mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-01 04:46:51 +08:00
[imav] add airframe and flight plan from IMAV2018
This commit is contained in:
Gautier Hattenberger
@@ -0,0 +1,261 @@
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
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<airframe name="Jumper Neo">
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<description>
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Hawkeye plane with NanoPi Air and IDS cam
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Designed for IMAV2018
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</description>
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<firmware name="fixedwing">
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<configure name="PERIODIC_FREQUENCY" value="125"/>
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<target name="ap" board="apogee_1.0_chibios">
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<module name="radio_control" type="sbus"/>
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<!--module name="ins" type="float_invariant">
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<define name="USE_MAGNETOMETER"/>
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<configure name="AHRS_PROPAGATE_FREQUENCY" value="125"/>
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<configure name="AHRS_CORRECT_FREQUENCY" value="125"/>
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<define name="BARO_BOARD_APOGEE_FREQ" value="50"/>
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<define name="MPL3115_OVERSAMPLING" value="2"/>
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</module-->
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<module name="ahrs" type="float_dcm"/>
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<module name="ins" type="alt_float"/>
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<define name="DC_SHOT_EXTRA_DL" value="TRUE"/>
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</target>
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<target name="sim" board="pc">
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<module name="radio_control" type="ppm"/>
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<module name="ahrs" type="float_dcm"/>
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<module name="ins" type="alt_float"/>
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</target>
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<!-- Communication -->
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<module name="telemetry" type="xbee_api"/>
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<!-- Actuators are automatically chosen according to board-->
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<module name="imu" type="apogee">
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<define name="APOGEE_LOWPASS_FILTER" value="MPU60X0_DLPF_20HZ"/>
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<define name="APOGEE_SMPLRT_DIV" value="7"/>
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</module>
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<module name="control" type="new"/>
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<module name="navigation"/>
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<!-- Sensors -->
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<module name="gps" type="ublox">
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<configure name="GPS_BAUD" value="B115200"/>
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</module>
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<module name="mag_hmc58xx.xml">
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<define name="MODULE_HMC58XX_UPDATE_AHRS"/>
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<configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
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</module>
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<module name="extra_dl">
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<configure name="EXTRA_DL_PORT" value="UART6"/>
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<configure name="EXTRA_DL_BAUD" value="B115200"/>
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</module>
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<module name="digital_cam">
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<define name="DC_SHUTTER_GPIO" value="GPIOB,GPIO15"/> <!-- Apogee AUX4 -->
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<define name="DC_AUTOSHOOT_DISTANCE_INIT" value="4"/>
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</module>
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<module name="takeoff_detect.xml"/>
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</firmware>
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<!-- commands section -->
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<servos>
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<servo name="MOTOR" no="0" min="1040" neutral="1040" max="2000"/>
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<servo name="AILEVON_RIGHT" no="1" min="1445" neutral="1565" max="1720"/>
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<servo name="AILEVON_LEFT" no="2" min="1710" neutral="1590" max="1435"/>
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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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</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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</rc_commands>
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<section name="MIXER">
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<define name="AILEVON_AILERON_RATE" value="0.5"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
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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="MOTOR" 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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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="45" unit="deg"/>
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<define name="MAX_PITCH" value="30" unit="deg"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<!-- Calibration Neutral -->
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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="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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<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="ACCEL_X_NEUTRAL" value="38"/>
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<define name="ACCEL_Y_NEUTRAL" value="-51"/>
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<define name="ACCEL_Z_NEUTRAL" value="334"/>
