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This commit is contained in:
Antoine Drouin
2008-04-10 12:44:03 +00:00
parent e97fb81697
commit 676a6c7027
5 changed files with 187 additions and 32 deletions
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conf/autopilot/conf_booz.h
+10
View File
@@ -59,6 +59,16 @@
#define USE_AD0_1
#endif
/* battery on AD1.7 */
#define ADC_BAT AdcBank1(7)
#ifdef USE_ADC_BAT
#ifndef USE_AD1
#define USE_AD1
#endif
#define USE_AD1_7
#endif
conf/autopilot/conf_booz.makefile
+143 -20
View File
@@ -71,6 +71,14 @@ flt.srcs += ahrs_multitilt.c booz_ahrs.c
#flt.CFLAGS += -DBOOZ_AHRS_TYPE=BOOZ_AHRS_COMP_FILTER
#flt.srcs += ahrs_comp_filter.c booz_ahrs.c
flt.srcs += booz_ins.c
flt.CFLAGS += -DDT_VFILTER="(1./250.)"
flt.srcs += tl_vfilter.c
flt.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
flt.CFLAGS += -DGPS -DUBX -DGPS_LINK=Uart0 -DDOWNLINK_GPS_DEVICE=Uart1 -DGPS_BAUD=38400
flt.srcs += gps_ubx.c gps.c latlong.c
flt.srcs += booz_inter_mcu.c
flt.srcs += booz_link_mcu.c $(SRC_ARCH)/booz_link_mcu_hw.c
@@ -94,6 +102,9 @@ ctl.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
ctl.srcs += $(SRC_ARCH)/armVIC.c
ctl.CFLAGS += -DUSE_ADC_BAT
ctl.srcs += booz_energy.c $(SRC_ARCH)/adc_hw.c
ctl.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
ctl.srcs += $(SRC_ARCH)/uart_hw.c
@@ -113,13 +124,10 @@ ctl.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
ctl.srcs += booz_inter_mcu.c
ctl.CFLAGS += -DFLOAT_T=float
ctl.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0
ctl.CFLAGS += -DSPI_SELECT_SLAVE0_PIN=20 -DSPI_SELECT_SLAVE0_PORT=0 -DSSPCPSR_VAL=0x10
ctl.srcs += booz_link_mcu.c $(SRC_ARCH)/booz_link_mcu_hw.c
ctl.srcs += spi.c $(SRC_ARCH)/spi_hw.c
ctl.srcs += commands.c
ctl.CFLAGS += -DDISABLE_NAV -DDISABLE_PSI_CONTROL
ctl.CFLAGS += -DNAV_VERTICAL
ctl.srcs += booz_estimator.c \
booz_control.c \
booz_nav.c \
@@ -137,13 +145,20 @@ sim.ARCH = sitl
sim.TARGET = main
sim.TARGETDIR = main
sim.srcs = $(SIMDIR)/main_booz_sim.c \
$(SIMDIR)/booz_flight_model.c \
$(SIMDIR)/booz_flight_model_utils.c \
$(SIMDIR)/booz_sensors_model.c \
$(SIMDIR)/booz_wind_model.c \
$(SIMDIR)/booz_flightgear.c \
$(SIMDIR)/booz_joystick.c \
sim.srcs = $(SIMDIR)/main_booz_sim.c \
$(SIMDIR)/booz_flight_model.c \
$(SIMDIR)/booz_flight_model_utils.c \
$(SIMDIR)/booz_sensors_model.c \
$(SIMDIR)/booz_sensors_model_utils.c \
$(SIMDIR)/booz_sensors_model_accel.c \
$(SIMDIR)/booz_sensors_model_gyro.c \
$(SIMDIR)/booz_sensors_model_mag.c \
$(SIMDIR)/booz_sensors_model_rangemeter.c \
