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[v4.2-import] Recent additions to V4.2

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This commit is contained in:
Christophe De Wagter
2013-02-08 16:14:44 +01:00
parent 6fddc8c5f4
commit 45c3387a28
9 changed files with 553 additions and 14 deletions
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CHANGELOG.md
+93 -2
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@@ -1,4 +1,4 @@
Paparazzi 4.1 - development branch
Paparazzi 4.9 - development branch
==================================
- STM libs completely replaced by libopencm3
@@ -8,6 +8,98 @@ Paparazzi 4.1 - development branch
[#194] (https://github.com/paparazzi/paparazzi/pull/194)
Paparazzi 4.2.0_stable
======================
Stable version release
Since last stable v4.0:
- Total energy control
- Improve Google map tiles download
- Several updates on the Digital Cam and photogrammetry modules
- WMM210 model
- Rate limiter in airframes control laws
- Uart flow control (stm32)
- Bug fix for INS and AHRS filters
- AP/FBW separation using spi or uart
- Sensors fix and addition (GPS, current, baro)
Paparazzi 4.1.1_testing
=======================
Second release candidate for next stable release.
- Run AP and FBW on separate boards
[#297] (https://github.com/paparazzi/paparazzi/pull/297)
- Separate Board Files for yapa_v2.0
[#303] (https://github.com/paparazzi/paparazzi/pull/303)
- Add UART hardware flow control (for STM32 only)
[#289] (https://github.com/paparazzi/paparazzi/pull/289)
- Add ezosd current sensor module
[#292] (https://github.com/paparazzi/paparazzi/pull/292)
- Paparazzi Center: fix coloration by passing input buffer line by line, set language to english
- Rate limiter bugfix
- DC_SHOT message photo numbers shown in GCS
- home mode height can be set different from security height
- Ahrs float_dcm uses magnetic heading while not inflight for better initial guess
[#299] (https://github.com/paparazzi/paparazzi/pull/299)
- Outback Challenge "Safety" Rules 1 and 2
- Added WMM2010 Geo model used in ahrs int_cmpl_quat for rotorcrafts
[#288] (https://github.com/paparazzi/paparazzi/pull/288)
- Fix missing gain definitions from airframe file in total energy control
- Added stm32loader to sw/tools
- Change vsupply to be a uint16 to enable reporting of voltages higher than 25.5V
[#294] (https://github.com/paparazzi/paparazzi/issues/294)
- Digital cam module: release camera button on init
- Fix second order term in propagation of x-position in HFF
Paparazzi 4.1.0_testing
=======================
First release candidate for next stable release.
- Total energy control
[#251] (https://github.com/paparazzi/paparazzi/pull/251)
- PPM input on UART1 RX for Lisa/M autopilots
- Rate Limiter for Flaps, Gears and servo hatches
[#252] (https://github.com/paparazzi/paparazzi/pull/252)
- GPS acceleration compensation in ahrs_float_dcm
[#255] (https://github.com/paparazzi/paparazzi/pull/255)
- Improved gravity heuristic for int_cmpl_quat
- Some updates on digital_cam and photogrammetry modules
[#250] (https://github.com/paparazzi/paparazzi/pull/250)
- Replace wget by OCaml Http_client from netclient lib to download files
[#276] (https://github.com/paparazzi/paparazzi/pull/276)
Paparazzi 4.0.3
===============
Maintenance release
- fix google map version download
- fix BMP scripts for stm32
- fix lisa/m 2.0 default voltage
- fix gpsd2ivy for libgps3.5
- improve some makefiles
Paparazzi 4.0.2
===============
Maintenance release
- fix some illegal xml chars in xml description for xtend_rssi and pwm_meas modules
- fix ins_arduimu_basic by adding an empty ahrs_update_gps function