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<define name="ACCEL_X_SENS" value="2.44751351959" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.45786678054" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.45120935902" 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="MAG_X_NEUTRAL" value="40"/><!--4-->
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<define name="MAG_Y_NEUTRAL" value="-67"/>
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<define name="MAG_Z_NEUTRAL" value="126"/>
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<define name="MAG_X_SENS" value="3.72743572464" integer="16"/>
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<define name="MAG_Y_SENS" value="3.77984806639" integer="16"/>
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<define name="MAG_Z_SENS" value="4.27632896683" integer="16"/>
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<define name="BODY_TO_IMU_PHI" value="0" unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="0" unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0" unit="deg"/>
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</section>
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<section name="INS" prefix="INS_">
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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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<!--Ramonville-->
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<define name="H_X" value="0.5141"/>
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<define name="H_Y" value="0.0002"/>
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<define name="H_Z" value="0.8576"/>
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</section>
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<section name="BAT">
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<define name="CATASTROPHIC_BAT_LEVEL" 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="12." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.05*MAX_DIST_FROM_HOME)"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="50."/>
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<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
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<define name="RC_LOST_MODE" value="AP_MODE_AUTO2"/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="0.12"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="4."/>
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<!-- disable climb rate limiter -->
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<define name="AUTO_CLIMB_LIMIT" value="2*V_CTL_ALTITUDE_MAX_CLIMB"/>
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<!-- Cruise throttle + limits -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
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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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<!-- Climb loop (throttle) -->
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.088" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="0.004"/>
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<define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0."/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.077"/>
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<!-- Climb loop (pitch) -->
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<define name="AUTO_PITCH_PGAIN" value="0.027"/>
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<define name="AUTO_PITCH_DGAIN" value="0.01"/>
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<define name="AUTO_PITCH_IGAIN" value="0.0"/>
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<!--define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/-->
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<define name="AUTO_PITCH_MAX_PITCH" value="20" unit="deg"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="-20" unit="deg"/>
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<!-- airspeed control -->
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<define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
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<define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
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<define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
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<define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
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<define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
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<define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
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<define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
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<define name="AIRSPEED_MAX" value="30"/>
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<define name="AIRSPEED_MIN" value="10"/>
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<!-- groundspeed control -->
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<define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
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<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
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<define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
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<!-- pitch trim -->
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<define name="PITCH_LOITER_TRIM" value="0." unit="deg"/>
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<define name="PITCH_DASH_TRIM" value="0." unit="deg"/>
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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="0.743"/>
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<define name="COURSE_TAU" value="0.5"/>
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<define name="ROLL_MAX_SETPOINT" value="45." unit="deg"/>
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<define name="PITCH_MAX_SETPOINT" value="30." unit="deg"/>
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<define name="PITCH_MIN_SETPOINT" value="-30." unit="deg"/>
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<define name="ROLL_ATTITUDE_GAIN" value="11000."/>
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<define name="ROLL_RATE_GAIN" value="1000."/>
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<define name="ROLL_IGAIN" value="100."/>
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<define name="ROLL_KFFA" value="0"/>
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<define name="ROLL_KFFD" value="0"/>
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<define name="PITCH_PGAIN" value="17250"/>
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<define name="PITCH_DGAIN" value="500."/>