$(SIMDIR)/booz_sensors_model_baro.c \
$(SIMDIR)/booz_sensors_model_gps.c \
$(SIMDIR)/booz_wind_model.c \
$(SIMDIR)/booz_flightgear.c \
$(SIMDIR)/booz_joystick.c \
sim.CFLAGS += -DSITL
sim.CFLAGS += -DBOOZ_CONTROLLER_MCU
@@ -153,6 +168,9 @@ sim.srcs += booz_controller_main.c
sim.srcs += sys_time.c
sim.CFLAGS += -DUSE_ADC_BAT
sim.srcs += booz_energy.c
sim.CFLAGS += -DRADIO_CONTROL
sim.srcs += radio_control.c \
$(SRC_ARCH)/ppm_hw.c
@@ -169,12 +187,11 @@ sim.CFLAGS += -DDOWNLINK_TRANSPORT=IvyTransport
sim.srcs += $(SRC_ARCH)/ivy_transport.c
sim.srcs += booz_inter_mcu.c
sim.CFLAGS += -DUSE_SPI
sim.srcs += booz_link_mcu.c $(SRC_ARCH)/booz_link_mcu_hw.c
sim.srcs += spi.c $(SRC_ARCH)/spi_hw.c
sim.srcs += booz_estimator.c
sim.srcs += booz_control.c
sim.CFLAGS += -DNAV_VERTICAL
sim.srcs += booz_nav.c
sim.srcs += booz_nav_hover.c
@@ -210,12 +227,19 @@ sim.CFLAGS += -DFLOAT_T=float
sim.CFLAGS += -DBOOZ_AHRS_TYPE=BOOZ_AHRS_COMP_FILTER
sim.srcs += ahrs_comp_filter.c booz_ahrs.c
sim.srcs += gps.c latlong.c $(SRC_ARCH)/gps_hw.c
sim.srcs += booz_ins.c
sim.CFLAGS += -DDT_VFILTER="(1./250.)"
sim.srcs += tl_vfilter.c
##
##
##
## test_gyros
## IMU test_gyros
##
##
##
@@ -240,7 +264,7 @@ test_gyros.srcs += scp1000.c $(SRC_ARCH)/scp1000_hw.c
##
##
##
## test_mm
## IMU test_mm
##
##
##
@@ -263,7 +287,7 @@ test_mm.srcs += micromag.c $(SRC_ARCH)/micromag_hw.c
##
##
##
## test_scp
## IMU test_scp
##
##
##
@@ -287,7 +311,7 @@ test_scp.srcs += scp1000.c $(SRC_ARCH)/scp1000_hw.c
##
##
##
## test_imu
## IMU test_imu
##
##
##
@@ -318,7 +342,7 @@ test_imu.srcs += $(SRC_ARCH)/adc_hw.c
##
##
##
## test_still_detection
## IMU test_still_detection
##
##
##
@@ -352,7 +376,7 @@ test_sd.srcs += booz_still_detection.c
##
##
##
## test_vfilter
## IMU test_vfilter
##
##
##
@@ -383,7 +407,7 @@ test_vf.srcs += tl_vfilter.c
##
##
## test GPS filter
## IMU test GPS filter
##
##
tf.ARCHDIR = $(ARCHI)
@@ -409,3 +433,102 @@ tf.srcs += micromag.c $(SRC_ARCH)/micromag_hw.c
tf.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DDOWNLINK_GPS_DEVICE=Uart1 -DGPS_BAUD=38400
tf.srcs += gps_ubx.c gps.c latlong.c
##
##
##
## IMU test_link_mcu_imu
##
##
##
test_link_mcu_imu.ARCHDIR = $(ARCHI)
test_link_mcu_imu.ARCH = arm7tdmi
test_link_mcu_imu.TARGET = test_link_mcu_imu
test_link_mcu_imu.TARGETDIR = test_link_mcu_imu
test_link_mcu_imu.CFLAGS += -DBOOZ_DEBUG
test_link_mcu_imu.srcs += booz_debug.c
test_link_mcu_imu.CFLAGS += -DBOOZ_FILTER_MCU -DFLOAT_T=float
test_link_mcu_imu.CFLAGS += -DCONFIG=\"pprz_imu.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./250.))'
