mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 23:49:00 +08:00
Change transmitter roll direction, adjust aspirin2, add Trojan T-28.
This commit is contained in:
Martin Mueller
@@ -0,0 +1,250 @@
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
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<!-- Parkzone T-28D Trojan
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Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
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XBee modem
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LEA 5H
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-->
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<airframe name="T28">
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<firmware name="fixedwing">
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<define name="AGR_CLIMB"/>
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<define name="LOITER_TRIM"/>
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<define name="ALT_KALMAN"/>
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<define name="WIND_INFO"/>
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<define name="WIND_INFO_RET"/>
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<target name="ap" board="tiny_2.11">
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<define name="SENSOR_SYNC_SEND"/>
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<configure name="PERIODIC_FREQUENCY" value="120"/>
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<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
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<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
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<define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
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</target>
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<target name="sim" board="pc">
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</target>
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<!-- RC -->
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<subsystem name="radio_control" type="ppm"/>
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<!-- Communication -->
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<subsystem name="telemetry" type="xbee_api"/>
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<!-- Actuators are automatically chosen according to board-->
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<subsystem name="control"/>
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<!-- Sensors -->
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<subsystem name="imu" type="aspirin2_i2c"/>
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<subsystem name="ahrs" type="float_dcm"/>
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<subsystem name="gps" type="ublox"/>
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<!-- Nav -->
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<subsystem name="navigation"/>
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<!-- Interfaces -->
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<!--subsystem name="spi"/-->
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</firmware>
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<firmware name="setup">
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<target name="tunnel" board="tiny_2.11"/>
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<target name="usb_tunnel_0" board="tiny_2.11"/>
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<target name="usb_tunnel_1" board="tiny_2.11"/>
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<target name="setup_actuators" board="tiny_2.11"/>
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</firmware>
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<!-- modules -->
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<modules>
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</modules>
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<!-- commands section -->
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<servos>
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<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
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<servo name="AILERON_LEFT" no="2" min="1100" neutral="1509" max="1900"/>
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<servo name="AILERON_RIGHT" no="6" min="1100" neutral="1509" max="1900"/>
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<servo name="ELEVATOR" no="7" min="1900" neutral="1501" max="1100"/>
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<servo name="RUDDER" no="3" min="1900" neutral="1435" max="1100"/>
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</servos>
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<commands>
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<axis name="THROTTLE" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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</commands>
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<rc_commands>
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<set command="THROTTLE" value="@THROTTLE"/>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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<set command="YAW" value="@YAW"/>
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</rc_commands>
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<auto_rc_commands>
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</auto_rc_commands>
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<command_laws>
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<set servo="MOTOR" value="@THROTTLE"/>
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<set servo="AILERON_LEFT" value="@ROLL"/>
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<set servo="AILERON_RIGHT" value="@ROLL"/>
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<set servo="ELEVATOR" value="@PITCH"/>
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<set servo="RUDDER" value="@YAW"/>
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</command_laws>
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<section name="IMU" prefix="IMU_">
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<!-- Calibration Neutral -->
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<define name="GYRO_P_NEUTRAL" value="0"/>
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<define name="GYRO_Q_NEUTRAL" value="0"/>
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<define name="GYRO_R_NEUTRAL" value="0"/>
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<!-- SENS = 16.4 LSB/(deg/sec) * 57.6 deg/rad = 939.650 LSB/rad/sec / 12bit FRAC: 4096 / 939.65 -->
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<define name="GYRO_P_SENS" value="4.359" integer="16"/>
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<define name="GYRO_Q_SENS" value="4.359" integer="16"/>
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<define name="GYRO_R_SENS" value="4.359" integer="16"/>
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<define name="GYRO_P_Q" value="0."/>
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<define name="GYRO_P_R" value="0"/>
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<define name="GYRO_Q_P" value="0."/>
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<define name="GYRO_Q_R" value="0."/>
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<define name="GYRO_R_P" value="0."/>
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<define name="GYRO_R_Q" value="0."/>
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<define name="GYRO_P_SIGN" value="1"/>
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<define name="GYRO_Q_SIGN" value="1"/>
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<define name="GYRO_R_SIGN" value="1"/>
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<define name="ACCEL_X_NEUTRAL" value="-20"/>
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<define name="ACCEL_Y_NEUTRAL" value="-10"/>
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<define name="ACCEL_Z_NEUTRAL" value="375"/>
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<!-- SENS = 2048 LSB/g / 9.81 ms2/g = 208.766564729 LSB/ms2 / 10bit FRAC: 1024 / 208.7665 -->
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<define name="ACCEL_X_SENS" value="9.81" integer="16"/>
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<define name="ACCEL_Y_SENS" value="9.81" integer="16"/>
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<define name="ACCEL_Z_SENS" value="9.81" integer="16"/>
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<!--
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<define name="ACCEL_X_SENS" value="4.905" integer="16"/>
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<define name="ACCEL_Y_SENS" value="4.905" integer="16"/>
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<define name="ACCEL_Z_SENS" value="4.905" integer="16"/>
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-->
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<define name="ACCEL_X_SIGN" value="1"/>
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<define name="ACCEL_Y_SIGN" value="1"/>
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<define name="ACCEL_Z_SIGN" value="1"/>
