Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-09 22:49:53 +08:00
Code Issues Actions 27 Packages Projects Releases Wiki Activity

Merge branch 'dev' into locm3

Browse Source 
Conflicts:
	sw/airborne/arch/stm32/mcu_periph/i2c_arch.c
	sw/airborne/arch/stm32/mcu_periph/spi_arch.c
This commit is contained in:
Piotr Esden-Tempski
2012-03-14 22:39:12 -07:00
parent b92337f266 69d2909d01
commit 3db6365ede
235 changed files with 3847 additions and 5894 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.gitignore
+1 -1
View File
@@ -55,7 +55,6 @@
/conf/conf.xml.20*
/conf/control_panel.xml
/conf/%gconf.xml
/conf/srtm_data/*
/conf/maps_data/*
/conf/maps.xml
/conf/gps/ublox_conf
@@ -129,6 +128,7 @@
/sw/logalizer/ivy_example
/sw/logalizer/motor_bench
/sw/logalizer/tmclient
/sw/logalizer/openlog2tlm
# /sw/simulator/
/sw/simulator/gaia
BUGS
+1
View File
@@ -1,2 +1,3 @@
We count on your for finding them
Please see the bug/issue tracker on https://github.com/paparazzi/paparazzi/issues
Doxyfile
+764 -763
View File
File diff suppressed because it is too large Load Diff
Makefile
+5 -12
View File
@@ -256,7 +256,6 @@ dist_clean :
@echo "Warning: This removes all non-repository files. This means you will loose your aircraft list, your maps, your logfiles, ... if you want this, then run: make dist_clean_irreversible"
dist_clean_irreversible: clean
rm -rf conf/srtm_data
rm -rf conf/maps_data conf/maps.xml
rm -rf conf/conf.xml conf/controlpanel.xml
rm -rf var
@@ -264,14 +263,12 @@ dist_clean_irreversible: clean
ab_clean:
find sw/airborne -name '*~' -exec rm -f {} \;
test_all_example_airframes:
$(MAKE) AIRCRAFT=BOOZ2_A1 clean_ac ap sim
$(MAKE) AIRCRAFT=Microjet clean_ac ap sim
$(MAKE) AIRCRAFT=Tiny_IMU clean_ac ap
$(MAKE) AIRCRAFT=EasyStar_ETS clean_ac ap sim
test_all_example_airframes: replace_current_conf_xml
for ap in `grep name conf/conf.xml.example | sed -e 's/.*name=\"//' | sed -e 's/".*//'`; do for airframe in `grep $$ap conf/conf.xml.example | sed -e 's/.*airframe=\"//' | sed -e 's/".*//'`; do for target in `grep target conf/$$airframe | grep name | sed -e 's/.*name=\"//' | sed -e 's/\".*//'`; do echo "Making $$ap $$target"; make -C ./ AIRCRAFT=$$ap clean_ac $$target.compile || exit 1; done; done; done
test_all_example_airframes2:
for ap in `grep name conf/conf.xml.example | sed -e 's/.*name=\"//' | sed -e 's/"//'`; do echo "Making $$ap"; make -C ./ AIRCRAFT=$$ap clean_ac ap.compile || exit 1; done
replace_current_conf_xml:
test conf/conf.xml || mv conf/conf.xml conf/conf.xml.backup.`date +%Y%m%d-%H%M%s`
cp conf/conf.xml.example conf/conf.xml
commands: paparazzi sw/simulator/launchsitl
@@ -283,8 +280,4 @@ sw/simulator/launchsitl:
cat src/$(@F) | sed s#OCAMLRUN#$(OCAMLRUN)# | sed s#OCAML#$(OCAML)# > $@
chmod a+x $@
#.SUFFIXES: .hgt.zip
%.hgt.zip:
cd data/srtm; $(MAKE) $(@)
Makefile.sys
-48
View File
@@ -1,48 +0,0 @@
# Paparazzi main $Id$
# Copyright (C) 2004 Pascal Brisset Antoine Drouin
#
# 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.
PAPARAZZI_DIR=/usr/share/paparazzi
ifeq ($(PAPARAZZI_HOME),)
PAPARAZZI_HOME=$(HOME)/paparazzi
endif
ac_h :
$(PAPARAZZI_DIR)/bin/gen_aircraft.out $(AIRCRAFT)
sim_sitl :
cd $(PAPARAZZI_DIR)/sw/simulator; $(MAKE) sim_sitl AIRCRAFT=$(AIRCRAFT)
clean_ac :
rm -fr $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
run_sitl :
$(PAPARAZZI_HOME)/var/$(AIRCRAFT)/sim/simsitl
ap:
cd $(PAPARAZZI_DIR)/sw/airborne/autopilot; $(MAKE) all
fbw:
cd $(PAPARAZZI_DIR)/sw/airborne/fly_by_wire; $(MAKE) all
upload_ap:
cd $(PAPARAZZI_DIR)/sw/airborne/autopilot; $(MAKE) upload
upload_fbw:
cd $(PAPARAZZI_DIR)/sw/airborne/fly_by_wire; $(MAKE) upload
README
-98
View File
@@ -1,98 +0,0 @@
# Copyright (C) 2003-2011 The Paparazzi Team
#
# 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.
Intro
-----
Paparazzi is an attempt to develop a free software Unmanned (Air) Vehicle System.
As of today the system is being used successfuly by a number of hobyists, universities and companies all over the world, on vehicle of various size ( 100g to 25Kg ) and of various nature ( fixed wing, rotorcrafts, boats and surface vehicles).
Up to date information is available from the wiki website
http://paparazzi.enac.fr
and from the mailing list (http://savannah.nongnu.org/mail/?group=paparazzi)
and the IRC channel (freenode, #paparazzi).
Directories quick and dirty description:
---------------------------------------
conf: the configuration directory (airframe, radio, ... descriptions).
data: where to put read-only data (e.g. maps, terrain elevation files, icons)
sw: software (onboard, ground station, simulation, ...)
var: products of compilation, cache for the map tiles, ...
debian: Debian packaging control files
Required Software
-----------------
Installation is described in the wiki (paparazzi.enac.fr/wiki/Installation).
Main requirements include
- OCaml (ocaml.org), xml-light library (http://tech.motion-twin.com/xmllight)
- gcc, GTK2, Glib2, libgnomecanvas, libxml2
- ARM7 micro-controller development environnment (gcc, loader, libc, binutils)
- ...
For Debian or Ubuntu users, required packages are available at
http://paparazzi.enac.fr/debian
- "paparazzi-dev" will provide everything needed to compile and run the ground segment and the simulator. If something is missing, please report it.
- "paparazzi-arm-multilib" is required to compile the code for LPC21 and STM32 based boards
- "paparazzi-omap" is needed for building code for the optional Gumstix Overo module available on lisa/L
- "paparazzi-jsbsim" is needed for using jsbsim as flight dynamic model for the simulator.
Compilation and demo simulation
-------------------------------
1) type "make" in the top directory to compile all the libraries and tools.
2) "./paparazzi" to run the Paparazzi Center
3) Select the "Microjet" aircraft in the upper-left A/C
combo box. Select "sim" from upper-middle "target" combo box. Click
"Build". When the compilation is finished, select "Simulation" from
the upper-right session combo box and click "Execute".
4) In the GCS, wait about 10s for the aircraft to be in the "Holding
point" navigation block. Switch to the "Takeoff" block (lower-left
blue airway button in the strip). Takeoff with the green launch button.
Uploading of the embedded software
----------------------------------
1) Power the flight controller board while it is connected to the PC with
the USB cable.
2) From the Paparazzi center, select the "ap" target, and click "Upload".
Flight
-------------------------------------
1) From the Paparazzi Center, select the flight session and ... do
the same than in simulation !
README.md
+69
View File
@@ -0,0 +1,69 @@
Paparazzi UAS
=============
Paparazzi is an attempt to develop a free software Unmanned (Air) Vehicle System.
As of today the system is being used successfuly by a number of hobyists, universities and companies all over the world, on vehicle of various size ( 100g to 25Kg ) and of various nature ( fixed wing, rotorcrafts, boats and surface vehicles).
Up to date information is available in the wiki http://paparazzi.enac.fr
and from the mailing list [paparazzi-devel@nongnu.org] (http://savannah.nongnu.org/mail/?group=paparazzi)
and the IRC channel (freenode, #paparazzi).
Required Software
-----------------
Installation is described in the wiki (http://paparazzi.enac.fr/wiki/Installation).
For Ubuntu users, required packages are available in the [paparazzi-uav PPA] (https://launchpad.net/~paparazzi-uav/+archive/ppa),
Debian users can use http://paparazzi.enac.fr/debian
- **paparazzi-dev** is the meta-package that depends on everything needed to compile and run the ground segment and the simulator.
- **paparazzi-arm-multilib** ARM cross-compiling toolchain for LPC21 and STM32 based boards.
- **paparazzi-omap** toolchain for the optional Gumstix Overo module available on lisa/L.
- **paparazzi-jsbsim** is needed for using JSBSim as flight dynamic model for the simulator.
Directories quick and dirty description:
----------------------------------------
_conf_: the configuration directory (airframe, radio, ... descriptions).
_data_: where to put read-only data (e.g. maps, terrain elevation files, icons)
_doc_: documentation (diagrams, manual source files, ...)
_sw_: software (onboard, ground station, simulation, ...)
_var_: products of compilation, cache for the map tiles, ...
Compilation and demo simulation
-------------------------------
1. type "make" in the top directory to compile all the libraries and tools.
2. "./paparazzi" to run the Paparazzi Center
3. Select the "Microjet" aircraft in the upper-left A/C combo box.
Select "sim" from upper-middle "target" combo box. Click "Build".
When the compilation is finished, select "Simulation" from
the upper-right session combo box and click "Execute".
4. In the GCS, wait about 10s for the aircraft to be in the "Holding point" navigation block.
Switch to the "Takeoff" block (lower-left blue airway button in the strip).
Takeoff with the green launch button.
