mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-01 21:07:40 +08:00
good luck roman and bill
This commit is contained in:
Antoine Drouin
@@ -0,0 +1,249 @@
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<airframe name="ENAC 1 Ball Dropper">
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<!-- tiny v1.1 -->
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<!-- commands section -->
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<servos>
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<servo name="AILEVON_RIGHT" no="0" min="1000" neutral="1500" max="2000"/>
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<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1500" max="1000"/>
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<servo name="GAZ" no="2" min="1250" neutral="1262" max="1850"/>
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<servo name="PAYLOAD" no="3" max="1000" neutral="2000" min="2000"/>
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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="PAYLOAD" 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="PAYLOAD" value="@YAW"/>
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</rc_commands>
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<section name="MIXER">
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<define name="AILEVON_AILERON_RATE" value="0.8"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
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</section>
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<command_laws>
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<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
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<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
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<set servo="GAZ" value="@THROTTLE"/>
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<set servo="AILEVON_LEFT" value="-$elevator + $aileron"/>
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<set servo="AILEVON_RIGHT" value="-$elevator - $aileron"/>
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<set servo="PAYLOAD" value="@PAYLOAD"/>
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="0.96"/>
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<define name="MAX_PITCH" value="0.8"/>
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</section>
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<section name="adc" prefix="ADC_CHANNEL_">
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<define name="IR1" value="ADC_1"/>
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<define name="IR2" value="ADC_0"/>
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<define name="IR_TOP" value="ADC_4"/>
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<define name="IR_NB_SAMPLES" value="16"/>
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<define name="GYRO_ROLL" value="ADC_5"/>
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<define name="GYRO_PITCH" value="ADC_6"/>
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<define name="GYRO_NB_SAMPLES" value="16"/>
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</section>
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<section name="INFRARED" prefix="IR_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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<define name="DEFAULT_CONTRAST" value="200"/>
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<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
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<linear name="RollOfIrs" arity="2" coeff1=".5" coeff2="0.5"/>
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<linear name="PitchOfIrs" arity="2" coeff1="-0.5" coeff2="0.5"/>
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<linear name="TopOfIr" arity="1" coeff1="-1"/>
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<define name="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
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<define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
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<define name="ADC_ROLL_NEUTRAL" value="507"/>
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<define name="ADC_PITCH_NEUTRAL" value="-16"/>
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<define name="ADC_TOP_NEUTRAL" value="488"/>
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<define name="ALLOW_INVERTED" value="1"/>
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<define name="CORRECTION_RIGHT" value="1.3"/>
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<define name="CORRECTION_LEFT" value="1.3"/>
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<define name="CORRECTION_UP" value="1.6"/>
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<define name="CORRECTION_DOWN" value="1.4"/>
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</section>
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<section name="GYRO" prefix="GYRO_">
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<define name="ADC_ROLL_NEUTRAL" value="464"/><!--459-->
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<define name="ADC_PITCH_NEUTRAL" value="471"/>
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<define name="ADC_TEMP_NEUTRAL" value="802"/>
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<define name="ADC_TEMP_SLOPE" value="-0.0"/>
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<define name="ROLL_SCALE" value="1.3846"/>
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<define name="ROLL_DIRECTION" value="1."/>
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<define name="PITCH_SCALE" value="1.3846"/>
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<define name="PITCH_DIRECTION" value="1."/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
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<!-- <define name="VOLTAGE_ADC_A" value="0.0175"/>
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<define name="VOLTAGE_ADC_B" value="0.525"/>
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-->
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<!-- <define name="VOLTAGE_ADC_A" value="0.01818"/>
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<define name="VOLTAGE_ADC_B" value="-0.09"/>
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<define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>-->
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<define name="LOW_BATTERY" value="9.3" unit="V"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
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<define name="CARROT" value="3." unit="s"/>
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<define name="CONTROL_RATE" value="60"/>
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<define name="KILL_MODE_DISTANCE" value="1.5*MAX_DIST_FROM_HOME"/>
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<!-- <define name="TELEMETRY_MODE_FBW" value="1"/>-->
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<define name="Z_CONTRAST_DEFAULT" value="1"/>
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</section>
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<section name="PID">
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<define name="ROLL_PGAIN" value="10000."/>
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<define name="PITCH_OF_ROLL" value="0.0"/>
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<define name="PITCH_PGAIN" value="6000."/>
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<define name="MAX_ROLL" value="0.73"/>
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<define name="MAX_PITCH" value="0.5"/>
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<define name="MIN_PITCH" value="-0.5"/>
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<define name="LOITER_PITCH" value="0.0"/>