- fix some ivy includes on OSX for weird installation cases
- fix ACTUATORS_PWM_NB for fixedwings with USE_SERVOS_7AND8
- updated kestrel weather meter agent
- fix uart_tunnel if leds are not available on some boards
- fix GPS_LLA message
- fix make failure when trying to get google maps version, but no internet connection
[#187] (https://github.com/paparazzi/paparazzi/issues/187)
Paparazzi 4.0.1
===============
@@ -22,7 +114,6 @@ Maintenance release
- Tool added: mergelogs
Paparazzi 4.0
=============
conf/airframes/ENAC/fixed-wing/weasel.xml
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@@ -52,6 +52,7 @@
<firmware name="setup">
<target name="setup_actuators" board="umarim_1.0"/>
<target name="tunnel" board="umarim_1.0"/>
</firmware>
<!-- commands section -->
conf/airframes/examples/Twinstar_energyadaptive.xml
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@@ -0,0 +1,297 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
Tobias Muench 2012
example airframe for energyadaptive ctl
aircraft:
Twinstar II
hardware:
twog_1.0 + aspirin + ETS baro + ETS speed
-->
<airframe name="Tob_energyadaptive">
<firmware name="fixedwing">
<target name="sim" board="pc"/>
<target name="ap" board="twog_1.0">
<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" />
<define name="USE_I2C0"/>
<define name="USE_BARO_ETS"/>
</target>
<define name="USE_AIRSPEED"/>
<define name="AGR_CLIMB"/>
<define name="STRONG_WIND"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<subsystem name="radio_control" type="ppm"/> <!-- Radio -->
<subsystem name="gps" type="ublox"/> <!-- GPS -->
<subsystem name="telemetry" type="transparent"/> <!-- Communication -->
<subsystem name="imu" type="aspirin_i2c"/> <!-- IMU -->
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="float_alt"/>
<subsystem name="control" type="energyadaptive"/>
<subsystem name="navigation" type="extra"/>
</firmware>
<modules>
<load name="airspeed_ets.xml">
<define name="SENSOR_SYNC_SEND"/>
<define name="AIRSPEED_ETS_SCALE" value="1.44"/> <!-- default 1.8-->
<!-- <define name="AIRSPEED_ETS_OFFSET" value="50"/> --> <!-- default 0 -->
<!-- <define name="AIRSPEED_ETS_I2C_DEV" value="i2c1"/> -->
</load>
<load name="baro_ets.xml">
<define name="BARO_ETS_SCALE" value="0.3"/>
<define name="BARO_ETS_TELEMETRY"/>
</load>
<load name="digital_cam.xml">
<define name="DC_SHUTTER_LED" value="5"/><!-- led4:aux led5:camsw-->
</load>
</modules>
<!-- ################################################## -->
<servos> <!-- Actuators -->
<servo name="MOTOR_LEFT" no="0" min="1000" neutral="1000" max="2000"/>
<!-- <servo name="MOTOR_RIGHT" no="1" min="1000" neutral="1000" max="2000"/> -->
<servo name="AILERON_LEFT" no="7" min="900" neutral="1300" max="1700"/>
<servo name="AILERON_RIGHT" no="3" min="1140" neutral="1540" max="1940"/>
<servo name="ELEVATOR" no="2" min="1700" neutral="1400" max="1000"/>
<servo name="RUDDER" no="6" min="1810" neutral="1410" max="1010"/>
<servo name="HATCH" no="4" min="1300" neutral="1300" max="800"/>
</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="HATCH" failsafe_value="0"/>
</commands>
<rc_commands> <!-- commands section -->
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="YAW" value="@YAW"/>
<set command="HATCH" value="@GAIN2"/>
</rc_commands>
<section name="MIXER">
<define name="AILERON_DIFF" value="0.66"/>
<define name="COMBI_SWITCH" value="1.0"/>
</section>
<command_laws>
<set servo="MOTOR_LEFT" value="@THROTTLE"/>
<!-- <set servo="MOTOR_RIGHT" value="@THROTTLE"/> -->
<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
<let var="roll" value="@ROLL"/>