Uploading of the embedded software
----------------------------------
1. Power the flight controller board while it is connected to the PC with the USB cable.
2. From the Paparazzi center, select the "ap" target, and click "Upload".
Flight
------
1. From the Paparazzi Center, select the flight session and ... do the same than in simulation !
conf/Makefile.lpc21
+1 -1
View File
@@ -115,7 +115,7 @@ OPT = s
CSTANDARD = -std=gnu99
CINCS = $(INCLUDES) -I $(SRC_ARCH)/include
CINCS = $(INCLUDES) -I$(SRC_ARCH)/include
# Compiler flags.
CFLAGS = $(CINCS)
conf/airframes/ENAC/fixed-wing/twinjet2.xml
+3 -102
View File
@@ -14,10 +14,10 @@
<!--load name="infrared_i2c.xml"/-->
<!--load name="max3100.xml"/>
<load name="gsm.xml"/-->
<load name="demo_module.xml">
<!--load name="demo_module.xml">
<define name="TEST" value="1"/>
<define name="TEST_FLAG"/>
</load>
</load-->
<!--load name="enose.xml"/-->
<load name="light.xml"/>
<load name="infrared_adc.xml"/>
@@ -33,7 +33,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="control" type="new"/>
<subsystem name="control" type="adaptive"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
@@ -217,103 +217,4 @@
<define name="YAW_RESPONSE_FACTOR" value="1."/>
</section>
<!--
<makefile>
CONFIG = \"tiny_2_1_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DSYS_TIME_LED=1
ap.srcs = mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
ap.srcs += commands.c
########## RC actuators + radio
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
########## Modems
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c
#TRANSPARENT
#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c
########## ADC
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
ap.srcs += $(SRC_ARCH)/adc_hw.c
########## GPS
ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
# -DGPS_LED=2
ap.srcs += gps_ubx.c gps.c latlong.c
########## IR sensors
ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN
ap.srcs += infrared.c estimator.c
########## Gyro
#ap.CFLAGS += -DUSE_GYRO -DADXRS150
#ap.srcs += gyro.c
########## Nav
ap.CFLAGS += -DNAV -DAGR_CLIMB -DPITCH_TRIM
ap.srcs += subsystems/nav.c fw_h_ctl_a.c fw_v_ctl_n.c
ap.srcs += subsystems/navigation/nav_survey_rectangle.c
ap.srcs += subsystems/navigation/nav_line.c
########## SPI Master use slave0
ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0
ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c
########## Barometer (SPI)
#ap.CFLAGS += -DUSE_BARO_MS5534A
#ap.srcs += $(SRC_ARCH)/baro_MS5534A.c
########## I2C0
ap.CFLAGS += -DUSE_I2C0
ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
########## Lights
ap.CFLAGS += -DUSE_LIGHT
ap.srcs += light.c
########## Max3100
ap.CFLAGS += -DMAX3100_BAUD_RATE=MAX3100_B9600
ap.CFLAGS += -DGCS_NUMBER=\"+33640286530\"
ap.CFLAGS += -DUSE_MODULES
# Config for SITL simulation
#include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.ARCHDIR = $(ARCHI)
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl_n.c subsystems/nav.c estimator.c mcu_periph/sys_time.c main_fbw.c main_ap.c datalink.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 $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DPITCH_TRIM -DALT_KALMAN
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
sim.CFLAGS += -DUSE_LIGHT
sim.srcs += light.c
sim.CFLAGS += -DUSE_I2C0
sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
sim.CFLAGS += -DUSE_MODULES
</makefile>
-->
</airframe>
conf/airframes/ENAC/quadrotor/blender.xml
+15 -27
View File
@@ -1,11 +1,11 @@
<airframe name="Blender">
<modules main_freq="512">
<load name="booz_pwm.xml">
<!--load name="booz_pwm.xml">
<define name="USE_PWM1"/>
</load>
<load name="booz_drop.xml"/>
<load name="booz_cam.xml"/>
<load name="booz_cam.xml"/-->
<!--load name="sonar_maxbotix_booz.xml"/-->
</modules>
@@ -21,13 +21,13 @@
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<!--define name="NPS_NO_SUPERVISION"/-->
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="asctec"/>
<!--subsystem name="actuators" type="mkk"/-->
<subsystem name="actuators" type="skiron">
<define name="SKIRON_I2C_SCL_TIME" value="25"/>
</subsystem>
<subsystem name="imu" type="b2_v1.1"/>
<subsystem name="gps" type="ublox">
<configure name="GPS_BAUD" value="B57600"/>
@@ -47,17 +47,11 @@
</firmware>
<servos min="0" neutral="0" max="0xff">
<servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
<servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
<servo name="YAW" no="2" min="0" neutral="0" max="255"/>
<servo name="THRUST" no="3" min="0" neutral="0" max="255"/>
</servos>
<!--servos min="0" neutral="0" max="0xff">
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" min="0" neutral="0" max="255"/>
<servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
<servo name="BACK" no="2" min="0" neutral="0" max="255"/>
<servo name="RIGHT" no="1" min="0" neutral="0" max="255"/>
<servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
</servos-->
</servos>
<commands>
<axis name="PITCH" failsafe_value="0"/>
@@ -66,20 +60,15 @@
<axis name="THRUST" failsafe_value="0"/>
</commands>
<!--section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<section name="ACTUATORS_SKIRON" prefix="ACTUATORS_SKIRON_">
<define name="NB" value="4"/>
<define name="ADDR" value="{ 0x52, 0x56, 0x54, 0x58 }"/>
</section-->
<define name="IDX" value="{ SERVO_FRONT, SERVO_BACK, SERVO_RIGHT, SERVO_LEFT }"/>
</section>
<section name="SUPERVISION" prefix="SUPERVISION_">
<define name="TRIM_A" value="0"/>
<define name="TRIM_E" value="0"/>
<define name="TRIM_R" value="0"/>
</section>
<!--section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="25"/>
<define name="MAX_MOTOR" value="243"/>
<define name="TRIM_A" value="0"/>
<define name="MIN_MOTOR" value="20"/>
<define name="MAX_MOTOR" value="255"/>
<define name="TRIM_A" value="6"/>
<define name="TRIM_E" value="0"/>
<define name="TRIM_R" value="0"/>
<define name="NB_MOTOR" value="4"/>
@@ -88,8 +77,7 @@
<define name="PITCH_COEF" value="{ 256, -256, 0, 0}"/>
<define name="YAW_COEF" value="{ -256, -256, 256, 256}"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
</section-->
</section>
<section name="IMU" prefix="IMU_">
conf/airframes/ENAC/quadrotor/navgo.xml
+30 -65
View File
@@ -20,7 +20,6 @@
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<!--define name="NPS_NO_SUPERVISION"/-->
</target>
<subsystem name="radio_control" type="ppm"/>
@@ -29,17 +28,17 @@
<define name="SKIRON_I2C_SCL_TIME" value="25"/>
</subsystem>
<subsystem name="imu" type="navgo"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="int_cmpl_euler">
<define name="LOW_NOISE_THRESHOLD" value="50000"/>
<subsystem name="gps" type="ublox">
<configure name="GPS_BAUD" value="B57600"/>
</subsystem>
<subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/>
<subsystem name="ins" type="hff"/>
</firmware>
<servos min="0" neutral="0" max="0xff">
<servo name="FRONT" no="2" min="0" neutral="0" max="255"/>
<servo name="BACK" no="0" min="0" neutral="0" max="255"/>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="2" min="0" neutral="0" max="255"/>
<servo name="RIGHT" no="1" min="0" neutral="0" max="255"/>
<servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
</servos>
@@ -72,69 +71,35 @@
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_NEUTRAL" value="-126"/>
<define name="GYRO_Q_NEUTRAL" value="-29"/>
<define name="GYRO_R_NEUTRAL" value="-32"/>
<define name="GYRO_P_NEUTRAL" value="10"/>
<define name="GYRO_Q_NEUTRAL" value="-32"/>
<define name="GYRO_R_NEUTRAL" value="11"/>
<!-- SENS ITG3200 1/14.375 (deg/s)/LSB, rate frac 12bit => 1/14.375 * pi / 180 * 2^12 -->
<define name="GYRO_P_SENS" value="4.97312" integer="16"/>
<define name="GYRO_Q_SENS" value="4.97312" integer="16"/>
<define name="GYRO_R_SENS" value="4.97312" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="4"/>
<define name="ACCEL_Y_NEUTRAL" value="-17"/>
<define name="ACCEL_Z_NEUTRAL" value="-22"/>
<define name="ACCEL_X_NEUTRAL" value="9"/>
<define name="ACCEL_Y_NEUTRAL" value="14"/>
<define name="ACCEL_Z_NEUTRAL" value="-16"/>
<!-- SENS ADXL345 16G 31.2 mg/LSB, accel frac 10bit => 31.2 * 2^10 / 1000 = 31.9488-->
<define name="ACCEL_X_SENS" value="38.2816633245" integer="16"/>
<define name="ACCEL_Y_SENS" value="38.7857058923" integer="16"/>
<define name="ACCEL_Z_SENS" value="39.7459254023" integer="16"/>
<define name="ACCEL_X_SENS" value="38.5866088465" integer="16"/>
<define name="ACCEL_Y_SENS" value="38.7212932023" integer="16"/>
<define name="ACCEL_Z_SENS" value="39.403098907" integer="16"/>
<define name="MAG_X_NEUTRAL" value="85"/>
<define name="MAG_Y_NEUTRAL" value="97"/>
<define name="MAG_Z_NEUTRAL" value="-43"/>
<define name="MAG_X_NEUTRAL" value="80"/>
<define name="MAG_Y_NEUTRAL" value="-271"/>
<define name="MAG_Z_NEUTRAL" value="112"/>
<define name="MAG_X_SENS" value="5.43371021972" integer="16"/>
<define name="MAG_Y_SENS" value="4.8961742578" integer="16"/>
<define name="MAG_Z_SENS" value="5.31527656902" integer="16"/>
<define name="MAG_X_SENS" value="4.44131219218" integer="16"/>
<define name="MAG_Y_SENS" value="4.56234629213" integer="16"/>
<define name="MAG_Z_SENS" value="5.298653926" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/> <!-- -10 -->
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/> <!-- -10 -->
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section>
<section name="IMU_PROTO" prefix="IMU_PROTO_">
<define name="GYRO_P_NEUTRAL" value="-24"/>
<define name="GYRO_Q_NEUTRAL" value="-8"/>
<define name="GYRO_R_NEUTRAL" value="21"/>
<!-- SENS ITG3200 1/14.375 (deg/s)/LSB, rate frac 12bit => 1/14.375 * pi / 180 * 2^12 -->
<define name="GYRO_P_SENS" value="4.97312" integer="16"/>
<define name="GYRO_Q_SENS" value="4.97312" integer="16"/>
<define name="GYRO_R_SENS" value="4.97312" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="-9"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="-29"/>
<!-- SENS ADXL345 16G 31.2 mg/LSB, accel frac 10bit => 31.2 * 2^10 / 1000 = 31.9488-->
<define name="ACCEL_X_SENS" value="38.2683" integer="16"/>
<define name="ACCEL_Y_SENS" value="38.7108" integer="16"/>
<define name="ACCEL_Z_SENS" value="39.6583" integer="16"/>
<define name="MAG_X_NEUTRAL" value="55"/>
<define name="MAG_Y_NEUTRAL" value="54"/>
<define name="MAG_Z_NEUTRAL" value="92"/>
<define name="MAG_X_SENS" value="4.97044135787" integer="16"/>
<define name="MAG_Y_SENS" value="4.49687342915" integer="16"/>
<define name="MAG_Z_SENS" value="4.93138019221" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="-10." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="-10." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PHI" value="0."/>
<define name="BODY_TO_IMU_THETA" value="0."/>
<define name="BODY_TO_IMU_PSI" value="0."/>
</section>
@@ -148,7 +113,9 @@
</section>
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="14" integer="16"/>
<!-- datasheet 1.4 mm/LSB : 0.0014*2^8 = 0.3584 -->
<!-- calibration SENS = 1.156 :( -->
<define name="BARO_SENS" value="1.156" integer="16"/>
</section>
@@ -219,8 +186,8 @@
<define name="REF_MAX_ZDD" value=" 0.8*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-250"/>
<define name="HOVER_KP" value="-350"/>
<define name="HOVER_KD" value="-160"/>
<define name="HOVER_KI" value="0"/>
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
@@ -267,11 +234,9 @@
<section name="MISC">
<define name="BOOZ_ANALOG_BARO_THRESHOLD" value="800"/>
<define name="FACE_REINJ_1" value="1024"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
<define name="BoozDropPwm(_v)" value="BoozSetPwm1Value(_v)"/>
<define name="IMU_MAG_OFFSET" value="RadOfDeg(-9.)"/>
<!--define name="IMU_MAG_OFFSET" value="-9."/-->
</section>
<section name="GCS">
conf/airframes/Poine/booz2_a1.xml
-10
View File
@@ -209,15 +209,5 @@
<subsystem name="ins" type="hff"/>
</firmware>
<firmware name="booz_test_progs">
<target name="test_telemetry" board="booz_1.0"/>
<target name="test_baro" board="booz_1.0"/>
<target name="test_rc_spektrum" board="booz_1.0"/>
<target name="test_rc_ppm" board="booz_1.0"/>
<target name="test_esc_mkk_simple" board="booz_1.0"/>
<target name="test_actuators_mkk" board="booz_1.0"/>
<target name="test_ami601" board="booz_1.0"/>