test_link_mcu_imu.srcs += booz_test_link_mcu_imu.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
test_link_mcu_imu.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_link_mcu_imu.srcs += $(SRC_ARCH)/uart_hw.c
test_link_mcu_imu.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_link_mcu_imu.srcs += downlink.c pprz_transport.c
test_link_mcu_imu.srcs += booz_inter_mcu.c
test_link_mcu_imu.srcs += booz_link_mcu.c $(SRC_ARCH)/booz_link_mcu_hw.c
##
##
##
## CTL test_link_mcu_ctl
##
##
##
test_link_mcu_ctl.ARCHDIR = $(ARCHI)
test_link_mcu_ctl.ARCH = arm7tdmi
test_link_mcu_ctl.TARGET = test_link_mcu_ctl
test_link_mcu_ctl.TARGETDIR = test_link_mcu_ctl
test_link_mcu_ctl.CFLAGS += -DBOOZ_DEBUG
test_link_mcu_ctl.srcs += booz_debug.c
test_link_mcu_ctl.CFLAGS += -DBOOZ_CONTROLLER_MCU -DFLOAT_T=float
test_link_mcu_ctl.CFLAGS += -DCONFIG=\"pprz_imu.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./250.))'
test_link_mcu_ctl.srcs += booz_test_link_mcu_ctl.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
test_link_mcu_ctl.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_link_mcu_ctl.srcs += $(SRC_ARCH)/uart_hw.c
test_link_mcu_ctl.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_link_mcu_ctl.srcs += downlink.c pprz_transport.c
test_link_mcu_ctl.srcs += booz_inter_mcu.c
test_link_mcu_ctl.srcs += booz_link_mcu.c $(SRC_ARCH)/booz_link_mcu_hw.c
##
##
##
## CTL test_motor
##
##
##
test_motor.ARCHDIR = $(ARCHI)
test_motor.ARCH = arm7tdmi
test_motor.TARGET = test_motor
test_motor.TARGETDIR = test_motor
test_motor.CFLAGS += -DBOOZ_DEBUG
test_motor.srcs += booz_debug.c
test_motor.CFLAGS += -DBOOZ_CONTROLLER_MCU -DFLOAT_T=float
test_motor.CFLAGS += -DCONFIG=\"pprz_imu.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./250.))'
test_motor.srcs += booz_test_motor.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
test_motor.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_motor.srcs += $(SRC_ARCH)/uart_hw.c
test_motor.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_motor.srcs += downlink.c pprz_transport.c
#
# simple emtpy demo
#
demo1.ARCHDIR = $(ARCHI)
demo1.ARCH = arm7tdmi
demo1.TARGET = demo1
demo1.TARGETDIR = demo1
demo1.CFLAGS += -DCONFIG=\"conf_demo.h\"
demo1.srcs = main_demo1.c
conf/messages.xml
+9 -3
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@@ -484,9 +484,9 @@
<message name="BOOZ_HOV_LOOP" ID="236">
<field name="sp_x" type="float" unit="m"/>
<field name="sp_y" type="float" unit="m"/>
<field name="est_vx" type="float" unit="m/s"/>
<field name="est_u" type="float" unit="m/s"/>
<field name="est_x" type="float" unit="m"/>
<field name="est_vy" type="float" unit="m/s"/>
<field name="est_v" type="float" unit="m/s"/>
<field name="est_y" type="float" unit="m"/>
<field name="phi_command" type="float" unit="rad"/>
<field name="theta_command" type="float" unit="rad"/>
@@ -559,7 +559,13 @@
<field name="module" type="uint8"/>
<field name="errno" type="uint8"/>
</message>
<message name="BOOZ_INS_STATE" ID="248">
<field name="z_est" type="float" unit="m/s"/>
<field name="z_meas" type="float" unit="m/s"/>
<field name="zd_est" type="float" unit="m/s"/>
<field name="az_b" type="float" unit="m/s"/>
</message>
<message name="TL_ESTIMATOR" ID="60">
<field name="r" type="float" unit="rad/s"/>
conf/settings/booz.xml
+12 -2
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@@ -3,18 +3,28 @@
<settings>
<dl_settings>
<dl_settings NAME="Rate loop">