<set servo="AILERON_LEFT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
<set servo="AILERON_RIGHT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
<set servo="ELEVATOR" value="@PITCH"/>
<set servo="HATCH" value="@HATCH"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="RadOfDeg(60)"/>
<define name="MAX_PITCH" value="RadOfDeg(40)"/>
</section>
<section name="TRIM" prefix="COMMAND_">
<define name="ROLL_TRIM" value="0"/>
<define name="PITCH_TRIM" value="0."/> <!--788 -->
</section>
<!--
######################################################################################
-->
<section name="AHRS" prefix="AHRS_">
<define name="H_X" value=" 0.376689168"/> <!-- magnatic field -->
<define name="H_Y" value="0.008242371595"/>
<define name="H_Z" value=" 0.92630171"/>
</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>
<!-- <include href="conf/airframes/Tobias_imu_aspirin_36.xml"/> --> <!-- IMU -->
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_NEUTRAL" value="-110"/> <!--"-10"--> <!--changeme!!!-->
<define name="GYRO_Q_NEUTRAL" value="90" /> <!--"-48"--> <!--changeme!!!-->
<define name="GYRO_R_NEUTRAL" value="-35" /> <!--"-109"--> <!--changeme!!!-->
<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="GYRO_PQ_SENS" value="0.0" integer="16"/>
<define name="GYRO_PR_SENS" value="0.0" integer="16"/>
<define name="GYRO_QR_SENS" value="0.0" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="-1"/>
<define name="ACCEL_Y_NEUTRAL" value="1"/>
<define name="ACCEL_Z_NEUTRAL" value="29"/>
<define name="ACCEL_X_SENS" value="38.4772001528" integer="16"/>
<define name="ACCEL_Y_SENS" value="38.4353174937" integer="16"/>
<define name="ACCEL_Z_SENS" value="39.0784871813" integer="16"/>
<define name="ACCEL_XY_SENS" value="0.0" integer="16"/>
<define name="ACCEL_XZ_SENS" value="0.0" integer="16"/>
<define name="ACCEL_YZ_SENS" value="0.0" integer="16"/>
<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_XY_SENS" value="0.0" integer="16"/>
<define name="MAG_XZ_SENS" value="0.0" integer="16"/>
<define name="MAG_YZ_SENS" value="0.0" integer="16"/>
<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_SIGN" value="1"/>
<define name="ACCEL_Y_SIGN" value="1"/>
<define name="ACCEL_Z_SIGN" 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="BODY_TO_IMU_PHI" value="RadOfDeg(-2)"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg(2)"/>
<define name="BODY_TO_IMU_PSI" value="0"/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="34000" unit="mA"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/> <!--10.5-->
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/><!--11.-->
<define name="LOW_BAT_LEVEL" value="9.7" unit="V"/><!--11.5-->
<define name="MAX_BAT_LEVEL" value="12.5" unit="V"/>
</section>
<section name="MISC">
<define name="CLIMB_AIRSPEED" value="12." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="14." unit="m/s"/>
<define name="GLIDE_AIRSPEED" value="12." unit="m/s"/>
<define name="RACE_AIRSPEED" value="25." unit="m/s"/>
<define name="STALL_AIRSPEED" value="8." unit="m/s"/>
<define name="AIRSPEED_SETPOINT_SLEW" value="1" unit="s"/> <!--default is 1-->
<define name="CARROT" value="4." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/> <!-- default is 60Hz -->
<define name="NO_XBEE_API_INIT" value="TRUE"/>
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="70."/>
<define name="MIN_CIRCLE_RADIUS" value="35.0"/>
</section>
<section name="GLS_APPROACH" prefix="APP_">
<define name="ANGLE" value="10" unit="deg"/>
<define name="INTERCEPT_AF_TOD" value="100"/>
<define name="TARGET_SPEED" value="13"/>