</firmware>
</airframe>
conf/airframes/Poine/h_hex.xml
-5
View File
@@ -174,11 +174,6 @@
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="mkk"/>
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
<subsystem name="telemetry" type="transparent"/>
<!-- <subsystem name="imu" type="b2_v1.1"/> -->
<subsystem name="imu" type="aspirin_v1.0"/>
conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml
-197
View File
@@ -1,197 +0,0 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
YAPA + XSens + XBee
-->
<airframe name="Yapa v1">
<servos>
<servo name="THROTTLE" no="0" min="1100" neutral="1000" max="1900"/>
<servo name="RUDDER" no="2" min="1100" neutral="1500" max="1900"/>
<servo name="ELEVATOR" no="6" min="1000" neutral="1500" max="2000"/>
<servo name="CAM_TILT" no="7" min="700" neutral="1600" max="2500"/>
<servo name="CAM_PAN" no="3" min="800" neutral="1650" max="2500"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="CAM_PAN" failsafe_value="0"/>
<axis name="CAM_TILT" failsafe_value="0"/>
</commands>
<ap_only_commands>
<copy command="CAM_PAN"/>
<copy command="CAM_TILT"/>
</ap_only_commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
</rc_commands>
<command_laws>
<set servo="CAM_PAN" value="@CAM_PAN"/>
<set servo="CAM_TILT" value="@CAM_TILT"/>
<!-- Differential Aileron Depending on Brake Value -->
<set servo="RUDDER" value="@ROLL"/>
<!-- Differential Thurst -->
<set servo="THROTTLE" value="@THROTTLE"/>
<!-- Pitch with Brake-Trim Function -->
<set servo="ELEVATOR" value="@PITCH"/>
</command_laws>
<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="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.7"/>
<define name="MAX_PITCH" value="0.7"/>
</section>
<section name="PANTILT" prefix="CAM_">
<define name="PAN_MIN" value="-45" unit="deg" code_unit="deg"/>
<define name="PAN_NEUTRAL" value="33" unit="deg" code_unit="deg"/>
<define name="PAN_MAX" value="156" unit="deg" code_unit="deg"/>
<define name="PAN0" value="0" unit="deg" code_unit="deg"/>
<define name="TILT_MIN" value="-62" unit="deg" code_unit="deg"/>
<define name="TILT_NEUTRAL" value="47" unit="deg" code_unit="deg"/>
<define name="TILT_MAX" value="122" unit="deg" code_unit="deg"/>
<define name="TILT0" value="90" unit="deg" code_unit="deg"/>
<define name="MODE0" value="1"/>
</section>
<section name="BAT">
<define name="LOW_BAT_LEVEL" value="7" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="6.5" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="6.0" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<!-- <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
<define name="NO_XBEE_API_INIT" value="TRUE"/> -->
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<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="-0.03"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20000004768"/>
<define name="COURSE_DGAIN" value="0.3"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
<define name="ROLL_MAX_SETPOINT" value="0.9" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-12000."/>
<define name="PITCH_DGAIN" value="0"/>
<define name="ELEVATOR_OF_ROLL" value="1000."/>
<define name="ROLL_ATTITUDE_GAIN" value="-11500"/>
<define name="ROLL_RATE_GAIN" value="-600."/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_THROTTLE" value="1.00"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.25"/><!-- 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="DEFAULT_THROTTLE" value="0.35" unit="%"/>
<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
</section>
<section name="DIGITAL_CAMERA" prefix="DC_">
<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
<define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
</section>
<modules>
<load name="ins_chimu_spi.xml" >
<define name="CHIMU_BIG_ENDIAN" />
</load>
<load name="./TUDelft/campoint60Hz.xml" />
<load name="gps_ubx_ucenter.xml">
<define name="GPS_PORT_ID" value="GPS_PORT_UART2" />
</load>
</modules>
<firmware name="fixedwing">
<target name="ap" board="tiny_2.11">
<define name="STRONG_WIND"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="POINT_CAM_PITCH_ROLL" />
</target>
<target name="sim" board="pc"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="gps" type="ublox" />
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B9600"/>
</subsystem>
<!-- Actuators -->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="navigation"/>
<!-- <subsystem name="gps" type="ublox_lea5h"/> -->
<subsystem name="spi_slave_hs"/>
</firmware>
</airframe>
conf/airframes/TU_Delft/MicrojetBR.xml
-267
View File
@@ -1,267 +0,0 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="Microjet BR Tiny 1.1">
<!-- commands section -->
<servos>
<servo name="THROTTLE" no="0" min="1100" neutral="1100" max="1700"/>
<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1500" max="1000"/>
<servo name="AILEVON_RIGHT" no="3" min="950" neutral="1450" max="1950"/>
<servo name="CAM_PAN" no="5" min="1950" neutral="1450" max="950"/>
<servo name="CAM_TILT" no="2" min="1000" neutral="1550" max="2000"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="CAM_TILT" failsafe_value="0"/>
<axis name="CAM_PAN" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="CAM_PAN" value="@YAW"/>
<set command="CAM_TILT" value="@YAW"/>
</rc_commands>
<section name="MIXER">
<define name="AILEVON_AILERON_RATE" value="0.4"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.7"/>
</section>
<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
<set servo="CAM_PAN" value="@CAM_PAN"/>
<set servo="CAM_TILT" value="@CAM_TILT"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="1.1"/>
<define name="MAX_PITCH" value="0.6"/>
</section>
<section name="INFRARED" prefix="IR_">
<define name="ADC_IR1_NEUTRAL" value="501"/>
<define name="ADC_IR2_NEUTRAL" value="510"/>
<define name="ADC_TOP_NEUTRAL" value="520"/>
<define name="HORIZ_SENSOR_ALIGNED" value="1"/>
<define name="IR1_SIGN" value="-1"/>
<define name="IR2_SIGN" value="1"/>
<define name="TOP_SIGN" value="1"/>
<define name="LATERAL_CORRECTION" value="1."/>
<define name="LONGITUDINAL_CORRECTION" value="1."/>
<define name="VERTICAL_CORRECTION" value="1."/>
<define name="ROLL_NEUTRAL_DEFAULT" value="0.114591561258" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0.0572957806289" unit="deg"/>
<define name="CORRECTION_UP" value="1."/>
<define name="CORRECTION_DOWN" value="1."/>
<define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/>
</section>
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_P_NEUTRAL" value="500"/>
<define name="GYRO_P_SENS" value="0.137518981" integer="16"/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="25000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="17." 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="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/> -->
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="LIGHT_LED_1" value="3"/>
</section>
<section name="external leds">
<!-- ADC 4 -->
<define name="LED_4_BANK" value="0"/>
<define name="LED_4_PIN" value="22"/>
</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="-0.101000003517"/>
<!-- outer loop saturation max m/s the alt tap can be-->
<define name="ALTITUDE_MAX_CLIMB" value="4"/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.333000004292"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.15"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.45"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="219.511993408"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.104999996722" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.00700000021607"/>
<define name="AUTO_THROTTLE_IGAIN" value="0."/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.12800000608"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.0399999991059"/>
<define name="AUTO_PITCH_IGAIN" value="0.019999999553"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.54100000858"/>
<define name="ROLL_MAX_SETPOINT" value="0.916999995708" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.4" unit="rad"/>
<define name="ROLL_PGAIN" value="5000."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-7330.82714844"/>
<define name="PITCH_DGAIN" value="1.7254999876"/>
<define name="ELEVATOR_OF_ROLL" value="1250."/>
<define name="ROLL_RATE_GAIN" value="-112.781997681"/>
<define name="ROLL_ATTITUDE_GAIN" value="-4957.62695312"/>
<!-- roll rate loop -->
<define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
<define name="ROLL_RATE_SETPOINT_PGAIN" value="-10." unit="rad/s/rad"/>
<define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
<define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="3000."/>
<define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="3000."/>
<define name="ROLL_RATE_IGAIN" value="0."/>
<define name="ROLL_RATE_DGAIN" value="0."/>
<define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
<define name="ROLL_SLEW" value="0.1"/>
<define name="SIMPLE_ROLL_PGAIN" value="-15000"/>
<define name="SIMPLE_ROLL_DGAIN" value="-3000"/>
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0."/>
<!-- <define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/> NOG niet in de nav.c file
<define name="NAV_FOLLOW_PGAIN" value="-0.05"/> -->
</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="25"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_THROTTLE" value="0.55"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.5"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.0"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.3"/><!-- 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="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="80" unit="m"/>
</section>
<section name="CAM" prefix="CAM_">
<define name="TILT_MAX" value="30" unit="deg" code_unit="deg"/>
<define name="TILT_NEUTRAL" value="0" unit="deg" code_unit="deg"/>
<define name="TILT_MIN" value="-30" unit="deg" code_unit="deg"/>
<define name="TILT0" value="0" unit="deg" code_unit="deg"/>
<define name="PAN_MAX" value="45" unit="deg" code_unit="deg"/>
<define name="PAN_NEUTRAL" value="0" unit="deg" code_unit="deg"/>
<define name="PAN_MIN" value="-45" unit="deg" code_unit="deg"/>
<define name="PAN0" value="0" unit="deg" code_unit="deg"/>
</section>
<!--moet nog in tuning-->
<section name="Takeoff" prefix="Takeoff_">
<define name="Height" value="30" unit="m"/>
<define name="Speed" value="15" unit="m/s"/>
<define name="MinSpeed" value="5" unit="m/s"/>
<define name="Distance" value="10" unit="m"/>
</section>
<section name="Landing" prefix="Landing_">
<define name="FinalHeight" value="30" unit="m"/>
<define name="AFHeight" value="10" unit="m"/>
<define name="FinalStageTime" value="10" unit="s"/>
</section>
<section name="SIMU">
<define name="YAW_RESPONSE_FACTOR" value="0.5"/> <!-- ?????????????????????????? -->
</section>
<modules>
<load name="light.xml">
<define name="LIGHT_LED_STROBE" value="3"/>
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
</load>
<load name="infrared_adc.xml"/>
</modules>
<firmware name="fixedwing">
<target name="sim" board="pc" >
<define name="STRONG_WIND" />
<define name="TUNE_AGRESSIVE_CLIMB" />
<define name="LOITER_TRIM" />
<define name="AGR_CLIMB" />
</target>
<target name="ap" board="tiny_1.1">
<define name="STRONG_WIND" />
<define name="LOITER_TRIM" />
<define name="ALT_KALMAN" />
<define name="AGR_CLIMB" />
<define name="TUNE_AGRESSIVE_CLIMB" />
</target>
<subsystem name="radio_control" type="ppm"/>
<!-- Communication -->
<subsystem name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="B57600"/>
</subsystem>
<!-- Sensors -->
<subsystem name="imu" type="analog">
<configure name="GYRO_P" value="ADC_3" />
</subsystem>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="control" />
<subsystem name="navigation" type="extra"/>
</firmware>
<makefile location="after">
</makefile>
</airframe>
conf/airframes/TU_Delft/MicrojetBRimu.xml
-304
View File
@@ -1,304 +0,0 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="Microjet BR Tiny 1.1">
<!-- commands section -->
<servos>
<servo name="THROTTLE" no="0" min="1100" neutral="1100" max="1700"/>
<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1500" max="1000"/>
