mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 22:17:01 +08:00
[boards] Add the new OPA board
This commit is contained in:
Freek van Tienen
@@ -208,6 +208,17 @@
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settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/light.xml modules/digital_cam.xml"
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gui_color="white"
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/>
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<aircraft
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name="Outback"
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ac_id="6"
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airframe="airframes/TUDELFT/tudelft_outback.xml"
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radio="radios/dummy.xml"
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telemetry="telemetry/rotorcraft_with_logger.xml"
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flight_plan="flight_plans/dummy.xml"
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settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml"
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settings_modules="modules/geo_mag.xml modules/air_data.xml modules/temp_adc.xml modules/logger_sd_spi_direct.xml modules/gps_ubx_ucenter.xml"
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gui_color="#ffffdffac31f"
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/>
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<aircraft
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name="Quad_Navstik"
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ac_id="50"
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@@ -342,7 +353,7 @@
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/>
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<aircraft
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name="quadshot"
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ac_id="6"
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ac_id="7"
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airframe="airframes/examples/quadshot_asp21_spektrum.xml"
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radio="radios/cockpitSX.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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@@ -0,0 +1,236 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!-- this is a helicopter with a double wing as frame
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* Autopilot: OPA/FTD 1.0 and OPA/AP 1.0 with STM32F4
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* IMU: MPU6000 (FTD), MPU6000 (AP)
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* Baro: MS5611 (AP)
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* Actuators: 10 PWM (FTD)
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* GPS: UBlox ??
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* RC: Spektrum sats (2x)
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* Telemetry: Iridium (FTD), 900Mhz ??? (AP)
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-->
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<airframe name="Outback">
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<firmware name="rotorcraft">
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<!-- AP (autopilot) part of the board -->
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<target name="ap" board="opa_ap_1.0">
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<!--target name="nps" board="pc">
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<subsystem name="fdm" type="jsbsim"/>
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</target-->
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<module name="telemetry" type="xbee_api"/>
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<module name="imu" type="mpu6000"/>
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<module name="gps" type="ublox"/>
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<module name="stabilization" type="int_quat"/>
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<module name="ahrs" type="int_cmpl_quat"/>
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<module name="ins" type="hff"/>
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<module name="guidance" type="indi"/>
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<module name="intermcu" type="uart"/>
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<module name="current_sensor"/>
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<module name="geo_mag"/>
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<module name="air_data"/>
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<module name="temp_adc"/>
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<module name="logger_sd_spi_direct">
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<define name="SDLOGGER_DIRECT_CONTROL_SWITCH" value="AUX3"/>
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</module>
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<module name="gps_ubx_ucenter"/>
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</target>
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<!-- FBW (Flight by Wire) part of the board -->
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<target name="fbw" board="opa_ftd_1.0">
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<module name="radio_control" type="spektrum">
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<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
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<define name="RADIO_CONTROL_SPEKTRUM_NO_SIGN" value="1"/>
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</module>
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<module name="actuators" type="pwm"/>
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<module name="intermcu" type="uart"/>
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<module name="heli_throttle_curve"/>
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<module name="heli_swashplate_mixing"/>
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<define name="RC_LOST_FBW_MODE" value="FBW_MODE_FAILSAFE"/><!-- Switch to Failsafe or to Autopilot on RC loss? -->
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<define name="RC_LOST_IN_AUTO_FBW_MODE" value="FBW_MODE_FAILSAFE"/><!-- Switch to Failsafe with a working autopilot on RC loss? -->
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<define name="AP_LOST_FBW_MODE" value="FBW_MODE_MANUAL"/><!-- Switch to Failsafe or to Manual on AP loss? -->
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</target>