</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="0.1049"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="5."/> <!--default 2-->
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.3"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.15"/>
<define name="AIRSPEED_PGAIN" value="0."/>
<define name="AUTO_THROTTLE_OF_AIRSPEED_PGAIN" value="0.069"/>
<define name="AUTO_THROTTLE_OF_AIRSPEED_IGAIN" value="0.01"/>
<define name="AUTO_PITCH_OF_AIRSPEED_PGAIN" value="0.01"/>
<define name="AUTO_PITCH_OF_AIRSPEED_IGAIN" value="0.003"/>
<define name="AUTO_PITCH_OF_AIRSPEED_DGAIN" value="0.03"/>
<define name="ENERGY_TOT_PGAIN" value="0."/>
<define name="ENERGY_TOT_IGAIN" value="0."/>
<define name="ENERGY_DIFF_PGAIN" value="0."/>
<define name="ENERGY_DIFF_IGAIN" value="0."/>
<define name="AUTO_GROUNDSPEED_SETPOINT" value="6.0" unit="m/s"/>
<define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
<define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>
<define name="THROTTLE_SLEW_LIMITER" value="1" unit="s"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="0.8"/>
<define name="COURSE_DGAIN" value="0.3"/>
<define name="ROLL_MAX_SETPOINT" value="50" unit="deg"/>
<define name="ROLL_ATTITUDE_GAIN" value="7400."/>
<define name="ROLL_RATE_GAIN" value="200."/>
<define name="ROLL_IGAIN" value="100."/>
<define name="ROLL_KFFA" value="0"/>
<define name="ROLL_KFFD" value="0"/>
<define name="PITCH_MAX_SETPOINT" value="25" unit="deg"/>
<define name="PITCH_MIN_SETPOINT" value="-25" unit="deg"/>
<define name="PITCH_PGAIN" value="7200."/>
<define name="PITCH_DGAIN" value="6."/>
<define name="PITCH_IGAIN" value="100."/>
<define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/>
<define name="PITCH_OF_ROLL" value="RadOfDeg(1.0)"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
</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="0.60"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="RadOfDeg(12)"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="RadOfDeg(-20)"/><!-- 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="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
<section name="DIGITAL_CAMERA" prefix="DC_">
<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="12" unit="quarter_second"/>
<define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
<define name="DEFAULT_ROLL" value="RadOfDeg(15)" unit="rad"/>
<define name="DEFAULT_PITCH" value="RadOfDeg(0)" unit="rad"/>
<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
</section>
<section name="SIMU">
<define name="WEIGHT" value ="1."/>
<define name="YAW_RESPONSE_FACTOR" value =".9"/> <!--default 1.-->
<define name="PITCH_RESPONSE_FACTOR" value ="1."/> <!--default 1.-->
<define name="ROLL_RESPONSE_FACTOR" value ="15."/> <!--default 15-->
</section>
</airframe>
conf/airframes/obsolete/mm/fixed-wing/trojan.xml
+10 -8
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@@ -21,6 +21,7 @@
<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
<define name="USE_AHRS_GPS_ACCELERATIONS" />
</target>
<target name="sim" board="pc">
@@ -59,7 +60,7 @@
<servo name="AILERON_LEFT" no="2" min="1100" neutral="1545" max="1900"/>
<servo name="AILERON_RIGHT" no="6" min="1100" neutral="1545" max="1900"/>
<servo name="ELEVATOR" no="7" min="1900" neutral="1504" max="1100"/>
<servo name="RUDDER" no="3" min="1900" neutral="1419" max="1100"/>
<servo name="RUDDER" no="3" min="1100" neutral="1419" max="1900"/>
</servos>
<commands>
@@ -145,8 +146,8 @@
</section>
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="4" unit="deg"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="3" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="2" unit="deg"/>