<servo name="AILEVON_RIGHT" no="3" min="950" neutral="1450" max="1950"/>
<servo name="CAM_PAN" no="5" min="1950" neutral="1450" max="950"/>
<servo name="CAM_TILT" no="2" min="1000" neutral="1550" max="2000"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="CAM_TILT" failsafe_value="0"/>
<axis name="CAM_PAN" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="CAM_PAN" value="@YAW"/>
<set command="CAM_TILT" value="@YAW"/>
</rc_commands>
<section name="MIXER">
<define name="AILEVON_AILERON_RATE" value="0.4"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.7"/>
</section>
<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
<set servo="CAM_PAN" value="@CAM_PAN"/>
<set servo="CAM_TILT" value="@CAM_TILT"/>
</command_laws>
<!-- Local magnetic field -->
<section name="AHRS" prefix="AHRS_">
<define name="H_X" value="0.51562740288882"/>
<define name="H_Y" value="-0.05707735220832"/>
<define name="H_Z" value="0.85490967783446"/>
</section>
<section name="IMU" prefix="IMU_">
<!-- Calibration Neutral -->
<define name="GYRO_P_NEUTRAL" value="0"/>
<define name="GYRO_Q_NEUTRAL" value="0"/>
<define name="GYRO_R_NEUTRAL" value="0"/>
<!-- SENS = 14.375 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec / 12bit FRAC: 4096 / 828 -->
<define name="GYRO_P_SENS" value="4.947" integer="16"/>
<define name="GYRO_Q_SENS" value="4.947" integer="16"/>
<define name="GYRO_R_SENS" value="4.947" integer="16"/>
<define name="GYRO_P_Q" value="0."/>
<define name="GYRO_P_R" value="0"/>
<define name="GYRO_Q_P" value="0."/>
<define name="GYRO_Q_R" value="0."/>
<define name="GYRO_R_P" value="0."/>
<define name="GYRO_R_Q" value="0."/>
<define name="GYRO_P_SIGN" value="-1"/>
<define name="GYRO_Q_SIGN" value="-1"/>
<define name="GYRO_R_SIGN" value="1"/>
<define name="ACCEL_X_NEUTRAL" value="-14"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="0"/>
<!-- SENS = 256 LSB/g @ 2.5V [X&Y: 265 LSB/g @ 3.3V] / 9.81 ms2/g = 26.095 LSB/ms2 / 10bit FRAC: 1024 / 26.095 for z and 1024 / 27.01 for X&Y -->
<define name="ACCEL_X_SENS" value="37.9" integer="16"/>
<define name="ACCEL_Y_SENS" value="37.9" integer="16"/>
<define name="ACCEL_Z_SENS" value="39.24" integer="16"/>
<define name="ACCEL_X_SIGN" value="-1"/>
<define name="ACCEL_Y_SIGN" value="-1"/>
<define name="ACCEL_Z_SIGN" value="1"/>
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="1" integer="16"/>
<define name="MAG_Y_SENS" value="1" integer="16"/>
<define name="MAG_Z_SENS" value="1" integer="16"/>
<define name="MAG_X_SIGN" value="1"/>
<define name="MAG_Y_SIGN" value="1"/>
<define name="MAG_Z_SIGN" value="1"/>
<define name="BODY_TO_IMU_PHI" value="0"/>
<define name="BODY_TO_IMU_THETA" value="0"/>
<define name="BODY_TO_IMU_PSI" value="0"/>
</section>
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="6.18794441223" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="-6.87549352646" unit="deg"/>
</section>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="1.1"/>
<define name="MAX_PITCH" value="0.9"/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="25000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="17." 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="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/> -->
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="LIGHT_LED_1" value="3"/>
</section>
<section name="external leds">
<!-- ADC 4 -->
<define name="LED_4_BANK" value="0"/>
<define name="LED_4_PIN" value="22"/>
</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="-0.101000003517"/>
<!-- outer loop saturation max m/s the alt tap can be-->
<define name="ALTITUDE_MAX_CLIMB" value="4"/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.386999994516"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.45"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="219.511993408"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.104999996722" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0."/>
<define name="AUTO_THROTTLE_IGAIN" value="0."/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.202000007033"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.0399999991059"/>
<define name="AUTO_PITCH_IGAIN" value="0.019999999553"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.12900002003"/>
<define name="COURSE_DGAIN" value="0.556999993324"/>
<define name="ROLL_MAX_SETPOINT" value="0.916999995708" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.4" unit="rad"/>
<define name="ROLL_PGAIN" value="0."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-8550.48925781"/>
<define name="PITCH_DGAIN" value="1.7254999876"/>
<define name="ELEVATOR_OF_ROLL" value="1250."/>
<define name="ROLL_RATE_GAIN" value="-625."/>
<define name="ROLL_ATTITUDE_GAIN" value="-4464.28613281"/>
<!-- roll rate loop -->
<define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
<define name="ROLL_RATE_SETPOINT_PGAIN" value="-10." unit="rad/s/rad"/>
<define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
<define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="3000."/>
<define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="3000."/>
<define name="ROLL_RATE_IGAIN" value="0."/>
<define name="ROLL_RATE_DGAIN" value="0."/>
<define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
<define name="ROLL_SLEW" value="0.1"/>
<define name="SIMPLE_ROLL_PGAIN" value="-15000"/>
<define name="SIMPLE_ROLL_DGAIN" value="-3000"/>
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0."/>
<!-- <define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/> NOG niet in de nav.c file
<define name="NAV_FOLLOW_PGAIN" value="-0.05"/> -->
</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="25"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_THROTTLE" value="0.550000011921"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.5"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0."/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.300000011921"/><!-- Pitch for Aggressive Decent -->
<define name="CLIMB_NAV_RATIO" value="0.800000011921"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
<define name="DESCENT_NAV_RATIO" value="1."/>
</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="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="80" unit="m"/>
</section>
<section name="CAM" prefix="CAM_">
<define name="TILT_MAX" value="30" unit="deg" code_unit="deg"/>
<define name="TILT_NEUTRAL" value="0" unit="deg" code_unit="deg"/>
<define name="TILT_MIN" value="-30" unit="deg" code_unit="deg"/>
<define name="TILT0" value="0" unit="deg" code_unit="deg"/>
<define name="PAN_MAX" value="45" unit="deg" code_unit="deg"/>
<define name="PAN_NEUTRAL" value="0" unit="deg" code_unit="deg"/>
<define name="PAN_MIN" value="-45" unit="deg" code_unit="deg"/>
<define name="PAN0" value="0" unit="deg" code_unit="deg"/>
</section>
<!--moet nog in tuning-->
<section name="Takeoff" prefix="Takeoff_">
<define name="Height" value="30" unit="m"/>
<define name="Speed" value="15" unit="m/s"/>
<define name="MinSpeed" value="5" unit="m/s"/>
<define name="Distance" value="10" unit="m"/>
</section>
<section name="Landing" prefix="Landing_">
<define name="FinalHeight" value="30" unit="m"/>
<define name="AFHeight" value="10" unit="m"/>
<define name="FinalStageTime" value="10" unit="s"/>
</section>
<section name="SIMU">
<define name="YAW_RESPONSE_FACTOR" value="0.5"/> <!-- ?????????????????????????? -->
</section>
<modules>
<load name="light.xml">
<define name="LIGHT_LED_STROBE" value="3"/>
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
</load>
</modules>
<firmware name="fixedwing">
<target name="ap" board="tiny_1.1">
<configure name="FLASH_MODE" value="IAP"/>
<configure name="PERIODIC_FREQUENCY" value="120"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
<configure name="AHRS_ALIGNER_LED" value="2"/>
<define name="STRONG_WIND"/>
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="AGR_CLIMB"/>
<define name="TUNE_AGRESSIVE_CLIMB"/>
</target>
<target name="sim" board="pc">
<define name="STRONG_WIND"/>
<define name="TUNE_AGRESSIVE_CLIMB"/>
<define name="LOITER_TRIM"/>
<define name="AGR_CLIMB"/>
</target>
<subsystem name="radio_control" type="ppm"/>
<!-- Communication -->
<subsystem name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="B57600"/>
</subsystem>
<!-- Sensors -->
<subsystem name="imu" type="ppzuav"/>
<subsystem name="ahrs" type="float_dcm"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="control"/>
<subsystem name="navigation"/>
</firmware>
</airframe>
conf/airframes/TU_Delft/MicrojetCDW.xml
-228
View File
@@ -1,228 +0,0 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="Microjet CDW Tiny 1.1">
<!-- commands section -->
<servos>
<servo name="THROTTLE" no="0" min="1050" neutral="1050" max="1900"/>
<servo name="AILEVON_RIGHT" no="1" min="1850" neutral="1480" max="1100"/> <!-- 400 - 380 -->
<servo name="AILEVON_LEFT" no="2" min="1250" neutral="1580" max="1980"/> <!-- 300 - 400 -->
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
</rc_commands>
<section name="MIXER">
<define name="AILEVON_AILERON_RATE" value="0.75"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.9"/>
</section>
<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.8"/>
<define name="MAX_PITCH" value="0.7"/>
</section>
<section name="IMU" prefix="IMU_">
<!-- MAX1168 ADC CHANNELS -->
<define name="GYRO_P_CHAN" value="0"/>
<define name="GYRO_Q_CHAN" value="1"/>
<define name="GYRO_R_CHAN" value="2"/>
<define name="ACCEL_X_CHAN" value="4"/>
<define name="ACCEL_Y_CHAN" value="3"/>
<define name="ACCEL_Z_CHAN" value="5"/>
<!-- Calibration Neutral -->
<define name="GYRO_P_NEUTRAL" value="21480"/>
<define name="GYRO_Q_NEUTRAL" value="21410"/>
<define name="GYRO_R_NEUTRAL" value="21940"/>
<!-- SENS = 2mV/deg/sec * 57.6 deg/rad = 114.59 mV/rad/sec * 16 LSB/mV = 1833.465 LSB/rad/sec / 12bit FRAC -->
<define name="GYRO_P_SENS" value="2.234" integer="16"/>
<define name="GYRO_Q_SENS" value="2.234" integer="16"/>
<define name="GYRO_R_SENS" value="2.234" integer="16"/>
<define name="GYRO_P_Q" value="0."/>
<define name="GYRO_P_R" value="(1.0f/75.0f)"/>
<define name="GYRO_Q_P" value="0."/>
<define name="GYRO_Q_R" value="0."/>
<define name="GYRO_R_P" value="0."/>
<define name="GYRO_R_Q" value="0."/>
<define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_Q_SIGN" value="-1"/>
<define name="GYRO_R_SIGN" value="-1"/>
<define name="ACCEL_X_NEUTRAL" value="26584"/>
<define name="ACCEL_Y_NEUTRAL" value="26660"/>
<define name="ACCEL_Z_NEUTRAL" value="26732"/>
<!-- 3.5G: SENS = 330mV/g / 9.81 ms2/g = 33.63 mV/ms2 * 16 LSB/mV = 538.22 LSB/ms2 / 10bit FRAC -->
<!-- 2G: SENS = 660mV/g / 9.81 ms2/g = 67.27 mV/ms2 * 16 LSB/mV = 1076 LSB/ms2 / 10bit FRAC -> 0.9372-->
<!-- 6G: SENS = 220mV/g / 9.81 ms2/g = 67.27 mV/ms2 * 16 LSB/mV = 358.8 LSB/ms2 / 10bit FRAC -> 2.853818182-->
<define name="ACCEL_X_SENS" value="2.85382" integer="10"/>
<define name="ACCEL_Y_SENS" value="2.85382" integer="10"/>
<define name="ACCEL_Z_SENS" value="2.85382" integer="10"/>
<define name="ACCEL_X_SIGN" value="1"/>
<define name="ACCEL_Y_SIGN" value="-1"/>
<define name="ACCEL_Z_SIGN" value="-1"/>
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="1" integer="16"/>
<define name="MAG_Y_SENS" value="1" integer="16"/>
<define name="MAG_Z_SENS" value="1" integer="16"/>
<!-- <define name="MAG_45_HACK" value="1"/> -->
<define name="BODY_TO_IMU_PHI" value="0"/>
<define name="BODY_TO_IMU_THETA" value="0"/>
<define name="BODY_TO_IMU_PSI" value="0"/>
</section>
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0."/>
<define name="PITCH_NEUTRAL_DEFAULT" value="-0.0570000000298"/>
</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="MISC">
<define name="NOMINAL_AIRSPEED" value="14.5" 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="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
</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="-0.01"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="4."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.33"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.60"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0."/>
<define name="AUTO_THROTTLE_IGAIN" value="0."/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