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<define name="DASH_PITCH" value="-0.0"/>
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<define name="LOITER_TRIM" value="1000"/>
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<define name="DASH_TRIM" value="-2500"/>
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<define name="AILERON_OF_GAZ" value="0.0"/>
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<define name="CRUISE_THROTTLE" value="0.65"/>
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<define name="CLIMB_AUTO_PITCH_PGAIN" value="-0.1"/>
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<define name="CLIMB_AUTO_PITCH_IGAIN" value="0.025"/>
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<define name="CLIMB_AUTO_THROTTLE_PGAIN" value="-0.008"/>
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<define name="CLIMB_AUTO_THROTTLE_IGAIN" value="0.25"/>
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<define name="CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
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</section>
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<section name="ALT" prefix="CLIMB_">
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<define name="MAX" value="3."/>
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<define name="PITCH_OF_VZ_PGAIN" value="0.35"/>
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<define name="MAX_DIFF_GAZ" value="0.05" unit="%"/>
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</section>
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<section name="THR">
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<define name="DASH_THR" value="1.0"/>
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<define name="LOITER_THR" value=".40"/>
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</section>
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<section name="NAV">
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<define name="COURSE_PGAIN" value="-0.6"/>
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<define name="COURSE_IGAIN" value="0.0"/>
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<define name="ALTITUDE_PGAIN" value="-0.065"/>
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<define name="NAV_PITCH" value="0."/>
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<define name="PRE_BANK_COEFF" value="0.9"/>
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</section>
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<section name="SIMU">
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<define name="ROLL_RESPONSE_FACTOR" value="2."/>
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<define name="YAW_RESPONSE_FACTOR" value="1.35"/>
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<define name="WEIGHT" value="1.3"/>
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</section>
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<section name="AGGRESSIVE" prefix="AGR_">
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<define name="CLIMB_GAZ" value="1.0"/><!-- Gaz for Aggressive Climb -->
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<define name="DESCENT_GAZ" value="0.1"/><!-- Gaz for Aggressive Decent -->
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<define name="CLIMB_PITCH" value="0.42"/><!-- Pitch for Aggressive Climb -->
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<define name="DESCENT_PITCH" value="-0.5"/><!-- Pitch for Aggressive Decent -->
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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_NAV_RATIO" value="0.5"/><!-- 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="GYRO">
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<define name="GYRO_MAX_RATE" value="500."/>
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<define name="ROLLRATESUM_NB_SAMPLES" value="60"/>
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<define name="ALT_ROLL_PGAIN" value="5.5"/>
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<define name="ROLL_RATE_PGAIN" value="860.0"/>
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<define name="ROLL_RATE_IGAIN" value="0.0"/>
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<define name="ROLL_RATE_DGAIN" value="0.0"/>
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<define name="CONFIDENCE_COEFF" value="34.0"/>
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<define name="J_FILTER" value="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="1" unit="s"/>
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<define name="DEFAULT_GAZ" value="0.0" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.6" 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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<!--
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<section name="DATALINK" prefix="DATALINK_">
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<define name="DEVICE_TYPE" value="AEROCOMM"/>
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<define name="DEVICE_ADDRESS" value="...."/>
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</section>
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-->
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<makefile>
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include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
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FLASH_MODE=IAP
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ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny_0_99.h\" -DLED -DTIME_LED=1
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ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
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ap.srcs += commands.c
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ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
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ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
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ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
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ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
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ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
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ap.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/uart_hw.c datalink.c
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ap.CFLAGS += -DINTER_MCU
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ap.srcs += inter_mcu.c
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ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6
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ap.srcs += $(SRC_ARCH)/adc_hw.c
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ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
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ap.srcs += gps_ubx.c gps.c
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ap.CFLAGS += -DINFRARED
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ap.srcs += infrared.c estimator.c
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ap.CFLAGS += -DNAV
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ap.srcs += nav.c pid.c
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ap.CFLAGS += -DGYRO -DIDG300 -DPID_RATE_LOOP
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ap.srcs += gyro.c
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# Harware In The Loop
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#ap.CFLAGS += -DHITL
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test.CFLAGS += -DFBW -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART0 -DUART0_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart0
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test.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4015_hw.c main.c
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#tunel.CFLAGS += -DFBW -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1
