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first flights with Twinstar3 and Plaster1

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This commit is contained in:
Pascal Brisset
2005-08-24 19:09:16 +00:00
parent 8a94041687
commit 2bf73f45ce
8 changed files with 48 additions and 31 deletions
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conf/airframes/plaster1.xml
+18 -13
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@@ -5,8 +5,8 @@
</section>
<servos min="1000" neutral="1500" max="2000">
<servo name="GAZ" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILEVON_RIGHT" no="5" min="1000" neutral="1500" max="2000"/>
<servo name="AILEVON_LEFT" no="1" min="1000" neutral="1700" max="2000"/>
<servo name="AILEVON_RIGHT" no="5" min="1800" neutral="1480" max="1200"/>
<servo name="AILEVON_LEFT" no="1" min="1800" neutral="1480" max="1200"/>
</servos>
<command>
<set servo="GAZ" value="2 * @THROTTLE"/>
@@ -21,27 +21,28 @@
</section>
<section name="INFRARED" prefix="IR_">
<define name="ROLL_NEUTRAL_DEFAULT" value="-1040"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="70"/>
<define name="DEFAULT_CONTRAST" value="400"/>
<define name="RAD_OF_IR_CONTRAST" value="0.6"/>
<linear name="RollOfIrs" arity="2" coeff1="-1" coeff2="-1"/>
<linear name="PitchOfIrs" arity="2" coeff1="-1" coeff2="1"/>
</section>
<section name="PID">
<define name="ROLL_PGAIN" value="7000."/>
<define name="ROLL_PGAIN" value="5000."/>
<define name="PITCH_OF_ROLL" value="0.2"/>
<define name="PITCH_PGAIN" value="10000."/>
<define name="PITCH_PGAIN" value="7000."/>
<define name="MAX_ROLL" value="0.4"/>
<define name="MAX_PITCH" value="0.35"/>
<define name="AUTO1_MAX_ROLL" value="0.8"/>
<define name="MAX_PITCH" value="0.25"/>
<define name="MIN_PITCH" value="-0.35"/>
</section>
</section>
<section name="ALT" prefix="CLIMB_">
<define name="PITCH_PGAIN" value="-0.1"/>
<define name="PITCH_IGAIN" value="0.025"/>
<define name="PITCH_PGAIN" value="-0.1"/>
<define name="PITCH_IGAIN" value="1.0"/>
<define name="PGAIN" value="-0.025"/>
<define name="IGAIN" value="0.01"/>
<define name="MAX" value="1."/>
<define name="LEVEL_GAZ" value="0.22"/>
<define name="LEVEL_GAZ" value="0.34"/>
<define name="GAZ_OF_CLIMB" value="0.15" unit="% / m/s"/>
<define name="PITCH_OF_VZ_PGAIN" value="0.00"/>
</section>
@@ -52,8 +53,8 @@
</section>
<section name="BAT" channel="3">
<define name="MILLIAMP_PER_PERCENT" value="2.16"/>
<define name="VOLTAGE_ADC_A" value="0.016892"/>
<define name="VOLTAGE_ADC_B" value="0.083604"/>
<define name="VOLTAGE_ADC_A" value="0.0139498"/>
<define name="VOLTAGE_ADC_B" value="0.382856"/>
<define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
<define name="LOW_BATTERY" value="90" unit="1e-1V"/>
</section>
@@ -63,7 +64,7 @@
<define name="ServosVoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="15."/>
<define name="NOMINAL_AIRSPEED" value="9."/>
<define name="CARROT" value="5." unit="s"/>
</section>
<section name="SIMU">
@@ -72,3 +73,7 @@
<define name="WEIGHT" value="0.45"/>
</section>
</airframe>
conf/conf.xml
+15 -7
View File
@@ -1,6 +1,20 @@
<?xml version="1.0"?>
<conf>
<aircraft
name="Plaster1"
ac_id="1"
airframe="airframes/plaster1.xml"
radio="radios/mc3030.xml"
flight_plan="flight_plans/ricou_pla.xml"
/>
<aircraft
name="Twinstar3"
ac_id="1"
airframe="airframes/twinstar3.xml"
radio="radios/mc3030.xml"
flight_plan="flight_plans/ricou_pla.xml"
/>
<aircraft
name="Morue1"
ac_id="0"
@@ -25,13 +39,6 @@
flight_plan="flight_plans/muret_cam.xml"
/>
<aircraft
name="Plaster1"
ac_id="3"
airframe="airframes/plaster1.xml"
radio="radios/mc3030.xml"
flight_plan="flight_plans/muret_mini.xml"
/>
<aircraft
name="Microjet"
ac_id="1"
@@ -40,6 +47,7 @@
flight_plan="flight_plans/muret_mini.xml"
/>
<aircraft
name="Gorazoptere_brushless_3DMG"
ac_id="1"
conf/control_panel.xml
+4 -1