<define name="THROTTLE_SLEW_LIMITER" value="1" unit="s"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.39999997616"/>
<define name="ROLL_MAX_SETPOINT" value="0.703999996185" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.4" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.4" unit="rad"/>
<define name="PITCH_PGAIN" value="-6000."/>
<define name="PITCH_DGAIN" value="0."/>
<define name="ELEVATOR_OF_ROLL" value="1200."/>
<define name="ROLL_ATTITUDE_GAIN" value="-6000."/>
<define name="ROLL_RATE_GAIN" value="-600."/>
<define name="ROLL_SLEW" value="0.02"/> <!-- Maximal roll angle change per 1/60 of second: 0.02 rad/loop * 180/pi * 60 loop/sec = 60 deg/sec -->
</section>
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_THROTTLE" value="1.00"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.6"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.0"/><!-- 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="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
</section>
<firmware name="fixedwing">
<target name="ap" board="tiny_1.1">
<configure name="PERIODIC_FREQUENCY" value="960"/> <!-- IMU FREQ -->
<configure name="AHRS_PROPAGATE_FREQUENCY" value="120"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="60"/>
<configure name="AHRS_ALIGNER_LED" value="1"/>
<configure name="CPU_LED" value="2"/>
</target>
<target name="sim" board="pc"/>
<define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<subsystem name="radio_control" type="ppm"/>
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B57600"/>
</subsystem>
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="imu" type="booz"/>
<subsystem name="ahrs" type="float_dcm"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
</firmware>
<firmware name="setup">
<target name="tunnel" board="tiny_1.1"/>
</firmware>
<modules>
<load name="light.xml">
<define name="LIGHT_LED_STROBE" value="2"/>
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
</load>
</modules>
</airframe>
conf/airframes/TU_Delft/Trip50A.xml
-278
View File
@@ -1,278 +0,0 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
Trip 50cm 150km range
Tiny Sense (=tiny2.11 with onboard thermopiles + current)
XBee modem
LEA 5H
-->
<airframe name="MavLab50cm">
<!-- commands section -->
<servos>
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILEVON_LEFT" no="1" min="900" neutral="1500" max="2100"/>
<servo name="AILEVON_RIGHT" no="5" min="900" neutral="1500" max="2100"/>
<servo name="BOMB" no="3" min="1880" neutral="1880" max="1200"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="BOMB" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="BOMB" value="@YAW"/>
</rc_commands>
<ap_only_commands>
<!--
<copy command="CAM_TILT"/>
<copy command="CAM_PAN"/>
-->
</ap_only_commands>
<command_laws>
<set servo="MOTOR" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="(@ROLL*0.8f) - (@PITCH)"/>
<set servo="AILEVON_RIGHT" value="(@ROLL*0.8f) + (@PITCH)"/>
<set servo="BOMB" value="@BOMB"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.85"/>
<define name="MAX_PITCH" value="0.6"/>
</section>
<section name="adc" prefix="ADC_CHANNEL_">
<define name="AIRSPEED" value="ADC_3"/>
<define name="AIRSPEED_NB_SAMPLES" value="32"/>
</section>
<section name="INFRARED" prefix="IR_">
<define name="ADC_IR1_NEUTRAL" value="500"/>
<define name="ADC_IR2_NEUTRAL" value="500"/>
<define name="ADC_TOP_NEUTRAL" value="490"/>
<define name="CORRECTION_UP" value="1."/>
<define name="CORRECTION_DOWN" value="1."/>
<define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/>
<define name="LATERAL_CORRECTION" value="1."/>
<define name="LONGITUDINAL_CORRECTION" value="-1."/>
<define name="VERTICAL_CORRECTION" value="1.5"/>
<define name="HORIZ_SENSOR_TILTED" value="1"/>
<define name="IR1_SIGN" value="1"/>
<define name="IR2_SIGN" value="-1"/>
<define name="TOP_SIGN" value="1"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="18.9649028778" unit="deg"/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="14000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="6.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="6.8" unit="V"/>
<define name="LOW_BAT_LEVEL" value="7.3" unit="V"/>
<define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
<define name="MilliAmpereOfAdc(adc)" value="((adc-508)*50)"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_P_NEUTRAL" value="382"/>
<define name="DYNAMIC_RANGE" value="500" unit="deg/s"/>
<define name="GYRO_P_SENS" value="-2.0/1024.*GYRO_DYNAMIC_RANGE" unit="deg/s/adc_unit" integer="16"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="10." 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"/>
<!--uncommant API protocol in makefile-->
<define name="XBEE_INIT" value="\"ATCHC\rATID3332\rATPL4\rATRN1\rATTT80\rATBD3\rATWR\r\""/>
<define name="NO_XBEE_API_INIT" value="TRUE"/> <!-- uncommant after programed-->
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="70."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="7.6" unit="volt"/>
<!-- Vertical Outerloop
v_ctl_climb_setpoint = ALTITUDE_PGAIN * altitude_error + altitude_pre_climb;
BoundAbs(v_ctl_climb_setpoint, V_CTL_ALTITUDE_MAX_CLIMB);
-->
<!-- outer loop proportional gain: alt error 5 climb m/s -->
<define name="ALTITUDE_PGAIN" value="-0.0750000029802"/>
<!-- outer loop saturation: m/s-->
<define name="ALTITUDE_MAX_CLIMB" value="5.0"/>
<!-- auto throttle inner loop
float controlled_throttle = v_ctl_auto_throttle_cruise_throttle
+ v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint
+ v_ctl_auto_throttle_pgain *
(err + v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err
+ v_ctl_auto_throttle_dgain * d_err);
/* pitch pre-command */
float v_ctl_pitch_of_vz = (v_ctl_climb_setpoint + d_err * v_ctl_auto_throttle_pitch_of_vz_dgain)
* v_ctl_auto_throttle_pitch_of_vz_pgain;
-->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.40000000596"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.20"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.90"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500."/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0." unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.035000000149"/>
<define name="AUTO_THROTTLE_IGAIN" value="0."/>
<define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0."/>
<define name="THROTTLE_SLEW_LIMITER" value="1" unit="s"/>
<define name="AUTO_AIRSPEED_SETPOINT" value="10" unit="m/s"/>
<define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0" unit="degree/(m/s)"/>
<define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0" unit="%/(m/s)"/>
<define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="0."/>
<define name="AUTO_PITCH_IGAIN" value="0."/>
<define name="AUTO_PITCH_MAX_PITCH" value="0"/>
<define name="AUTO_PITCH_MIN_PITCH" value="0"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.5"/> <!-- Heading outerloop: only P-gain -->
<define name="ROLL_MAX_SETPOINT" value="0.75" unit="rad"/> <!-- Max Angles -->
<define name="PITCH_MAX_SETPOINT" value="0.4" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.4" unit="rad"/>
<define name="PITCH_PGAIN" value="-7110.09179688"/> <!-- Pitch Angle PD control -->
<define name="PITCH_DGAIN" value="2."/>
<define name="ELEVATOR_OF_ROLL" value="1500."/> <!-- Feed forward ABS(roll) to elevator -->
<define name="ROLL_SLEW" value="0.30"/> <!-- Maximal roll angle change per 1/60 of second -->
<define name="ROLL_ATTITUDE_GAIN" value="-7000."/> <!-- Roll Angle PD control -->
<define name="ROLL_RATE_GAIN" value="-2752.29394531"/>
<!--
#ifdef H_CTL_ROLL_ATTITUDE_GAIN
inline static void h_ctl_roll_loop( void ) {
float err = estimator_phi - h_ctl_roll_setpoint;
float cmd = - h_ctl_roll_attitude_gain * err
- h_ctl_roll_rate_gain * estimator_p
+ v_ctl_throttle_setpoint * h_ctl_aileron_of_throttle;
h_ctl_aileron_setpoint = TRIM_PPRZ(cmd);
}
-->
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0."/>
<!-- <define name="NAV_GROUND_SPEED_PGAIN" value="0"/> -->
</section>
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="40"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="25"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_THROTTLE" value="1.0"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.40"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.0"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.3"/><!-- 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="0.0" unit="%"/>
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
</section>
<section name="SIMU">
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
</section>
<makefile>
CONFIG = \"tiny_sense.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DSYS_TIME_LED=2
ap.srcs = mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
ap.srcs += commands.c
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c
#TRANSPARENT
#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -#DDATALINK=PPRZ -DUART1_BAUD=B9600
#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c
# Maxstream API protocol
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B9600
ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_GYRO -DIDG300
ap.srcs += $(SRC_ARCH)/adc_hw.c
ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
ap.srcs += gps_ubx.c gps.c latlong.c
ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET -DSTRONG_WIND
ap.srcs += infrared.c estimator.c gyro.c
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
#ap.srcs += baro_bmp.c $(SRC_ARCH)/i2c_hw.c i2c.c
#ap.CFLAGS += -DUSE_I2C0 -DUSE_BARO_BMP -DBARO_BMP_ACCEL
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
sim.srcs += joystick.c
sim.CFLAGS += -DUSE_JOYSTICK
</makefile>
</airframe>
conf/airframes/TU_Delft/skywalker.xml
-239
View File
@@ -1,239 +0,0 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
YAPA + XSens + XBee
-->
<airframe name="Yapa v1">
<servos>
<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILERON_LEFT" no="2" min="900" neutral="1500" max="2100"/>
<servo name="AILERON_RIGHT" no="6" min="900" neutral="1500" max="2100"/>
<servo name="ELEVATOR" no="7" min="1900" neutral="1500" max="1100"/>
<servo name="RUDDER" no="3" min="1100" neutral="1500" max="1900"/>
</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="BRAKE" failsafe_value="9600"/> <!-- both elerons up as butterfly brake ? -->
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="YAW" value="@YAW"/>
<set command="PITCH" value="@PITCH"/>
<set command="BRAKE" value="@FLAPS"/>
</rc_commands>
<section name="SERVO_MIXER_GAINS">
<define name="AILERON_NEUTRAL" value="0.3f"/>
<define name="AILERON_RATE_UP" value="1.0f"/>
<define name="AILERON_RATE_DOWN" value="0.5f"/>
<define name="AILERON_RATE_UP_BRAKE" value="1.0f"/>
<define name="AILERON_RATE_DOWN_BRAKE" value="1.0f"/>
<define name="PITCH_GAIN" value="0.9f"/>
<define name="BRAKE_AILEVON" value="-0.7f"/>
<define name="BRAKE_PITCH" value="0.1f"/>
<define name="MAX_BRAKE_RATE" value="130"/>
<define name="RUDDER_OF_AILERON" value="0.3"/>
<define name="LIMIT(X,XL,XH)" value="( ((X)>(XH)) ? (XH) : ( ((X)>(XL)) ? (X) : (XL) ) )"/>
</section>
<command_laws>
<!-- Brake Rate Limiter -->
<let var="brake_value_nofilt" value="LIMIT(-@BRAKE, 0, MAX_PPRZ)"/>
<let var="test; \
static int16_t _var_brake_value = 0; \
_var_brake_value += LIMIT(_var_brake_value_nofilt - _var_brake_value,-MAX_BRAKE_RATE,MAX_BRAKE_RATE); \
int verwaarloos_deze_warning_CDW" value="0"/>
<!-- Differential Aileron Depending on Brake Value -->
<let var="aileron_up_rate" value="(AILERON_RATE_UP * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_UP_BRAKE * $brake_value)"/>
<let var="aileron_down_rate" value="(AILERON_RATE_DOWN * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_DOWN_BRAKE * $brake_value)"/>
<let var="aileron_up" value="(@ROLL * (((float)$aileron_up_rate) / ((float)MAX_PPRZ)))"/>
<let var="aileron_down" value="(@ROLL * (((float)$aileron_down_rate) / ((float)MAX_PPRZ)))"/>
<let var="leftturn" value="(@ROLL >= 0? 1 : 0)"/>
<let var="rightturn" value="(1 - $leftturn)"/>
<set servo="AILERON_LEFT" value="($aileron_up * $leftturn) + ($aileron_down * $rightturn) - $brake_value*(BRAKE_AILEVON) - (MAX_PPRZ * AILERON_NEUTRAL)"/>