</section>
<section name="AUTO1" prefix="AUTO1_">
@@ -156,8 +157,6 @@
<section name="BAT">
<!--define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/-->
<define name="ADC_CHANNEL_CURRENT" value="ADC_4"/>
<define name="MilliAmpereOfAdc(adc)" value="(88*adc)"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<!-- 0.0247311828 -->
<!-- 0.02432905 -->
@@ -175,19 +174,22 @@
<define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
<define name="COMMAND_ROLL_TRIM" value="0"/>
<define name="COMMAND_PITCH_TRIM" value="0"/>
</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="0.06"/> <!-- -0.024 -->
<define name="ALTITUDE_PGAIN" value="0.1"/> <!-- -0.06 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.66"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.55"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-600"/>
conf/conf.xml.example
+10
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@@ -125,4 +125,14 @@
settings=" settings/test_fixedwing_actuators.xml"
gui_color="blue"
/>
<aircraft
name="Twinstar_energyadaptive"
ac_id="13"
airframe="airframes/examples/Twinstar_energyadaptive.xml"
radio="radios/Corona_24_DIY.xml"
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/basic.xml"
settings=" settings/fixedwing_basic.xml settings/control/ctl_energyadaptive.xml"
gui_color="blue"
/>
</conf>
conf/firmwares/subsystems/shared/radio_control_ppm.makefile
+3 -1
View File
@@ -1,5 +1,5 @@
#
# Makefile for shared radio_control ppm susbsytem
# Makefile for shared radio_control ppm subsystem
#
NORADIO = False
@@ -14,6 +14,7 @@ ifeq ($(NORADIO), False)
$(TARGET).CFLAGS += -DRADIO_CONTROL
ifneq ($(RADIO_CONTROL_LED),none)
ap.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
fbw.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
endif
$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\"
$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_PPM
@@ -37,3 +38,4 @@ ifeq ($(NORADIO), False)
endif
endif
endif
conf/flight_plans/basic.xml
+3 -3
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@@ -1,6 +1,6 @@
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
<flight_plan alt="75" ground_alt="0" lat0="43.46223" lon0="1.27289" max_dist_from_home="1500" name="Basic" security_height="25">
<flight_plan alt="260" ground_alt="185" lat0="43.46223" lon0="1.27289" max_dist_from_home="1500" name="Basic" security_height="25">
<header>
#include "subsystems/navigation/nav_line.h"
#include "subsystems/datalink/datalink.h"
@@ -13,8 +13,8 @@
<waypoint name="MOB" x="137.0" y="-11.6"/>
<waypoint name="S1" x="-119.2" y="69.6"/>
<waypoint name="S2" x="274.4" y="209.5"/>
<waypoint alt="30.0" name="AF" x="177.4" y="45.1"/>
<waypoint alt="0.0" name="TD" x="28.8" y="57.0"/>
<waypoint alt="215.0" name="AF" x="177.4" y="45.1"/>
<waypoint alt="185.0" name="TD" x="28.8" y="57.0"/>
<waypoint name="_BASELEG" x="168.8" y="-13.8"/>
<waypoint name="CLIMB" x="-114.5" y="162.3"/>
</waypoints>
conf/flight_plans/rotorcraft_tri.xml
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<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
<flight_plan alt="400" ground_alt="387" lat0="37.0380740" lon0="-122.1428470" max_dist_from_home="4000" name="Rotorcraft TRI Field" security_height="2">
<header>
#include "autopilot.h"
</header>
<waypoints>
<waypoint name="HOME" x="0.0" y="0.0"/>
<waypoint name="CLIMB" x="0.0" y="5.0"/>
<waypoint name="STDBY" x="-21.7" y="-4.4"/>
<waypoint name="p1" x="-43.9" y="-0.0"/>
<waypoint name="p2" x="-52.3" y="23.2"/>
<waypoint name="p3" x="-63.9" y="1.4"/>
<waypoint name="p4" x="-55.4" y="-7.1"/>
<waypoint name="CAM" x="-53.7" y="8.8"/>