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@@ -122,12 +122,15 @@
</session>
<session name="flight microjet multimon">
<variable name="ivy_bus" value="127:2007"/>
<variable name="map" value="ricouUTM.xml"/>
<variable name="ivy_bus" value="127:2010"/>
<program name="http server"/>
<program name="multimon"><arg flag="-p" constant="/tmp/multimon"/></program>
<program name="modem"><arg flag="-d" constant="/tmp/multimon"/></program>
<program name="receive"/>
<program name="messages"><arg flag="-c" constant="telemetry_ap:1"/><arg flag="-c" constant="ground"/></program>
<program name="cockpit"/>
<program name="map 2d ml"/>
</session>
<session name="flight microjet multimon sim">
sw/airborne/autopilot/mainloop.c
-2
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@@ -69,8 +69,6 @@ int main( void ) {
nav_init();
ir_init();
estimator_init();
uart0_init();
/** - start interrupt task */
sei();
sw/ground_segment/cockpit/Paparazzi/Strip.pm
+1 -1
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@@ -92,7 +92,7 @@ sub completeinit {
ap_mode => { 'MANUAL' => 'sienna', 'AUTO1' => 'blue', 'AUTO2' => 'brown', 'HOME' => 'red'},
rc_status => {'OK' => 'brown', 'LOST' => 'orange', 'REALLY_LOST' => 'red'},
rc_mode => {'AUTO'=> 'orange', 'MANUAL' => 'brown', 'FAILSAFE' => 'red'},
contrast_status => {'DEFAULT' => 'orange', 'WAITING' => 'brown', 'SET' => 'set'},
contrast_status => {'DEFAULT' => 'orange', 'WAITING' => 'brown', 'SET' => 'green'},
gps_mode => {'NOFIX' => 'red', 'DRO' => 'red', '2D' => 'orange', '3D' => 'brown', 'GPSDRO' => 'red'},
};
sw/ground_segment/cockpit/map2d.ml
+8 -6
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@@ -25,7 +25,6 @@
*)
open Printf
open Srtm
open Latlong
module Ground_Pprz = Pprz.Protocol(struct let name = "ground" end)
@@ -39,7 +38,7 @@ module G = MapCanvas
let home = Env.paparazzi_home
let (//) = Filename.concat
let default_path_SRTM = home // "data" // "SRTM"
let default_path_srtm = home // "data" // "srtm"
let default_path_maps = home // "data" // "maps" // ""
let default_path_missions = home // "conf"
@@ -138,7 +137,12 @@ let aircraft_pos_msg = fun track utm_x_ utm_y_ heading altitude ->
| Some utm0 ->
let en = {G.east = utm_x_ -. utm0.utm_x; north = utm_y_ -. utm0.utm_y } in
track#add_point en;
let h = Srtm.of_utm { utm_zone = utm0.utm_zone; utm_x = utm_x_; utm_y = utm_y_} in
let h =
try
Srtm.of_utm { utm_zone = utm0.utm_zone; utm_x = utm_x_; utm_y = utm_y_}
with
_ -> truncate altitude
in
track#move_icon en heading altitude (float_of_int h)
let carrot_pos_msg = fun track utm_x utm_y ->
@@ -312,9 +316,7 @@ let _ =
Ivy.init "Paparazzi map 2D" "READY" (fun _ _ -> ());
Ivy.start !ivy_bus;
Srtm.add_path default_path_SRTM;
Srtm.add_path (Env.paparazzi_home ^ "/data/srtm");
Srtm.add_path default_path_srtm;
let window = GWindow.window ~title: "Map2d" ~border_width:1 ~width:400 () in
let vbox= GPack.vbox ~packing: window#add () in
sw/ground_segment/tmtc/receive.ml
+1 -1
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@@ -476,7 +476,7 @@ let send_config = fun _asker args ->
try
let conf = ExtXml.child conf_xml "aircraft" ~select:(fun x -> ExtXml.attrib x "ac_id" = ac_id) in
let ac_name = ExtXml.attrib conf "name" in
let prefix = fun s -> sprintf "http://%s:8889/%s" (Unix.gethostname ()) s in
let prefix = fun s -> sprintf "http://%s:8889/%s" "localhost" s in
(** Expanded flight plan has been compiled in var/ *)
let fp = prefix ("var" // ac_name // "flight_plan.xml")
and af = prefix ("conf" // ExtXml.attrib conf "airframe")
sw/lib/perl/Paparazzi/Airframe.pm
+1
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@@ -20,6 +20,7 @@ sub completeinit {
my $self = shift;
$self->SUPER::completeinit();
my $airframe_url = $self->get('-url');
print "airframe url $airframe_url\n";
my $airframe_xml = LWP::Simple::get($airframe_url);
$self->parse_airframe($airframe_xml) if defined $airframe_xml;
}