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<define name="PITCH_IGAIN" value="400"/>
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<define name="PITCH_KFFA" value="0."/>
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<define name="PITCH_KFFD" value="0."/>
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<define name="PITCH_OF_ROLL" value="1." unit="deg"/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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<define name="ELEVATOR_OF_ROLL" value="1400"/>
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</section>
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<section name="NAV">
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<define name="NAV_GLIDE_PITCH_TRIM" 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="2" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
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<define name="DEFAULT_ROLL" value="20." unit="deg"/>
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<define name="DEFAULT_PITCH" value="10." unit="deg"/>
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<define name="HOME_RADIUS" value="50" unit="m"/>
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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="SIMU">
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<define name="ROLL_RESPONSE_FACTOR" value="20"/>
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<define name="JSBSIM_MODEL" value="easystar" type="string"/>
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<define name="JSBSIM_LAUNCHSPEED" value="15.0"/>
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</section>
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</airframe>
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@@ -0,0 +1,174 @@
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<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
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<flight_plan alt="195" ground_alt="155" home_mode_height="18" lat0="-37.623547" lon0="145.125942" max_dist_from_home="400" name="IMAV2018 Carto" qfu="180." security_height="10">
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<header>
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#include "subsystems/datalink/datalink.h"
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static inline bool delay_test_rc(bool test, int delay) {
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static int nb = 0;
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if (test) {
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nb++;
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if (nb == delay) {
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nb = 0;
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return true;
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}
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return false;
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} else {
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nb = 0;
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return false;
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}
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}
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static inline bool delay_test_gf(bool test, int delay) {
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static int nb = 0;
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if (test) {
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nb++;
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if (nb == delay) {
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nb = 0;
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return true;
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}
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return false;
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} else {
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nb = 0;
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return false;
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}
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}
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#if DIGITAL_CAM
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#ifndef SITL
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static inline void set_expo(float e) {
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uint8_t tab[2];
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tab[0] = 'e';
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tab[1] = (uint8_t)(e * 10.f);
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DOWNLINK_SEND_PAYLOAD_COMMAND(extra_pprz_tp, EXTRA_DOWNLINK_DEVICE, 0, 2, tab);
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}
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#else
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#include "stdio.h"
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#define set_expo(_e) { printf("setting expo %f\n",_e); fflush(stdout); }
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#endif
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#define LINE_START_FUNCTION dc_Survey(20);
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#define LINE_STOP_FUNCTION dc_autoshoot = DC_AUTOSHOOT_STOP;
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#endif
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</header>
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<waypoints>
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<waypoint name="HOME" x="0" y="0"/>
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<waypoint name="STDBY" x="-12.8" y="19.6"/>
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<waypoint alt="159" name="TD" x="53.8" y="43.7"/>
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<waypoint alt="165" name="AF" x="27.5" y="-43.5"/>
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<waypoint name="_BASELEG" x="168.8" y="-13.8"/>
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<waypoint name="CLIMB" x="-49.6" y="-15.9"/>
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<waypoint name="_NFZ1" x="95.7" y="89.6"/>
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<waypoint name="_NFZ2" x="47.6" y="-140.9"/>
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<waypoint name="_NFZ3" x="-335.2" y="-127.8"/>
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<waypoint name="_NFZ4" x="-362.0" y="-21.7"/>
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<waypoint name="_NFZ5" x="-355.0" y="88.4"/>
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<waypoint name="_NFZ6" x="-306.0" y="156.7"/>
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<waypoint name="_MAP1" x="-47.0" y="69.0"/>
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<waypoint name="_MAP2" x="-105.8" y="-93.4"/>