<waypoint name="TD" x="-7.3" y="-5.2"/>
</waypoints>
<blocks>
<block name="Wait GPS">
<call fun="NavKillThrottle()"/>
<while cond="!GpsFixValid()"/>
</block>
<block name="Geo init">
<while cond="LessThan(NavBlockTime(), 10)"/>
<call fun="NavSetGroundReferenceHere()"/>
</block>
<block name="Holding point">
<call fun="NavKillThrottle()"/>
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
</block>
<block name="Start Engine">
<call fun="NavResurrect()"/>
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
</block>
<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
<exception cond="ins_enu_pos.z > POS_BFP_OF_REAL(2.)" deroute="Standby"/>
<call fun="NavSetWaypointHere(WP_CLIMB)"/>
<stay climb="0.5" vmode="climb" wp="CLIMB"/>
</block>
<block name="Standby" strip_button="Standby" strip_icon="home.png">
<stay wp="STDBY"/>
</block>
<block name="stay_p1">
<stay wp="p1"/>
</block>
<block name="go_p2">
<go wp="p2"/>
<deroute block="stay_p1"/>
</block>
<block name="line_p1_p2">
<go from="p1" hmode="route" wp="p2"/>
<stay until="stage_time>10" wp="p2"/>
<go from="p2" hmode="route" wp="p1"/>
<deroute block="stay_p1"/>
</block>
<block name="route">
<go from="p1" hmode="route" wp="p3"/>
<go from="p3" hmode="route" wp="p4"/>
<go from="p4" hmode="route" wp="p1"/>
<deroute block="stay_p1"/>
</block>
<block name="circle">
<circle radius="nav_radius" wp="p1"/>
</block>
<block name="land here" strip_button="Land Here" strip_icon="land-right.png">
<call fun="NavSetWaypointHere(WP_TD)"/>
</block>
<block name="land">
<go wp="TD"/>
</block>
<block name="flare">
<exception cond="NavDetectGround()" deroute="Holding point"/>
<call fun="NavStartDetectGround()"/>
<stay climb="-0.8" vmode="climb" wp="TD"/>
</block>
</blocks>
</flight_plan>
conf/radios/Corona_24_DIY.xml
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<!--
-- (c) 2006 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.
-->
<!--
-- Attributes of root (Radio) tag :
-- name: name of RC
-- data_min: min width of a pulse to be considered as a data pulse
-- data_max: max width of a pulse to be considered as a data pulse
-- sync_min: min width of a pulse to be considered as a synchro pulse
-- sync_max: max width of a pulse to be considered as a synchro pulse
-- min, max and sync are expressed in micro-seconds
-->
<!--
-- Attributes of channel tag :
-- ctl: name of the command on the transmitter - only for displaying
-- no: order in the PPM frame
-- function: logical command
-- averaged: channel filtered through several frames (for discrete commands)
-- min: minimum pulse length (micro-seconds)
-- max: maximum pulse length (micro-seconds)
-- neutral: neutral pulse length (micro-seconds)
-- Note: a command may be reversed by exchanging min and max values
-->
<!DOCTYPE radio SYSTEM "radio.dtd">
<radio name="Corona 2.4GHz DIY" data_min="800" data_max="2200" sync_min ="5000" sync_max ="15000"
pulse_type="POSITIVE">
<channel ctl="G" function="UNUSED" min="1100" neutral="1500" max="1900" average="0"/>
<channel ctl="F" function="GAIN2" min="1100" neutral="1500" max="1900" average="0"/>
<channel ctl="E" function="GAIN1" min="1100" neutral="1500" max="1900" average="0"/>
<channel ctl="switch" function="MODE" min="1100" neutral="1500" max="1900" average="1"/>
<channel ctl="B" function="YAW" min="1900" neutral="1500" max="1100" average="0"/>
<channel ctl="C" function="PITCH" min="1900" neutral="1500" max="1100" average="0"/>
<channel ctl="D" function="ROLL" max="1100" neutral="1500" min="1900" average="0"/>
<channel ctl="A" function="THROTTLE" min="1100" neutral="1100" max="1900" average="0"/>
</radio>