<set servo="AILERON_RIGHT" value="($aileron_up * $rightturn) + ($aileron_down * $leftturn) + $brake_value*(BRAKE_AILEVON) + (MAX_PPRZ *AILERON_NEUTRAL)"/>
<set servo="RUDDER" value="@YAW + @ROLL * RUDDER_OF_AILERON"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<!-- Pitch with Brake-Trim Function -->
<set servo="ELEVATOR" value="@PITCH * PITCH_GAIN - BRAKE_PITCH * $brake_value"/>
</command_laws>
<!-- Local magnetic field -->
<section name="AHRS" prefix="AHRS_">
<define name="H_X" value="0.51562740288882"/>
<define name="H_Y" value="-0.05707735220832"/>
<define name="H_Z" value="0.85490967783446"/>
</section>
<section name="XSENS">
<define name="GPS_IMU_LEVER_ARM_X" value="-0.285f"/>
<define name="GPS_IMU_LEVER_ARM_Y" value="0.0f"/>
<define name="GPS_IMU_LEVER_ARM_Z" value="0.0f"/>
</section>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="75" unit="deg"/>
<define name="MAX_PITCH" value="45" unit="deg"/>
</section>
<section name="BAT">
<!-- <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/> -->
<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
</section>
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0.0" unit="rad"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="-0.075" unit="rad"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="14." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
<!-- <define name="ALT_KALMAN_ENABLED" value="TRUE"/> -->
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="COMMAND_ROLL_TRIM" value="-2300" />
<define name="COMMAND_PITCH_TRIM" value="1800" />
</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="-0.108000002801"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.312000006437"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.250999987125" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.00700000021607"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.0309999994934"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.171000003815"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.16799998283"/>
<define name="COURSE_DGAIN" value="0.280999988317"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="1.0039999485"/>
<define name="ROLL_MAX_SETPOINT" value="0.851999998093" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-15429.6865234"/>
<define name="PITCH_DGAIN" value="7.73400020599"/>
<define name="ELEVATOR_OF_ROLL" value="3007.81298828"/>
<define name="ROLL_SLEW" value="1."/>
<define name="ROLL_ATTITUDE_GAIN" value="-11718.75"/>
<define name="ROLL_RATE_GAIN" value="-820.312011719"/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="30"/>
<define name="BLEND_END" value="15"/>
<define name="CLIMB_THROTTLE" value="1."/>
<define name="CLIMB_PITCH" value="0.40000000596"/>
<define name="DESCENT_THROTTLE" value="0."/>
<define name="DESCENT_PITCH" value="-0.10000000149"/>
<define name="CLIMB_NAV_RATIO" value="0.800000011921"/>
<define name="DESCENT_NAV_RATIO" value="0.834999978542"/>
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
</section>
<section name="DIGITAL_CAMERA" prefix="DC_">
<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
<define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
</section>
<modules>
<load name="light.xml">
<define name="LIGHT_LED_STROBE" value="3"/>
<define name="LIGHT_LED_NAV" value="2"/>
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
</load>
<!-- <load name="digital_cam_i2c.xml"/> -->
<!-- <load name="ins_ppzuavimu.xml"/> -->
<load name="digital_cam.xml">
<define name="DC_SHUTTER_LED" value="2"/>
</load>
</modules>
<firmware name="fixedwing">
<target name="ap" board="tiny_2.11" />
<target name="sim" board="pc"/>
<define name="STRONG_WIND"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<define name="LOITER_TRIM"/>
<define name="TUNE_AGRESSIVE_CLIMB"/>
<define name="AGR_CLIMB"/>
<subsystem name="radio_control" type="ppm"/>
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B9600"/>
</subsystem>
<!-- Actuators -->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="navigation"/>
<subsystem name="ins" type="xsens">
<configure name="XSENS_UART_NR" value="0" />
</subsystem>
</firmware>
</airframe>
conf/airframes/TU_Delft/skywalkerfiber.xml
-323
View File
@@ -1,323 +0,0 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
Skywalker Fiberglass "GraySky" FPV 168 (http://www..com/)
YAPA v2 (http://paparazzi.enac.fr/wiki/Yapa#Yapa_v2)
With modified power routing
* Aspiring
* XBee 2.4Ghz
* uBlox LEA5H and Sarantel helix GPS antenna
Notes:
The two aileron servos are separately connected and have an additional spoileron function
-->
<airframe name="Graysky">
<!-- **************************** FIRMWARE ********************************* -->
<firmware name="fixedwing">
<target name="ap" board="tiny_2.11">
<configure name="PERIODIC_FREQUENCY" value="120"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
<configure name="AHRS_ALIGNER_LED" value="3"/>
</target>
<target name="sim" board="pc"/>
<define name="LOITER_TRIM"/>
<define name="TUNE_AGRESSIVE_CLIMB"/>
<define name="AGR_CLIMB"/>
<define name="ALT_KALMAN"/>
<!-- Radio Control -->
<subsystem name="radio_control" type="ppm"/>
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B9600"/>
</subsystem>
<!-- Actuators -->
<subsystem name="control"/>
<!-- Navigation -->
<subsystem name="navigation"/>
<!-- Sensors -->
<subsystem name="imu" type="aspirin_i2c"/>
<subsystem name="ahrs" type="float_dcm"/>
<subsystem name="gps" type="ublox"/>
</firmware>
<!-- **************************** MODULES ********************************** -->
<modules>
<!-- <load name="light.xml">
<define name="LIGHT_LED_STROBE" value="3"/>
<define name="LIGHT_LED_NAV" value="2"/>
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
</load>
-->
<!-- <load name="digital_cam_i2c.xml"/> -->
<!-- <load name="ins_ppzuavimu.xml"/> -->
<load name="digital_cam.xml">
<define name="DC_SHUTTER_LED" value="3"/>
</load>
</modules>
<!-- ***************************** SERVOS ********************************** -->
<servos>
<!-- Define here to which CONNECTOR NUMBER the servo is connected to, on the autopilot cicuit board -->
<servo name="THROTTLE" no="9" min="1000" neutral="1000" max="2000"/>
<servo name="AILERON_LEFT" no="4" min="1000" neutral="1500" max="2000"/>
<servo name="AILERON_RIGHT" no="8" min="1000" neutral="1500" max="2000"/>
<servo name="ELEVATOR" no="5" min="1900" neutral="1500" max="1100"/>
<servo name="RUDDER" no="1" min="1100" neutral="1500" max="1900"/>
</servos>
<!-- commands section -->
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<!-- both ailerons up as braking spoilerons -->
<axis name="BRAKE" failsafe_value="9600"/>
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="YAW" value="@YAW"/>
<set command="PITCH" value="@PITCH"/>
<set command="BRAKE" value="@FLAPS"/>
</rc_commands>
<!-- To still be able to use rudder in autonomous fight YAW can come in handy while tuning -->
<!--
<auto_rc_commands>
<set command="YAW" value="@YAW"/>
<set command="GAIN1" value="@GAIN1"/>
<set command="CALIB" value="@CALIB"/>
</auto_rc_commands>
-->
<section name="SERVO_MIXER_GAINS">
<define name="AILERON_NEUTRAL" value="0.3f"/>
<define name="AILERON_RATE_UP" value="1.0f"/>
<define name="AILERON_RATE_DOWN" value="0.5f"/>
<define name="AILERON_RATE_UP_BRAKE" value="1.0f"/>
<define name="AILERON_RATE_DOWN_BRAKE" value="1.0f"/>
<define name="PITCH_GAIN" value="0.9f"/>
<define name="BRAKE_SPOILERON" value="-0.7f"/>
<define name="BRAKE_PITCH" value="0.1f"/>
<define name="MAX_BRAKE_RATE" value="130"/>
<define name="RUDDER_OF_AILERON" value="0.3"/>
<define name="LIMIT(X,XL,XH)" value="( ((X)>(XH)) ? (XH) : ( ((X)>(XL)) ? (X) : (XL) ) )"/>
</section>
<command_laws>
<!-- Brake Rate Limiter -->
<let var="brake_value_nofilt" value="LIMIT(-@BRAKE, 0, MAX_PPRZ)"/>
<let var="test; \
static int16_t _var_brake_value = 0; \
_var_brake_value += LIMIT(_var_brake_value_nofilt - _var_brake_value,-MAX_BRAKE_RATE,MAX_BRAKE_RATE); \
int verwaarloos_deze_warning_CDW" value="0"/>
<!-- Differential Aileron Depending on Brake Value -->
<let var="aileron_up_rate" value="(AILERON_RATE_UP * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_UP_BRAKE * $brake_value)"/>
<let var="aileron_down_rate" value="(AILERON_RATE_DOWN * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_DOWN_BRAKE * $brake_value)"/>
<let var="aileron_up" value="(@ROLL * (((float)$aileron_up_rate) / ((float)MAX_PPRZ)))"/>
<let var="aileron_down" value="(@ROLL * (((float)$aileron_down_rate) / ((float)MAX_PPRZ)))"/>
<let var="leftturn" value="(@ROLL >= 0? 1 : 0)"/>
<let var="rightturn" value="(1 - $leftturn)"/>
<set servo="AILERON_LEFT" value="($aileron_up * $leftturn) + ($aileron_down * $rightturn) - $brake_value*(BRAKE_SPOILERON) - (MAX_PPRZ * AILERON_NEUTRAL)"/>
<set servo="AILERON_RIGHT" value="($aileron_up * $rightturn) + ($aileron_down * $leftturn) + $brake_value*(BRAKE_SPOILERON) + (MAX_PPRZ *AILERON_NEUTRAL)"/>
<set servo="RUDDER" value="@YAW + @ROLL * RUDDER_OF_AILERON"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<!-- Pitch with Brake-Trim Function -->
<set servo="ELEVATOR" value="@PITCH * PITCH_GAIN - BRAKE_PITCH * $brake_value"/>
</command_laws>
<!-- Local magnetic field -->
<section name="AHRS" prefix="AHRS_">
<define name="H_X" value="0.51562740288882"/>
<define name="H_Y" value="-0.05707735220832"/>
<define name="H_Z" value="0.85490967783446"/>
</section>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="75" unit="deg"/>
<define name="MAX_PITCH" value="45" unit="deg"/>
</section>
<section name="BAT">
<!-- <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/> -->
<!-- Note that 3S lipo 3.1*3=9.3 most of the time the cutof for the motor part of the ESC -->
<define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
</section>
<section name="IMU" prefix="IMU_">
<!-- Calibration Neutral -->
<define name="GYRO_P_NEUTRAL" value="0"/>
<define name="GYRO_Q_NEUTRAL" value="0"/>
<define name="GYRO_R_NEUTRAL" value="0"/>
<!-- ITG3200: SENS = 14.375 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec / 12bit FRAC: 4096 / 828 -->
<!-- IMU3000: SENS = 16.4 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec / 12bit FRAC: 4096 / 828 -->
<define name="GYRO_P_SENS" value="4.336" integer="16"/>
<define name="GYRO_Q_SENS" value="4.336" integer="16"/>
<define name="GYRO_R_SENS" value="4.336" integer="16"/>
<define name="GYRO_P_Q" value="0."/>
<define name="GYRO_P_R" value="0"/>
<define name="GYRO_Q_P" value="0."/>
<define name="GYRO_Q_R" value="0."/>
<define name="GYRO_R_P" value="0."/>
<define name="GYRO_R_Q" value="0."/>
<define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_Q_SIGN" value="-1"/>
<define name="GYRO_R_SIGN" value="-1"/>
<define name="ACCEL_X_NEUTRAL" value="-12"/>
<define name="ACCEL_Y_NEUTRAL" value="+3"/>
<define name="ACCEL_Z_NEUTRAL" value="-30"/>
<!-- SENS = 256 LSB/g @ 2.5V [X&Y: 265 LSB/g @ 3.3V] / 9.81 ms2/g = 26.095 LSB/ms2 / 10bit FRAC: 1024 / 26.095 for z and 1024 / 27.01 for X&Y -->
<define name="ACCEL_X_SENS" value="37.9" integer="16"/>
<define name="ACCEL_Y_SENS" value="37.9" integer="16"/>
<define name="ACCEL_Z_SENS" value="39.24" integer="16"/>
<define name="ACCEL_X_SIGN" value="1"/>
<define name="ACCEL_Y_SIGN" value="-1"/>
<define name="ACCEL_Z_SIGN" value="-1"/>
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="1" integer="16"/>
<define name="MAG_Y_SENS" value="1" integer="16"/>
<define name="MAG_Z_SENS" value="1" integer="16"/>
<define name="MAG_X_SIGN" value="1"/>
<define name="MAG_Y_SIGN" value="1"/>
<define name="MAG_Z_SIGN" value="1"/>
<define name="BODY_TO_IMU_PHI" value="0"/>
<define name="BODY_TO_IMU_THETA" value="0"/>
<define name="BODY_TO_IMU_PSI" value="0"/>
</section>
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="deg"/>
</section>
<section name="MISC">
<define name="COMMAND_ROLL_TRIM" value="1" />
<define name="COMMAND_PITCH_TRIM" value="-1" />
<define name="NOMINAL_AIRSPEED" value="17." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<!-- The Glide definitions are used for calculating the touch down point during auto landing -->
</section>
<!-- ******************* VERTICAL CONTROL ********************************** -->