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<waypoint name="_MAP3" x="-293.6" y="-68.1"/>
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<waypoint name="_MAP4" x="-271.3" y="108.9"/>
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<waypoint name="ZBC" x="-171.4" y="-5.1"/>
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<waypoint name="ZBDIR" x="-229.4" y="1.7"/>
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</waypoints>
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<sectors>
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<sector color="red" name="FlyZone" type="dynamic">
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<corner name="_NFZ1"/>
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<corner name="_NFZ2"/>
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<corner name="_NFZ3"/>
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<corner name="_NFZ4"/>
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<corner name="_NFZ5"/>
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<corner name="_NFZ5"/>
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<corner name="_NFZ6"/>
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</sector>
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<sector color="green" name="MAP" type="dynamic">
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<corner name="_MAP1"/>
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<corner name="_MAP2"/>
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<corner name="_MAP3"/>
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<corner name="_MAP4"/>
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</sector>
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</sectors>
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<variables>
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<variable var="exposure" init="2." min="0.1" max="20." step="0.1"/>
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<variable var="map_alt" init="30." min="10." max="60." step="1."/>
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</variables>
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<modules>
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<module name="nav" type="survey_zamboni"/>
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</modules>
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<exceptions>
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<!-- RC-Loss -->
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<exception cond="(delay_test_rc(RCLost(),20) &&
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!(IndexOfBlock('Takeoff') > nav_block) &&
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!(nav_block >= IndexOfBlock('Land Right AF-TD')) &&
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(autopilot.launch == true) )" deroute="EmergencyLanding"/>
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<!-- Datalink loss -->
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<exception cond="(datalink_time > 10 &&
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!(IndexOfBlock('Takeoff') > nav_block) &&
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!(nav_block >= IndexOfBlock('Land Right AF-TD')) &&
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(autopilot.launch == true) )" deroute="EmergencyLanding"/>
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<!-- Geofence -->
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<exception cond="(delay_test_gf(!InsideFlyZone(GetPosX(), GetPosY()),10) &&
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!(IndexOfBlock('Takeoff') > nav_block) &&
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!(nav_block >= IndexOfBlock('Land Right AF-TD')) &&
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(autopilot.launch == true) )" deroute="EmergencyLanding"/>
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</exceptions>
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<blocks>
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<block name="Wait GPS">
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<set value="1" var="autopilot.kill_throttle"/>
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<while cond="!GpsFixValid()"/>
|
||||
</block>
|
||||
<block name="Geo init">
|
||||
<while cond="LessThan(NavBlockTime(), 10)"/>
|
||||
</block>
|
||||
<block name="Holding point">
|
||||
<set value="1" var="autopilot.kill_throttle"/>
|
||||
<attitude roll="0" throttle="0" vmode="throttle"/>
|
||||
</block>
|
||||
<block group="home" key="t" name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
|
||||
<exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
|
||||
<set value="0" var="autopilot.kill_throttle"/>
|
||||
<set value="0" var="autopilot.flight_time"/>
|
||||
<go from="HOME" pitch="30" throttle="0.8" vmode="throttle" wp="CLIMB"/>
|
||||
</block>
|
||||
<block group="home" key="Ctrl+a" name="Standby" strip_button="Standby" strip_icon="home.png">
|
||||
<circle radius="nav_radius" wp="STDBY"/>
|
||||
</block>
|
||||
<block group="map" name="ZamboniSurvey" strip_button="Zamboni">
|
||||
<call_once fun="nav_survey_zamboni_setup(WP_ZBC, WP_ZBDIR, 200, 13, 13, GetAltRef()+map_alt)"/>
|
||||
<call fun="nav_survey_zamboni_run()"/>
|
||||
<deroute block="Standby"/>
|
||||
</block>
|
||||
<block group="land" name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png">
|
||||
<set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
|
||||
<deroute block="land"/>
|
||||
</block>
|
||||
<block group="land" name="Land Left AF-TD" strip_button="Land left (wp AF-TD)" strip_icon="land-left.png">
|
||||
<set value="-DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
|
||||
<deroute block="land"/>
|
||||
</block>
|
||||
<block name="land">
|
||||
<call_once fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
|
||||
<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
|
||||
<circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 > fabs(GetPosAlt() - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
|
||||
</block>
|
||||
<block name="final">
|
||||
<exception cond="GetAltRef() + 3 > GetPosAlt()" deroute="flare"/>
|
||||
<go from="AF" hmode="route" vmode="glide" wp="TD"/>
|
||||
</block>
|
||||
<block name="flare">
|
||||
<go exceeding_time="5" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
|
||||
<attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
|
||||
</block>
|
||||
<block name="EmergencyLanding">
|
||||
<go wp="HOME" vmode="throttle" throttle="0."/>
|
||||
<attitude roll="0" throttle="0" vmode="throttle"/>
|
||||
</block>
|
||||
<block name="SetExpo">
|
||||
<call_once fun="set_expo(exposure)"/>
|
||||
<return/>
|
||||
</block>
|
||||
</blocks>
|
||||
</flight_plan>
|
||||
Reference in New Issue
Block a user