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<define name="MAG_X_NEUTRAL" value="0"/>
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<define name="MAG_Y_NEUTRAL" value="0"/>
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<define name="MAG_Z_NEUTRAL" value="0"/>
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<define name="MAG_X_SENS" value="1" integer="16"/>
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<define name="MAG_Y_SENS" value="1" integer="16"/>
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<define name="MAG_Z_SENS" value="1" integer="16"/>
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<define name="MAG_X_SIGN" value="1"/>
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<define name="MAG_Y_SIGN" value="1"/>
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<define name="MAG_Z_SIGN" value="1"/>
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<define name="BODY_TO_IMU_PHI" value="0"/>
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<define name="BODY_TO_IMU_THETA" value="0"/>
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<define name="BODY_TO_IMU_PSI" value="0"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="4" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="4" unit="deg"/>
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</section>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="0.85"/>
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<define name="MAX_PITCH" value="0.6"/>
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</section>
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<section name="BAT">
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<!--define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/-->
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<define name="ADC_CHANNEL_CURRENT" value="ADC_4"/>
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<define name="MilliAmpereOfAdc(adc)" value="(88*adc)"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<!-- 0.0247311828 -->
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<!-- 0.02432905 -->
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<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="CONTROL_RATE" value="60" unit="Hz"/>
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<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
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<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
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<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
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<define name="TRIGGER_DELAY" value="1."/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="0.06"/> <!-- -0.024 -->
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="2."/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="0.023"/> <!-- -0.012 -->
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<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
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<!-- auto pitch inner loop -->
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<define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
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<define name="AUTO_PITCH_IGAIN" value="0.0"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
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<define name="THROTTLE_SLEW" value="0.1"/>
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</section>
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="1.1"/>
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<define name="ROLL_MAX_SETPOINT" value="0.85" unit="rad"/> <!-- 0.5 -->
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<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
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<define name="ROLL_PGAIN" value="14000."/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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<define name="PITCH_PGAIN" value="7500."/>
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<define name="PITCH_DGAIN" value="0.4"/>
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<define name="ELEVATOR_OF_ROLL" value="2400"/>
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<!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
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<define name="ROLL_RATE_GAIN" value="1500"/-->
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</section>
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<section name="NAV">
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<define name="NAV_PITCH" value="0."/>
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<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
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</section>
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<section name="AGGRESSIVE" prefix="AGR_">
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<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
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<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
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<define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
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<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
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<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
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<define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive Decent -->
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<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
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<define name="DESCENT_NAV_RATIO" value="1.0"/>
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</section>
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
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<define name="HOME_RADIUS" value="100" unit="m"/>
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</section>
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</airframe>
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@@ -47,7 +47,7 @@
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<!DOCTYPE radio SYSTEM "radio.dtd">
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<radio name="mc24r" data_min="800" data_max="2200" sync_min="5000" sync_max="25000" pulse_type="POSITIVE">
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<channel ctl="C" function="ROLL" min="1096" neutral="1500" max="1900" average="0"/>
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<channel ctl="C" function="ROLL" min="1900" neutral="1500" max="1096" average="0"/>
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<channel ctl="B" function="PITCH" min="1900" neutral="1500" max="1096" average="0"/>
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<channel ctl="D" function="THROTTLE" min="1096" neutral="1096" max="1900" average="0"/>
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<channel ctl="A" function="YAW" min="1096" neutral="1500" max="1900" average="0"/>
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@@ -26,7 +26,7 @@
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// Downlink
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#include "mcu_periph/uart.h"
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#include "messages.h"
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#include "downlink.h"
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#include "subsystems/datalink/downlink.h"
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#ifndef DOWNLINK_DEVICE
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#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
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@@ -195,9 +195,9 @@ void imu_periodic( void )
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void aspirin2_subsystem_downlink_raw( void )
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{
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DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel,&imu.gyro_unscaled.p,&imu.gyro_unscaled.q,&imu.gyro_unscaled.r);
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DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel,&imu.accel_unscaled.x,&imu.accel_unscaled.y,&imu.accel_unscaled.z);
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DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel,&imu.mag_unscaled.x,&imu.mag_unscaled.y,&imu.mag_unscaled.z);
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DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel,DefaultDevice,&imu.gyro_unscaled.p,&imu.gyro_unscaled.q,&imu.gyro_unscaled.r);
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DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel,DefaultDevice,&imu.accel_unscaled.x,&imu.accel_unscaled.y,&imu.accel_unscaled.z);
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DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel,DefaultDevice,&imu.mag_unscaled.x,&imu.mag_unscaled.y,&imu.mag_unscaled.z);
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}
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void aspirin2_subsystem_event( void )
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