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</firmware>
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<!-- This should be different for AP and FBW -->
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<section name="BAT">
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<define name="CATASTROPHIC_BAT_LEVEL" value="21.0" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="21.6" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="22.2" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="25.2" unit="V"/>
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</section>
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<servos driver="Pwm">
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<servo name="THROTTLE" no="0" min="1100" neutral="1100" max="1900"/>
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<servo name="SW_BACK" no="1" min="1900" neutral="1500" max="1100"/>
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<servo name="SW_LEFTFRONT" no="2" min="1100" neutral="1500" max="1900"/>
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<servo name="SW_RIGHTFRONT" no="3" min="1900" neutral="1500" max="1100"/>
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<servo name="TAIL_LEFT" no="4" min="1100" neutral="1500" max="1900"/>
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<servo name="TAIL_RIGHT" no="5" min="1100" neutral="1500" max="1900"/>
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<servo name="AIL_LEFTFRONT" no="6" min="1100" neutral="1500" max="1900"/>
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<servo name="AIL_LEFTBACK" no="7" min="1100" neutral="1500" max="1900"/>
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<servo name="AIL_RIGHTFRONT" no="8" min="1100" neutral="1500" max="1900"/>
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<servo name="AIL_RIGHTBACK" no="9" min="1100" neutral="1500" max="1900"/>
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</servos>
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<rc_commands>
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<set command="THRUST" value="@THROTTLE"/>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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<set command="YAW" value="@YAW"/>
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<set command="FMODE" value="@AUX2"/>
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</rc_commands>
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<commands>
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<axis name="THRUST" 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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<axis name="YAW" failsafe_value="0"/>
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<axis name="FMODE" failsafe_value="0"/>
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</commands>
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<section name="MIXING" prefix="SW_MIXING_">
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<define name="TYPE" value="HR120"/>
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<define name="TRIM_ROLL" value="0"/>
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<define name="TRIM_PITCH" value="0"/>
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<define name="TRIM_COLL" value="0"/>
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</section>
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<command_laws>
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<call fun="throttle_curve_run(autopilot_motors_on, values)"/>
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<call fun="swashplate_mixing_run(values)"/>
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<set servo="THROTTLE" value="throttle_curve.throttle"/>
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<set servo="SW_BACK" value="swashplate_mixing.commands[SW_BACK]"/>
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<set servo="SW_LEFTFRONT" value="swashplate_mixing.commands[SW_LEFTFRONT]"/>
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<set servo="SW_RIGHTFRONT" value="swashplate_mixing.commands[SW_RIGHTFRONT]"/>
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<set servo="TAIL_LEFT" value="@YAW"/>
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<set servo="TAIL_RIGHT" value="-@YAW"/>
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<set servo="AIL_LEFTFRONT" value="@YAW"/>
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<set servo="AIL_LEFTBACK" value="@YAW"/>
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<set servo="AIL_RIGHTFRONT" value="@YAW"/>
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<set servo="AIL_RIGHTBACK" value="@YAW"/>
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</command_laws>
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<heli_curves>
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<curve throttle="0,4800,7200,8400,9600" collective="-1000,750,2500,4250,6000"/>
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<curve throttle="9600,7200,9600" collective="-7500,0,7500"/>
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</heli_curves>
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<section name="MISC">
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<define name="NAV_CLIMB_VSPEED" value="2.5"/>
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<define name="NAV_DESCEND_VSPEED" value="-1.0"/>
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<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<define name="ACCEL_X_NEUTRAL" value="11"/>
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<define name="ACCEL_Y_NEUTRAL" value="11"/>
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<define name="ACCEL_Z_NEUTRAL" value="-25"/>
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<!-- replace this with your own calibration -->
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<define name="MAG_X_NEUTRAL" value="-2"/>
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<define name="MAG_Y_NEUTRAL" value="484"/>
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<define name="MAG_Z_NEUTRAL" value="53"/>
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<define name="MAG_X_SENS" value="4.02836351262" integer="16"/>
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<define name="MAG_Y_SENS" value="3.97184580645" integer="16"/>
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<define name="MAG_Z_SENS" value="4.08689235615" integer="16"/>