<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="-0.108000002801"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.312000006437"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.250999987125" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.00700000021607"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.0309999994934"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.171000003815"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
</section>
<!-- ******************* HORIZONTAL CONTROL ******************************** -->
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.16799998283"/>
<define name="COURSE_DGAIN" value="0.280999988317"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="1.0039999485"/>
<define name="ROLL_MAX_SETPOINT" value="0.851999998093" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="-15429.6865234"/>
<define name="PITCH_DGAIN" value="7.73400020599"/>
<define name="ELEVATOR_OF_ROLL" value="3007.81298828"/>
<define name="ROLL_SLEW" value="1."/>
<define name="ROLL_ATTITUDE_GAIN" value="-11718.75"/>
<define name="ROLL_RATE_GAIN" value="-820.312011719"/>
</section>
<!-- ***************************** AGGRESIVE ******************************* -->
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="30"/>
<define name="BLEND_END" value="15"/>
<define name="CLIMB_THROTTLE" value="1."/>
<define name="CLIMB_PITCH" value="0.40000000596"/>
<define name="DESCENT_THROTTLE" value="0."/>
<define name="DESCENT_PITCH" value="-0.10000000149"/>
<define name="CLIMB_NAV_RATIO" value="0.800000011921"/>
<define name="DESCENT_NAV_RATIO" value="0.834999978542"/>
</section>
<!-- ****************************** FAILSAFE ******************************* -->
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
</section>
<!-- ******************************* CAMERA ******************************** -->
<section name="DIGITAL_CAMERA" prefix="DC_">
<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
<define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
</section>
</airframe>
conf/airframes/booz2_flixr.xml
+6 -3
View File
@@ -22,7 +22,7 @@
</firmware>
<firmware name="booz2_test_progs">
<target name="test_telemetry" board="booz_1.0"/>
<target name="test_downlink" board="booz_1.0"/>
<target name="test_baro" board="booz_1.0"/>
<target name="test_spektrum" board="booz_1.0"/>
<target name="tunnel" board="booz_1.0"/>
@@ -37,7 +37,9 @@
<load name="booz_drop.xml"/>
<load name="sys_mon.xml"/>
<!--load name="booz_cam.xml"/-->
<!--load name="sonar_maxbotix_booz.xml"/-->
<load name="sonar_maxbotix_booz.xml">
<configure name="ADC_SONAR" value="ADC_0"/>
</load>
</modules>
<commands>
@@ -185,7 +187,8 @@
</section>
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="15." integer="16" />
<define name="BARO_SENS" value="15." integer="16"/>
<define name="SONAR_SENS" value="2.146" integer="16"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
conf/airframes/delta_wing_minimal_example.xml
-1
View File
@@ -28,7 +28,6 @@
<firmware name="setup">
<target name="tunnel" board="tiny_2.11"/>
<target name="setup_actuators" board="tiny_2.11"/>
</firmware>
<servos>
conf/airframes/easy_glider_example.xml
-1
View File
@@ -171,7 +171,6 @@
<firmware name="setup">
<target name="tunnel" board="tiny_0.99" />
<target name="setup_actuators" board="tiny_0.99" />
</firmware>
<modules>
conf/airframes/easystar_ets_example.xml
-1
View File
@@ -31,7 +31,6 @@
<firmware name="setup">
<target name="tunnel" board="twog_1.0" />
<target name="setup_actuators" board="twog_1.0" />
</firmware>
<modules>
conf/airframes/easystar_example.xml
-1
View File
@@ -30,7 +30,6 @@
<firmware name="setup">
<target name="tunnel" board="twog_1.0"/>
<target name="setup_actuators" board="twog_1.0"/>
</firmware>
<!-- commands section -->
conf/airframes/esden/lisa_asctec.xml
-13
View File
@@ -227,18 +227,5 @@
<target name="test_actuators_asctecv1" board="lisa_l_1.1"/>
</firmware>
<firmware name="lisa_passthrough">
<target name="overo_test_passthrough" board="lisa_l_1.1" >
<configure name="HOST" value="A7"/>
<configure name="USER" value=""/>
<configure name="TARGET_DIR" value="~"/>
<configure name="PERIODIC_FREQ" value="512"/>
</target>
<target name="stm_passthrough" board="lisa_l_1.1">
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="imu" type="b2_v1.1"/>
</target>
</firmware>
</airframe>
conf/airframes/example_heli_lisam.xml
+259
View File
@@ -0,0 +1,259 @@
<!-- this is a synerani vehicle equiped with Lisa/M and generic china pwm motor controllers -->
<airframe name="jt_lisam">
<servos>
<servo name="GAS" no="0" min="1100" neutral="1100" max="1900"/>
<servo name="CIC_LEFT" no="2" min="1900" neutral="1500" max="1100"/>
<servo name="CIC_RIGHT" no="3" min="1900" neutral="1500" max="1100"/>
<servo name="CIC_FRONT" no="1" min="1900" neutral="1500" max="1100"/>
<servo name="TAIL" no="4" min="1100" neutral="1500" max="1900"/>
<servo name="GYRO_GAIN" no="6" min="1100" neutral="1500" max="1900"/>
</servos>
<commands>
<axis name="THRUST" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
</commands>
<section name="MIXER">
<define name="TCURVE" value="1"/>
<define name="SUPERVISION_SCALE" value="9600" />
</section>
<rc_commands>
<set command="THRUST" value="@THRUST * SUPERVISION_SCALE / MAX_PPRZ"/>
<set command="ROLL" value="@ROLL * SUPERVISION_SCALE / MAX_PPRZ"/>
<set command="PITCH" value="@PITCH * SUPERVISION_SCALE / MAX_PPRZ"/>
<set command="YAW" value="@YAW * SUPERVISION_SCALE / MAX_PPRZ"/>
</rc_commands>
<command_laws>
<let var="halfway" value="(@THRUST >= (3800) ? 1 : 0)"/>
<let var="thrust" value="@THRUST * MAX_PPRZ / SUPERVISION_SCALE" />
<let var="roll" value="@ROLL * MAX_PPRZ / SUPERVISION_SCALE" />
<let var="pitch" value="@PITCH * MAX_PPRZ / SUPERVISION_SCALE" />
<let var="yaw" value="@YAW * MAX_PPRZ / SUPERVISION_SCALE" />
<let var="collective" value="$thrust * 1.8 - (MAX_PPRZ * 0.9)" />
<set servo="GAS" value="(3800 * 1.6) + $halfway * ($thrust - 3800) + (1 - $halfway) * ($thrust - 3800) * 1.6" />
<set servo="CIC_LEFT" value="((-$pitch/2)+($roll*0.7))+($collective)"/>
<set servo="CIC_RIGHT" value="(($pitch/2)+($roll*0.7))-($collective)"/>
<set servo="CIC_FRONT" value="$pitch+($collective)"/>
<set servo="TAIL" value="$yaw"/>
<set servo="GYRO_GAIN" value="-MAX_PPRZ/2"/>
</command_laws>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_RC_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<!--
AP_MODE_RATE_DIRECT AP_MODE_ATTITUDE_DIRECT AP_MODE_HOVER_DIRECT
AP_MODE_RATE_RC_CLIMB AP_MODE_ATTITUDE_RC_CLIMB
AP_MODE_ATTITUDE_CLIMB AP_MODE_HOVER_CLIMB
AP_MODE_RATE_Z_HOLD AP_MODE_ATTITUDE_Z_HOLD AP_MODE_HOVER_Z_HOLD
AP_MODE_NAV
-->
<section name="IMU" prefix="IMU_">
<!--
<define name="GYRO_P_CHAN" value="1"/>
<define name="GYRO_Q_CHAN" value="0"/>
<define name="GYRO_R_CHAN" value="2"/>
-->
<define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_Q_SIGN" value="1"/>
<define name="GYRO_R_SIGN" value="1"/>
<define name="GYRO_P_NEUTRAL" value="-31"/>
<define name="GYRO_Q_NEUTRAL" value="-48"/>
<define name="GYRO_R_NEUTRAL" value="-17"/>
<define name="GYRO_P_SENS" value="4.412" integer="16"/>
<define name="GYRO_Q_SENS" value="4.412" integer="16"/>
<define name="GYRO_R_SENS" value="4.412" integer="16"/>
<!--
<define name="ACCEL_X_CHAN" value="3"/>
<define name="ACCEL_Y_CHAN" value="5"/>
<define name="ACCEL_Z_CHAN" value="6"/>
-->
<define name="ACCEL_X_SIGN" value="1"/>
<define name="ACCEL_Y_SIGN" value="1"/>
<define name="ACCEL_Z_SIGN" value="1"/>
<define name="ACCEL_X_NEUTRAL" value="10"/>
<define name="ACCEL_Y_NEUTRAL" value="1"/>
<define name="ACCEL_Z_NEUTRAL" value="-3"/>
<define name="ACCEL_X_SENS" value="38.4436411998" integer="16"/>
<define name="ACCEL_Y_SENS" value="38.7116161958" integer="16"/>
<define name="ACCEL_Z_SENS" value="39.970909149" integer="16"/>
<!--
<define name="MAG_X_CHAN" value="4"/>
<define name="MAG_Y_CHAN" value="0"/>
<define name="MAG_Z_CHAN" value="2"/>
<define name="MAG_45_HACK" value="1"/>
-->
<define name="MAG_X_SIGN" value="1"/>
<define name="MAG_Y_SIGN" value=" 1"/>
<define name="MAG_Z_SIGN" value="1"/>
<define name="MAG_X_NEUTRAL" value="-56"/>
<define name="MAG_Y_NEUTRAL" value="-171"/>
<define name="MAG_Z_NEUTRAL" value="-100"/>
<define name="MAG_X_SENS" value="4.3833130016" integer="16"/>
<define name="MAG_Y_SENS" value="4.59820229976" integer="16"/>
<define name="MAG_Z_SENS" value="4.3085068988" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0.)"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0.)"/>
<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 0.)"/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="12000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
<define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
<define name="SP_MAX_PSI" value="RadOfDeg(45.)"/>
<define name="SP_MAX_R" value="RadOfDeg(90.)"/>
<define name="SP_MAX_P" value="RadOfDeg(90.)"/>
<define name="DEADBAND_R" value="250"/>
<define name="DEADBAND_A" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_R" value="RadOfDeg(600)"/>
<define name="REF_ZETA_R" value="0.90"/>
<define name="REF_MAX_R" value="RadOfDeg(400.)"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
<define name="REF_ZETA_Q" value="0.90"/>
<define name="REF_MAX_Q" value="RadOfDeg(500.)"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_P" value="RadOfDeg(600)"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="RadOfDeg(220.)"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PSI_PGAIN" value="-750"/>
<define name="PSI_DGAIN" value="-370"/>
<define name="PSI_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="-800"/>
<define name="THETA_DGAIN" value="-240"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="-4000"/>
<define name="PHI_DGAIN" value="-600"/>
<define name="PHI_IGAIN" value="-10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
<define name="THETA_DDGAIN" value=" 300"/>
<define name="PSI_DDGAIN" value=" 300"/>
</section>
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="3.3" integer="16"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="-150"/>
<define name="HOVER_KD" value="-80"/>
<define name="HOVER_KI" value="-20"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="INV_M" value ="0.21"/>
</section>
<section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="MAG_UPDATE_YAW_ONLY" value="1"/>
<!-- magnetic field for Santa cruz from http://www.ngdc.noaa.gov/geomagmodels/IGRFWMM.jsp -->
<define name="H_X" value=" 0.47577"/>
<define name="H_Y" value=" 0.11811"/>
<define name="H_Z" value=" 0.87161"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
<section name="MISC">
<define name="FACE_REINJ_1" value="1024"/>
</section>
<!--
<modules main_freq="512">
<load name="vehicle_interface_overo_link.xml"/>
</modules>
-->
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_1.0">
<!-- <define name="BOOZ_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="heli"/>
<subsystem name="telemetry" type="transparent"/>
<define name="SERVO_HZ" value="50"/>
<define name="SERVO_HZ_SECONDARY" value="50"/>
<define name="USE_SERVOS_7AND8"/>
<define name="ROTORCRAFT_COMMANDS_YAW_ALWAYS_ENABLED"/>
</target>
<!--
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
-->
<subsystem name="imu" type="aspirin_v1.5"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="ahrs" type="int_cmpl_euler"/>
<subsystem name="stabilization" type="euler"/>
</firmware>
</airframe>
conf/airframes/flixr_discovery.xml
-1
View File
@@ -56,7 +56,6 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
<firmware name="setup">
<target name="tunnel" board="twog_1.0" />
<target name="usb_tunnel_0" board="twog_1.0" />
<target name="setup_actuators" board="twog_1.0" />
</firmware>
conf/airframes/fraser_lisa_m_rotorcraft.xml
+7 -2
View File
@@ -23,7 +23,7 @@
<subsystem name="actuators" type="mkk"/>
<subsystem name="imu" type="aspirin_v1.5"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="euler"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
</firmware>
@@ -55,7 +55,7 @@
</firmware>
<modules main_freq="512">
<!--load name="sys_mon.xml"/-->
<load name="sys_mon.xml"/>
</modules>
<commands>
@@ -143,7 +143,12 @@
