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This commit is contained in:
Pascal Brisset
2008-03-11 17:51:48 +00:00
parent d3605b2c75
commit 4c3fca674f
3 changed files with 21 additions and 30 deletions
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conf/airframes/slicer1.xml
+8 -7
View File
@@ -7,8 +7,8 @@
<servo name="AILEVON_RIGHT" no="0" min="1000" neutral="1620" max="2000"/>
<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1400" max="1000"/>
<servo name="THROTTLE" no="2" min="1270" neutral="1270" max="1810"/>
<servo name="CAM_TILT" no="6" min="1000" neutral="1550" max="2000"/>
<servo name="CAM_PAN" no="3" min="2000" neutral="1550" max="1000"/>
<servo name="CAM_TILT" no="6" min="1000" neutral="1550" max="2000"/>
</servos>
<commands>
@@ -95,7 +95,7 @@
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="13." 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"/>
@@ -104,7 +104,7 @@
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="70."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="45."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
@@ -116,7 +116,7 @@
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.61"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.40"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
@@ -169,9 +169,9 @@
<define name="TILT_MIN" value="-30" unit="deg"/>
<define name="TILT0" value="0" unit="deg"/>
<define name="PAN_MAX" value="-45" unit="deg"/>
<define name="PAN_MAX" value="45" unit="deg"/>
<define name="PAN_NEUTRAL" value="0" unit="deg"/>
<define name="PAN_MIN" value="45" unit="deg"/>
<define name="PAN_MIN" value="-45" unit="deg"/>
<define name="PAN0" value="0" unit="deg"/>
</section>
@@ -210,7 +210,7 @@ ap.srcs += $(SRC_ARCH)/adc_hw.c
ap.CFLAGS += -DGYRO -DADXRS150
ap.srcs += gyro.c
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DGPS_LED=2
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DGPS_LED=2 -DDOWNLINK_GPS_1Hz
ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
ap.srcs += gps_ubx.c gps.c latlong.c
@@ -224,6 +224,7 @@ ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
ap.srcs += nav_line.c nav_survey_rectangle.c
ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
# -DTEST_CAM
ap.srcs += cam.c point.c
# traffic_info.c
conf/airframes/slicer2.xml
+7 -7
View File
@@ -4,8 +4,8 @@
<!-- commands section -->
<servos>
<servo name="AILEVON_RIGHT" no="0" min="2000" neutral="1500" max="1000"/>
<servo name="AILEVON_LEFT" no="1" min="1000" neutral="1500" max="2000"/>
<servo name="AILEVON_RIGHT" no="0" min="2000" neutral="1273" max="1000"/>
<servo name="AILEVON_LEFT" no="1" min="1000" neutral="1514" max="2000"/>
<servo name="THROTTLE" no="2" min="1270" neutral="1270" max="1810"/>
</servos>
@@ -64,7 +64,7 @@
<define name="LONGITUDINAL_CORRECTION" value="1."/>
<define name="VERTICAL_CORRECTION" value="1.0"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="-7" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="CORRECTION_UP" value="1.0"/>
@@ -88,7 +88,7 @@
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="13." 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"/>
@@ -97,7 +97,7 @@
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="70."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="45."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
@@ -157,7 +157,7 @@
</section>
<section name="SIMU">
<define name="YAW_RESPONSE_FACTOR" value="1"/>
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
</section>
<makefile>
@@ -191,7 +191,7 @@ ap.srcs += $(SRC_ARCH)/adc_hw.c
ap.CFLAGS += -DGYRO -DADXRS150
ap.srcs += gyro.c
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DGPS_LED=2
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DGPS_LED=2 -DDOWNLINK_GPS_1Hz
ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
ap.srcs += gps_ubx.c gps.c latlong.c
conf/flight_plans/ugv.xml
+6 -16
View File
@@ -1,24 +1,14 @@
<!-- DOCTYPE flight_plan SYSTEM "flight_plan.dtd" -->
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
<flight_plan NAME="Ugv" LON0="1.27289" MAX_DIST_FROM_HOME="2000" GROUND_ALT="0" SECURITY_HEIGHT="0" ALT="0" LAT0="43.46223">
<flight_plan alt="240" ground_alt="170" lat0="27.0929" lon0="77.9169" max_dist_from_home="5000" name="UGV" security_height="25">
<waypoints>
<waypoint name="HOME" x="0.0" y="0"/>
<waypoint name="UGV" x="0.0" y="100.0"/>
<waypoint name="UGVWP" x="0.0" y="100.0"/>
</waypoints>
<blocks>
<block name="Wait GPS">
<while cond="!GpsFixValid()"/>
</block>
<block name="Geo init">
<while cond="LessThan(NavBlockTime(), 10)"/>
<call fun="NavSetGroundReferenceHere()"/>
<set var="launch" value="1"/>
</block>
<block name="Goto UGV">
<go wp="UGV" approaching_time="0"/>
<deroute block="Goto UGV"/>
<block name="Goto UGVWP">
<go approaching_time="0" wp="UGVWP"/>
<deroute block="Goto UGVWP"/>
</block>
</blocks>
</flight_plan>