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<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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</section>
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<section name="AHRS" prefix="AHRS_">
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<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
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<define name="H_X" value="0.3770441"/>
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<define name="H_Y" value="0.0193986"/>
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<define name="H_Z" value="0.9259921"/>
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</section>
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<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
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<!-- setpoints -->
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<define name="SP_MAX_P" unit="deg/s" value="280"/>
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<define name="SP_MAX_Q" unit="deg/s" value="280"/>
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<define name="SP_MAX_R" unit="deg/s" value="140"/>
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<define name="DEADBAND_P" value="20"/>
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<define name="DEADBAND_Q" value="20"/>
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<define name="DEADBAND_R" value="200"/>
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<!-- feedback -->
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<define name="GAIN_P" value="400"/>
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<define name="GAIN_Q" value="400"/>
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<define name="GAIN_R" value="350"/>
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<define name="IGAIN_P" value="75"/>
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<define name="IGAIN_Q" value="75"/>
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<define name="IGAIN_R" value="50"/>
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</section>
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<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoints -->
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<define name="SP_MAX_PHI" value="45." unit="deg"/>
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<define name="SP_MAX_THETA" value="45." unit="deg"/>
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<define name="SP_MAX_R" value="150." unit="deg/s"/>
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<define name="DEADBAND_R" value="200"/>
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<!-- reference -->
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<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.85"/>
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<define name="REF_MAX_P" value="300." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.85"/>
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<define name="REF_MAX_Q" value="300." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.85"/>
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<define name="REF_MAX_R" value="180." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
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<!-- feedback -->
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<define name="PHI_PGAIN" value="500"/>
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<define name="PHI_DGAIN" value="100"/>
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<define name="PHI_IGAIN" value="0"/>
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<define name="THETA_PGAIN" value="500"/>
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<define name="THETA_DGAIN" value="100"/>
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<define name="THETA_IGAIN" value="0"/>
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<define name="PSI_PGAIN" value="200"/>
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<define name="PSI_DGAIN" value="0"/>
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<define name="PSI_IGAIN" value="0"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value="0"/>
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<define name="THETA_DDGAIN" value="0"/>
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<define name="PSI_DDGAIN" value="0"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="HOVER_KP" value="150"/>
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<define name="HOVER_KD" value="80"/>
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<define name="HOVER_KI" value="20"/>
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<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
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<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="MAX_BANK" value="35" unit="deg"/>
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<define name="USE_SPEED_REF" value="TRUE"/>
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<define name="PGAIN" value="50"/>
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<define name="DGAIN" value="100"/>
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<define name="AGAIN" value="70"/>
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<define name="IGAIN" value="20"/>
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</section>
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<section name="AUTOPILOT">
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<define name="MODE_MANUAL" value="AP_MODE_RATE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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</section>
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</airframe>
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@@ -0,0 +1,70 @@
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# Hey Emacs, this is a -*- makefile -*-
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#
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# Oversized Paparazzi (AP) Board
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#
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# http://wiki.paparazziuav.org/wiki/OPA
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#
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BOARD=opa_ap
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BOARD_VERSION=1.0
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BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
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ARCH=stm32
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ARCH_L=f4
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HARD_FLOAT=yes