<dl_setting var="booz_control_rate_pq_pgain" min="-1000" step="10" max="-50" module="booz_control" shortname="rate_pq_p"/>
<dl_setting var="booz_control_rate_pq_dgain" min="0" step="0.5" max="30" module="booz_control" shortname="rate_pq_d"/>
<dl_setting var="booz_control_rate_r_pgain" min="-500" step="10" max="-10" module="booz_control" shortname="rate_r_p"/>
<dl_setting var="booz_control_rate_r_dgain" min="0" step="0.5" max="30" module="booz_control" shortname="rate_r_d"/>
</dl_settings>
<dl_settings NAME="Attitude loop">
<dl_setting var="booz_control_attitude_phi_theta_pgain" min="-2000" step="50" max="-50" module="booz_control" shortname="att_rp_p"/>
<dl_setting var="booz_control_attitude_phi_theta_dgain" min="-2000" step="50" max="-50" module="booz_control" shortname="att_rp_d"/>
<dl_setting var="booz_control_attitude_psi_pgain" min="-2000" step="50" max="-50" module="booz_control" shortname="att_y_p"/>
<dl_setting var="booz_control_attitude_psi_dgain" min="-2000" step="50" max="-50" module="booz_control" shortname="att_y_d"/>
</dl_settings>
<dl_settings NAME="Vertical loop">
<dl_setting var="booz_nav_hover_v_pgain" min="0.005" step="0.005" max="0.2" module="booz_nav_hover" shortname="vert_p"/>
<dl_setting var="booz_nav_hover_v_dgain" min="0.005" step="0.005" max="0.2" module="booz_nav_hover" shortname="vert_d"/>
</dl_settings>
<!--
<dl_setting var="booz_nav_vertical_pgain" min="0.01" step="0.01" max="10" module="booz_nav" shortname="vert_p"/>
<dl_setting var="booz_nav_vertical_dgain" min="0.01" step="0.01" max="10" module="booz_nav" shortname="vert_d"/>
<dl_setting var="booz_nav_horizontal_pgain" min="0.01" step="0.01" max="0.5" module="booz_nav" shortname="horiz_p"/>
<dl_setting var="booz_nav_horizontal_dgain" min="0.01" step="0.01" max="0.5" module="booz_nav" shortname="hoziz_d"/>
<dl_setting var="booz_nav_horizontal_max_pos_err" min="0" step="0.5" max="20" module="booz_nav" shortname="vert_max_pos_err"/>
conf/telemetry/booz.xml
+13 -7
View File
@@ -5,7 +5,8 @@
<process name="Controller">
<mode name="default">
<message name="BOOZ_STATUS" period="1."/>
<message name="ALIVE" period="5."/>
<message name="BOOZ_STATUS" period=".5"/>
<message name="RC" period="0.5"/>
<!-- <message name="BOOZ_FD" period="0.05"/> -->
<!-- <message name="BOOZ_DEBUG" period="0.25"/> -->
@@ -25,25 +26,30 @@
<process name="Filter">
<mode name="default">
<!-- <message name="IMU_GYRO_LP" period=".017"/> -->
<message name="AHRS_STATE" period=".05"/>
<message name="AHRS_STATE" period=".1"/>
<message name="AHRS_COV" period=".2"/>
<message name="AHRS_MEASURE" period=".05"/>
<!-- <message name="IMU_ACCEL_RAW" period=".2"/> -->
<message name="IMU_ACCEL" period=".5"/>
<message name="AHRS_MEASURE" period=".1"/>
<!-- <message name="IMU_ACCEL_RAW" period=".02"/> -->
<message name="IMU_ACCEL" period=".1"/>
<!-- <message name="IMU_GYRO_RAW" period=".05"/> -->
<message name="IMU_GYRO" period=".05"/>
<!-- <message name="IMU_MAG_RAW" period=".5"/> -->
<message name="IMU_GYRO" period=".1"/>
<!-- <message name="IMU_MAG_RAW" period=".05"/>
<message name="IMU_MAG" period=".5"/>
<message name="IMU_PRESSURE" period=".5"/>
<message name="INS_STATE" period=".1"/> -->
</mode>
<mode name="raw_sensors">
<message name="IMU_GYRO_RAW" period=".017"/>
</mode>
<mode name="scaled_sensors">
<message name="IMU_GYRO" period=".017"/>
</mode>
<mode name="simulation">
<!-- <message name="BOOZ_DEBUG" period=".1"/>-->
<message name="AHRS_STATE" period=".1"/>