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tunnel.srcs += $(SRC_ARCH)/uart_tunnel.c
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# config for SITL simulation
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include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
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sim.CFLAGS += -DCONFIG=\"tiny.h\"
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</makefile>
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</airframe>
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@@ -0,0 +1,125 @@
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#ifndef CONFIG_TINY_H
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#define CONFIG_TINY_H
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#ifdef SITL
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/* Dummy definitions: adc are unused anyway */
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#define AdcBank0(x) (x)
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#define AdcBank1(x) (x)
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#endif /* SITL */
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/* Master oscillator freq. */
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#define FOSC (12000000)
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/* PLL multiplier */
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#define PLL_MUL (5)
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/* CPU clock freq. */
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#define CCLK (FOSC * PLL_MUL)
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/* Peripheral bus speed mask 0x00->4, 0x01-> 1, 0x02 -> 2 */
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#define PBSD_BITS 0x00
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#define PBSD_VAL 4
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/* Peripheral bus clock freq. */
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#define PCLK (CCLK / PBSD_VAL)
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#define LED_1_BANK 1
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#define LED_1_PIN 28
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#define LED_2_BANK 1
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#define LED_2_PIN 19
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/* P0.5 aka MAT0.1 */
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#define SERVO_CLOCK_PIN 5
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#define SERVO_CLOCK_PINSEL PINSEL0
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#define SERVO_CLOCK_PINSEL_VAL 0x02
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#define SERVO_CLOCK_PINSEL_BIT 10
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/* p1.23 */
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#define SERVO_DATA_PIN 20
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/* p1.24 */
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#define SERVO_RESET_PIN 29
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/* PPM : rc rx on P0.6*/
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#define PPM_PINSEL PINSEL0
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#define PPM_PINSEL_VAL 0x02
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#define PPM_PINSEL_BIT 12
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/* ADC */
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#define ADC_0 AdcBank0(3)
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#ifdef USE_ADC_0
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#ifndef USE_AD0
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#define USE_AD0
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#endif
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#define USE_AD0_3
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#endif
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#define ADC_1 AdcBank0(2)
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#ifdef USE_ADC_1
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#ifndef USE_AD0
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#define USE_AD0
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#endif
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#define USE_AD0_2
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#endif
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#define ADC_2 AdcBank0(1)
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#ifdef USE_ADC_2
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#ifndef USE_AD0
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#define USE_AD0
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#endif
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#define USE_AD0_1
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#endif
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#define ADC_3 AdcBank0(4)
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#ifdef USE_ADC_3
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#ifndef USE_AD0
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#define USE_AD0
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#endif
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#define USE_AD0_4
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#endif
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#define ADC_4 AdcBank1(7)
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#ifdef USE_ADC_4
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#ifndef USE_AD1
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#define USE_AD1
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#endif
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#define USE_AD1_7
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#endif
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#define ADC_5 AdcBank1(3)
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#ifdef USE_ADC_4
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#ifndef USE_AD1
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#define USE_AD1
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#endif
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#define USE_AD1_3
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#endif
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#define ADC_6 AdcBank1(4)
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#ifdef USE_ADC_4
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#ifndef USE_AD1
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#define USE_AD1
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#endif
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#define USE_AD1_4
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#endif
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#define ADC_7 AdcBank1(5)
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#ifdef USE_ADC_4
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#ifndef USE_AD1
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#define USE_AD1
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#endif
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#define USE_AD1_5
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#endif
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#define ADC_CHANNEL_VSUPPLY AdcBank1(6)
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#ifndef USE_AD1
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#define USE_AD1
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#endif
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#define USE_AD1_6
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#ifndef VoltageOfAdc
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#define VoltageOfAdc(adc) (0.01787109375*adc)
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#endif
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#endif /* CONFIG_TINY_H */
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