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$(TARGET).ARCHDIR = $(ARCH)
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$(TARGET).LDSCRIPT=$(SRC_ARCH)/lisa-mx.ld
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# -----------------------------------------------------------------------
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#
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# default flash mode is via SWD (JTAG)
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#
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FLASH_MODE ?= SWD
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#
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# default LED configuration
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#
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SYS_TIME_LED ?= 1
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RADIO_CONTROL_LED ?= none
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BARO_LED ?= none
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AHRS_ALIGNER_LED ?= none
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GPS_LED ?= none
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LOGGER_LED ?= none
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#
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# default uart configuration
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#
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MODEM_PORT ?= UART2
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MODEM_BAUD ?= B57600
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GPS_PORT ?= UART1
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GPS_BAUD ?= B57600
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INTERMCU_PORT ?= UART3
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INTERMCU_BAUD ?= B230400
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#
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# default IMU configuration
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#
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IMU_MPU_SPI_DEV ?= spi2
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IMU_MPU_SPI_SLAVE_IDX ?= SPI_SLAVE1
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#
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# BARO configuration
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#
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# See baro_board.makefile
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|
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#
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# default SPI logger configuration
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#
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SDLOGGER_DIRECT_SPI ?= spi1
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SDLOGGER_DIRECT_SPI_SLAVE ?= SPI_SLAVE0
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HS_LOG_SPI_DEV ?= spi1
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HS_LOG_SPI_SLAVE_IDX ?= SPI_SLAVE0
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|
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#
|
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# default Current Sensor configuration
|
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#
|
||||
ADC_CURRENT_SENSOR ?= ADC_2
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@@ -0,0 +1,48 @@
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# Hey Emacs, this is a -*- makefile -*-
|
||||
#
|
||||
# Oversized Paparazzi (AP) Board
|
||||
#
|
||||
# http://wiki.paparazziuav.org/wiki/OPA
|
||||
#
|
||||
|
||||
BOARD=opa_ftd
|
||||
BOARD_VERSION=1.0
|
||||
BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
|
||||
|
||||
ARCH=stm32
|
||||
ARCH_L=f4
|
||||
HARD_FLOAT=yes
|
||||
$(TARGET).ARCHDIR = $(ARCH)
|
||||
$(TARGET).LDSCRIPT=$(SRC_ARCH)/lisa-mx.ld
|
||||
|
||||
# -----------------------------------------------------------------------
|
||||
|
||||
#
|
||||
# default flash mode is via SWD (JTAG)
|
||||
#
|
||||
FLASH_MODE ?= SWD
|
||||
|
||||
#
|
||||
# default LED configuration
|
||||
#
|
||||
SYS_TIME_LED ?= 1
|
||||
RADIO_CONTROL_LED ?= 2
|
||||
ARMING_LED ?= 3
|
||||
FBW_MODE_LED ?= none
|
||||
|
||||
#
|
||||
# default uart configuration
|
||||
#
|
||||
RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART1
|
||||
RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT ?= UART5
|
||||
|
||||
MODEM_PORT ?= UART3
|
||||
MODEM_BAUD ?= B57600
|
||||
|
||||
INTERMCU_PORT ?= UART2
|
||||
INTERMCU_BAUD ?= B230400
|
||||
|
||||
#
|
||||
# default actuator configuration
|
||||
#
|
||||
ACTUATORS ?= actuators_pwm
|
||||
@@ -194,15 +194,25 @@ else ifeq ($(BOARD), umarim)
|
||||
|
||||
# Naze32
|
||||
else ifeq ($(BOARD), naze32)
|
||||
BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_MS5611_I2C
|
||||
BARO_BOARD_CFLAGS += -DUSE_I2C2
|
||||
BARO_BOARD_CFLAGS += -DBB_MS5611_I2C_DEV=i2c2
|
||||
BARO_BOARD_SRCS += peripherals/ms5611.c
|
||||
BARO_BOARD_SRCS += peripherals/ms5611_i2c.c
|
||||
BARO_BOARD_SRCS += boards/baro_board_ms5611_i2c.c
|
||||
BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_MS5611_I2C
|
||||
BARO_BOARD_CFLAGS += -DUSE_I2C2
|
||||
BARO_BOARD_CFLAGS += -DBB_MS5611_I2C_DEV=i2c2
|
||||
BARO_BOARD_SRCS += peripherals/ms5611.c
|
||||
BARO_BOARD_SRCS += peripherals/ms5611_i2c.c
|
||||
BARO_BOARD_SRCS += boards/baro_board_ms5611_i2c.c
|
||||
|
||||
# OPA (AP)
|
||||
else ifeq ($(BOARD), opa_ap)
|
||||
include $(CFG_SHARED)/spi_master.makefile
|
||||
BARO_BOARD_CFLAGS += -DUSE_SPI2 -DUSE_SPI_SLAVE2
|
||||
BARO_BOARD_CFLAGS += -DBB_MS5611_SPI_DEV=spi2
|
||||
BARO_BOARD_CFLAGS += -DBB_MS5611_SLAVE_IDX=SPI_SLAVE2
|
||||
BARO_BOARD_SRCS += peripherals/ms5611.c
|
||||
BARO_BOARD_SRCS += peripherals/ms5611_spi.c
|
||||
BARO_BOARD_SRCS += boards/baro_board_ms5611_spi.c
|
||||
endif # check board
|
||||
|
||||
BARO_LED ?= none
|
||||
ifneq ($(BARO_LED),none)
|
||||
BARO_BOARD_CFLAGS += -DBARO_LED=$(BARO_LED)
|
||||
endif
|
||||
|
||||
@@ -9,7 +9,7 @@
|
||||
<file name="swashplate_mixing.h"/>
|
||||
</header>
|
||||
<init fun="swashplate_mixing_init()"/>
|
||||
<makefile>
|
||||
<makefile target="ap|fbw">
|
||||
<file name="swashplate_mixing.c"/>
|
||||
<define name="ROTORCRAFT_IS_HELI" value="TRUE"/>
|
||||
</makefile>
|
||||
|
||||
@@ -8,7 +8,7 @@
|
||||
<file name="throttle_curve.h"/>
|
||||
</header>
|
||||
<init fun="throttle_curve_init()"/>
|
||||
<makefile>
|
||||
<makefile target="ap|fbw">
|
||||
<file name="throttle_curve.c"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
Reference in New Issue
Block a user