ -52,7 +52,7 @@
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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="2.16"/>
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<define name="MILLIAMP_PER_PERCENT" value="0.4"/>
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<define name="VOLTAGE_ADC_A" value="0.0139498"/>
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<define name="VOLTAGE_ADC_B" value="0.382856"/>
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<define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
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Executable
+80
@@ -0,0 +1,80 @@
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<airframe name="Twinstar trois" ctl_board="V1_2_1" gps="SAM_LS">
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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="2"/>
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</section>
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<servos min="1000" neutral="1500" max="2000">
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<servo name="MOTOR_LEFT" no="3" min="1000" neutral="1000" max="2000"/>
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<servo name="MOTOR_RIGHT" no="9" min="1000" neutral="1000" max="2000"/>
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<servo name="AILERON_LEFT" no="0" max="1190" neutral="1600" min="1850"/>
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<servo name="AILERON_RIGHT" no="2" max="1375" neutral="1650" min="2000"/>
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<servo name="ELEVATOR" no="6" max="1816" neutral="1530" min="1220"/>
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<servo name="RUDDER" no="7" max="1270" neutral="1450" min="1850"/>
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<servo name="CAM_ROLL" no="4" max="1816" neutral="1530" min="1220"/>
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<servo name="CAM_PITCH" no="8" max="1270" neutral="1450" min="1850"/>
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</servos>
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<command>
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<set servo="MOTOR_LEFT" value="2 * @THROTTLE"/>
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<set servo="MOTOR_RIGHT" value="2 * @THROTTLE"/>
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<set servo="ELEVATOR" value="@PITCH"/>
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<let var="roll" value="@ROLL"/>
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<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
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<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
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<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
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<set servo="CAM_ROLL" value="@GAIN1"/>
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<set servo="CAM_PITCH" value="@GAIN2"/>
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</command>
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<section name="MIXER">
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<define name="AILERON_DIFF" value="0.66"/>
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<define name="COMBI_SWITCH" value="1.0"/>
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</section>
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<section name="INFRARED" prefix="IR_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="-915"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="110"/>
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<define name="DEFAULT_CONTRAST" value="200"/>
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<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
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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="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
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<define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
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</section>
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<section name="PID">
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<define name="ROLL_PGAIN" value="10000."/>
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<define name="PITCH_OF_ROLL" value="0.0"/>
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<define name="PITCH_PGAIN" value="15000."/>
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<define name="MAX_ROLL" value="0.35"/>
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<define name="MAX_PITCH" value="0.35"/>
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<define name="MIN_PITCH" value="-0.35"/>
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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="0.025"/>
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<define name="PGAIN" value="-0.03"/>
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<define name="IGAIN" value="0.1"/>
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<define name="MAX" value="1."/>
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<define name="LEVEL_GAZ" value="0.31"/>
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<define name="PITCH_OF_VZ_PGAIN" value="0.05"/>
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<define name="GAZ_OF_CLIMB" value="0.2" unit="%/(m/s)"/>
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</section>
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<section name="NAV">
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<define name="COURSE_PGAIN" value="-0.2"/>
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<define name="ALTITUDE_PGAIN" value="-0.025"/>
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<define name="NAV_PITCH" value="0."/>
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</section>
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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="VOLTAGE_ADC_A" value="0.0175"/>
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<define name="VOLTAGE_ADC_B" value="0.088"/>
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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="93" unit="1e-1V"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="10." unit="m/s"/>
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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="5."/>
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<define name="YAW_RESPONSE_FACTOR" value="5."/>
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<define name="WEIGHT" value="1.3"/>
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</section>
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</airframe>
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