<!-- setpoints -->
<define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_PSI" value="45." unit="deg"/>
<define name="SP_MAX_P" value="180." unit="deg/s"/>
<define name="SP_MAX_Q" value="180." unit="deg/s"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="DEADBAND_A" value="250"/>
<define name="DEADBAND_E" value="250"/>
<define name="DEADBAND_R" value="250"/>
<!-- reference -->
conf/airframes/funjet_cam_example.xml
-1
View File
@@ -36,7 +36,6 @@
<firmware name="setup">
<target name="tunnel" board="tiny_2.11"/>
<target name="setup_actuators" board="tiny_2.11"/>
</firmware>
<modules main_freq="60">
conf/airframes/funjet_example.xml
-1
View File
@@ -39,7 +39,6 @@
<firmware name="setup">
<target name="tunnel" board="tiny_2.11"/>
<target name="setup_actuators" board="tiny_2.11"/>
</firmware>
<!-- commands section -->
conf/airframes/logger_sd.xml
+1
View File
@@ -37,6 +37,7 @@
<firmware name="logger">
<target name="ap" board="tiny_2.11" >
<configure name="LOG_MSG_FMT" value="LOG_PPRZ"/>
<configure name="SPI_CHANNEL" value="1" />
<configure name="UART0_BAUD" value="B9600" />
<configure name="UART1_BAUD" value="B9600" />
conf/airframes/logomatic.xml
+28
View File
@@ -0,0 +1,28 @@
<!DOCTYPE airframe SYSTEM "airframe.dtd">
<!--
Sparkfun Logomatic V26 data logger
http://www.sparkfun.com/products/10216
P1-P8 can be used as ADC_0-ADC_7
P1 as PPM_IN
P2 as SERV_CLK
For now only non SDHC SD cards (<= 2GB) are supported. martinmm@pfump.org
-->
<airframe name="Logomatic">
<firmware name="logger">
<target name="ap" board="logom_2.6" >
<configure name="LOG_MSG_FMT" value="LOG_XBEE"/>
<configure name="SPI_CHANNEL" value="0" />
<configure name="UART0_BAUD" value="B57600" />
<configure name="UART1_BAUD" value="B57600" />
</target>
</firmware>
</airframe>
conf/airframes/mentor_tum.xml
-1
View File
@@ -31,7 +31,6 @@
<firmware name="setup">
<target name="tunnel" board="twog_1.0" />
<target name="usb_tunnel_0" board="twog_1.0" />
<target name="setup_actuators" board="twog_1.0" />
</firmware>
<modules main_freq="60">
conf/airframes/microjet_example.xml
+1 -1
View File
@@ -191,6 +191,7 @@
</firmware>
<modules>
<load name="openlog.xml"/>
<load name="infrared_adc.xml"/>
<load name="digital_cam_servo.xml">
<define name="DC_SHUTTER_SERVO" value="COMMAND_SHUTTER" />
@@ -202,7 +203,6 @@
<target name="tunnel" board="tiny_1.1" />
<target name="usb_tunnel_0" board="tiny_1.1" />
<target name="usb_tunnel_1" board="tiny_1.1" />
<target name="setup_actuators" board="tiny_1.1" />
</firmware>
</airframe>
conf/airframes/mm/extra/logger_sd_twog.xml
+22
View File
@@ -0,0 +1,22 @@
<!DOCTYPE airframe SYSTEM "airframe.dtd">
<!--
SD card connected to TWOG, stop button on PPM_IN, XBee 57600
-->
<airframe name="Logger">
<firmware name="logger">
<target name="ap" board="tiny_2.11" >
<configure name="LOG_MSG_FMT" value="LOG_XBEE"/>
<configure name="SPI_CHANNEL" value="1" />
<configure name="UART0_BAUD" value="B57600" />
<configure name="UART1_BAUD" value="B57600" />
<configure name="LOG_STOP_KEY" value="6" />
</target>
</firmware>
</airframe>
conf/airframes/twinjet_example.xml
-1
View File
@@ -33,7 +33,6 @@
<target name="tunnel" board="twog_1.0" />
<target name="usb_tunnel_0" board="twog_1.0" />
<target name="usb_tunnel_1" board="twog_1.0" />
<target name="setup_actuators" board="twog_1.0" />
</firmware>
<modules>
conf/airframes/twinjet_overo.xml
-1
View File
@@ -32,7 +32,6 @@
<firmware name="setup">
<target name="tunnel" board="twog_1.0" />
<target name="setup_actuators" board="twog_1.0" />
</firmware>
<modules>
conf/airframes/twinstar_example.xml
-1
View File
@@ -29,7 +29,6 @@
<firmware name="setup">
<target name="tunnel" board="twog_1.0"/>
<target name="setup_actuators" board="twog_1.0"/>
</firmware>
<modules>
conf/autopilot/lisa_passthrough.makefile
+1 -1
View File
@@ -93,7 +93,7 @@ stm_passthrough.CFLAGS += -DUSE_I2C2
stm_passthrough.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
# Vanes
stm_passthrough.CFLAGS += -I $(SRC_CSC)
stm_passthrough.CFLAGS += -I$(SRC_CSC)
stm_passthrough.CFLAGS += -DUSE_CAN1 \
-DUSE_CAN1 \
-DUSE_USB_LP_CAN1_RX0_IRQ \
conf/autopilot/lisa_test_progs.makefile
+1
View File
@@ -526,6 +526,7 @@ test_actuators_asctecv1.srcs = $(COMMON_TEST_SRCS)
test_actuators_asctecv1.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
test_actuators_asctecv1.srcs += $(COMMON_TELEMETRY_SRCS)
test_actuators_asctecv1.srcs += test/test_actuators.c
test_actuators_asctecv1.srcs += $(SRC_FIRMWARE)/commands.c
test_actuators_asctecv1.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
test_actuators_asctecv1.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
conf/autopilot/logger.makefile
+20 -9
View File
@@ -26,22 +26,27 @@ ifndef UART1_BAUD
UART1_BAUD = B9600
endif
ifndef LOG_STOP_KEY
LOG_STOP_KEY = 7
endif
# a configuration program to access both uart through usb
ifeq ($(ARCH), lpc21)
ap.CFLAGS += -DUSE_LED
ap.CFLAGS += -DUSE_LED -DPERIPHERALS_AUTO_INIT
ap.srcs = mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c $(SRC_FIRMWARE)/main_logger.c
#choose one
ap.CFLAGS += -DLOG_XBEE
#ap.CFLAGS += -DLOG_PPRZ
# PPRZ message format is default
ifndef LOG_MSG_FMT
LOG_MSG_FMT = LOG_PPRZ
endif
#set the speed
ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=$(UART0_BAUD) -DUSE_UART0_RX_ONLY
ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=$(UART1_BAUD) -DUSE_UART1_RX_ONLY
ap.CFLAGS += -DLOG_STOP_KEY=$(LOG_STOP_KEY)
ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
ap.srcs += mcu_periph/uart.c
ap.srcs += $(SRC_ARCH)/mcu_arch.c
@@ -50,11 +55,14 @@ ap.srcs += mcu.c
#set SPI interface for SD card (0 or 1)
ap.CFLAGS += -DHW_ENDPOINT_LPC2000_SPINUM=$(SPI_CHANNEL)
#message format pprz/xbee
ap.CFLAGS += -D$(LOG_MSG_FMT)
#LPC2148 USB hw module needs at least 18MHz PCLK
ap.CFLAGS += -DUSE_USB_HIGH_PCLK
#efsl
ap.CFLAGS += -I $(SRC_ARCH)/efsl/inc -I $(SRC_ARCH)/efsl/conf
ap.CFLAGS += -I$(SRC_ARCH)/efsl/inc -I$(SRC_ARCH)/efsl/conf
ap.srcs += $(SRC_ARCH)/efsl/src/efs.c $(SRC_ARCH)/efsl/src/plibc.c
ap.srcs += $(SRC_ARCH)/efsl/src/disc.c $(SRC_ARCH)/efsl/src/partition.c
@@ -69,7 +77,7 @@ ap.srcs += $(SRC_ARCH)/efsl/src/interfaces/sd.c
#usb mass storage
ap.CFLAGS += -DUSE_USB_MSC
ap.CFLAGS += -I $(SRC_ARCH)/lpcusb -I $(SRC_ARCH)/lpcusb/examples
ap.CFLAGS += -I$(SRC_ARCH)/lpcusb -I$(SRC_ARCH)/lpcusb/examples
ap.srcs += $(SRC_ARCH)/usb_msc_hw.c
ap.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c
@@ -77,11 +85,14 @@ ap.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c
ap.srcs += $(SRC_ARCH)/lpcusb/examples/msc_bot.c
ap.srcs += $(SRC_ARCH)/lpcusb/examples/msc_scsi.c
ap.srcs += $(SRC_ARCH)/lpcusb/examples/blockdev_sd.c
ifeq ($(SPI_CHANNEL), 1)
ap.srcs += $(SRC_ARCH)/lpcusb/examples/lpc2000_spi.c
else
ap.srcs += $(SRC_ARCH)/lpcusb/examples/lpc2000_spi0.c
endif
else
$(error usb_tunnel currently only implemented for the lpc21)
$(error logger currently only implemented for the lpc21)
endif
conf/autopilot/rotorcraft.makefile
+6 -3
View File
@@ -142,9 +142,11 @@ ap.CFLAGS += -DUSE_I2C2
else ifeq ($(BOARD), lisa_m)
ap.CFLAGS += -DUSE_I2C2
else ifeq ($(BOARD), navgo)
ap.CFLAGS += -DUSE_I2C1
ap.CFLAGS += -DADS1114_I2C_DEVICE=i2c1
ap.srcs += peripherals/ads1114.c
include $(CFG_ROTORCRAFT)/spi.makefile
ap.CFLAGS += -DUSE_SPI_SLAVE0
ap.CFLAGS += -DSPI_NO_UNSELECT_SLAVE
ap.CFLAGS += -DSPI_MASTER
ap.srcs += peripherals/mcp355x.c
endif
ifneq ($(BARO_LED),none)
ap.CFLAGS += -DROTORCRAFT_BARO_LED=$(BARO_LED)
@@ -195,6 +197,7 @@ endif
ap.srcs += $(SRC_FIRMWARE)/autopilot.c
ap.srcs += $(SRC_FIRMWARE)/stabilization.c
ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_none.c
ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_rate.c
ap.CFLAGS += -DUSE_NAVIGATION
conf/autopilot/setup.makefile
+6 -1
View File
@@ -95,11 +95,16 @@ endif
# a test program to setup actuators
ifeq ($(ARCH), lpc21)
setup_actuators.CFLAGS += -DFBW -DUSE_LED -DSYS_TIME_LED=1
setup_actuators.CFLAGS += -DFBW -DUSE_LED -DPERIPHERALS_AUTO_INIT
setup_actuators.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DDOWNLINK_DEVICE=Uart1 -DPPRZ_UART=Uart1
setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ
setup_actuators.CFLAGS += -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1
setup_actuators.CFLAGS += $(SETUP_INC) -Ifirmwares/fixedwing
ifneq ($(SYS_TIME_LED),none)
setup_actuators.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
endif
setup_actuators.CFLAGS += -DPERIODIC_FREQUENCY='60'
setup_actuators.CFLAGS += -DUSE_SYS_TIME
setup_actuators.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c subsystems/datalink/pprz_transport.c subsystems/datalink/downlink.c $(SRC_FIRMWARE)/setup_actuators.c mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c firmwares/fixedwing/main.c mcu.c $(SRC_ARCH)/mcu_arch.c
else ifeq ($(TARGET),setup_actuators)
$(error setup_actuators currently only implemented for the lpc21)
conf/autopilot/subsystems/fixedwing/gps_skytraq.makefile
+22
View File
@@ -0,0 +1,22 @@
# Hey Emacs, this is a -*- makefile -*-
ap.CFLAGS += -DUSE_GPS -DGPS_USE_LATLONG
ap.CFLAGS += -DGPS_LINK=$(GPS_PORT)
ap.CFLAGS += -DUSE_$(GPS_PORT)
ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
ifneq ($(GPS_LED),none)
ap.CFLAGS += -DGPS_LED=$(GPS_LED)
endif
ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_skytraq.h\"
ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_skytraq.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
sim.CFLAGS += -DUSE_GPS -DGPS_USE_LATLONG
sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
jsbsim.CFLAGS += -DUSE_GPS -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
jsbsim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.
conf/autopilot/subsystems/fixedwing/ins_xsens.makefile
+1 -1
View File
@@ -31,7 +31,7 @@ ifeq ($(TARGET), ap)
# </makefile>
# ImuEvent -> XSensEvent
ap.CFLAGS += -DUSE_IMU
ap.CFLAGS += -DUSE_AHRS
ap.CFLAGS += -DIMU_TYPE_H=\"modules/ins/ins_xsens.h\"
# AHRS Results
conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
+2
View File
@@ -114,6 +114,8 @@ sim.srcs += $(SRC_FIRMWARE)/autopilot.c
sim.srcs += $(SRC_FIRMWARE)/stabilization.c
sim.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_rate.c
sim.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_none.c
NUM_TYPE=integer
#NUM_TYPE=float
conf/autopilot/subsystems/rotorcraft/gps_skytraq.makefile
+10 -6
View File
@@ -1,14 +1,18 @@
# Hey Emacs, this is a -*- makefile -*-
ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_skytraq.h\"
ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_skytraq.c
ap.CFLAGS += -DUSE_$(GPS_PORT) -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
ap.CFLAGS += -DUSE_GPS -DGPS_LINK=$(GPS_PORT)
ap.CFLAGS += -DUSE_GPS
ap.CFLAGS += -DGPS_LINK=$(GPS_PORT)
ap.CFLAGS += -DUSE_$(GPS_PORT)
ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
ifneq ($(GPS_LED),none)
ap.CFLAGS += -DGPS_LED=$(GPS_LED)
endif
ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_skytraq.h\"
ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_skytraq.c
sim.CFLAGS += -DUSE_GPS
sim.srcs += $(SRC_SUBSYSTEMS)/gps.c
conf/autopilot/subsystems/rotorcraft/stabilization_int_quat.makefile
+5
View File
@@ -0,0 +1,5 @@
ap.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_INT
ap.CFLAGS += -DSTABILISATION_ATTITUDE_H=\"stabilization/stabilization_attitude_int.h\"
ap.CFLAGS += -DSTABILISATION_ATTITUDE_REF_H=\"stabilization/stabilization_attitude_ref_quat_int.h\"
ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_quat_int.c
ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_quat_int.c
conf/autopilot/subsystems/rotorcraft/stabilization_int_quat_transition.makefile
+7
View File
@@ -0,0 +1,7 @@
ap.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_INT
ap.CFLAGS += -DSTABILISATION_ATTITUDE_H=\"stabilization/stabilization_attitude_int.h\"
ap.CFLAGS += -DSTABILISATION_ATTITUDE_REF_H=\"stabilization/stabilization_attitude_ref_quat_int.h\"
ap.CFLAGS += -DUSE_SETPOINTS_WITH_TRANSITIONS
ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_quat_int.c
ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_quat_int.c
ap.srcs += $(SRC_FIRMWARE)/stabilization/quat_setpoint_int.c

Some files were not shown because too many files have changed in this diff Show More