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Merge branch 'master' into dev

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This commit is contained in:
Felix Ruess
2011-11-24 15:45:52 +01:00
parent 83601512c4 7e9704edd0
commit 686a26b356
102 changed files with 911 additions and 540 deletions
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conf/airframes/CDW/ChimuLisaFw.xml
-6
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@@ -154,12 +154,6 @@
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
</section>
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
<section name="SIMU">
<define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
<define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
conf/airframes/CDW/debug_i2c.xml
+277
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@@ -0,0 +1,277 @@
<!-- this is an asctec frame equiped with Lisa/L#3 and asctec V2 controllers -->
<airframe name="booz2_a7">
<servos min="0" neutral="0" max="0xff">
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" min="0" neutral="0" max="255"/>
<servo name="LEFT" no="2" min="0" neutral="0" max="255"/>
<servo name="RIGHT" no="3" min="0" neutral="0" max="255"/>
</servos>
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<!-- for the sim -->
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<define name="NB" value="4"/>
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
</section>
<section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="3"/>
<define name="MAX_MOTOR" value="200"/>
<define name="TRIM_A" value="0"/>
<define name="TRIM_E" value="0"/>
<define name="TRIM_R" value="0"/>
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/>
<define name="ROLL_COEF" value="{ 0 , 0, 256, -256 }"/>
<define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/>
<define name="YAW_COEF" value="{ 256, 256, -256, -256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_NEUTRAL" value="32858"/>
<define name="GYRO_Q_NEUTRAL" value="33152"/>
<define name="GYRO_R_NEUTRAL" value="31779"/>
<define name="GYRO_P_SENS" value=" 1.101357422" integer="16"/>
<define name="GYRO_Q_SENS" value=" 1.122670898" integer="16"/>
<define name="GYRO_R_SENS" value=" 1.104890137" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="32899"/>
<define name="ACCEL_Y_NEUTRAL" value="33281"/>
<define name="ACCEL_Z_NEUTRAL" value="32569"/>
<define name="ACCEL_X_SENS" value="2.57702956051" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.57835230627" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.54311399868" integer="16"/>
<define name="MAG_X_NEUTRAL" value="58"/>
<define name="MAG_Y_NEUTRAL" value="92"/>
<define name="MAG_Z_NEUTRAL" value="-3"/>
<define name="MAG_X_SENS" value="4.70018395734" integer="16"/>
<define name="MAG_Y_SENS" value="4.884119848" integer="16"/>
<define name="MAG_Z_SENS" value="2.59926404993" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0. )"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0. )"/>
<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 135.)"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
<define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
<define name="SP_MAX_R" value="RadOfDeg(90.)"/>
<define name="DEADBAND_R" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="RadOfDeg(300.)"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="RadOfDeg(180.)"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- gaui props
<define name="PHI_PGAIN" value="-900"/>
<define name="PHI_DGAIN" value="-200"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="-900"/>
<define name="THETA_DGAIN" value="-200"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="PSI_PGAIN" value="-900"/>
<define name="PSI_DGAIN" value="-200"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PHI_DDGAIN" value=" 200"/>
<define name="THETA_DDGAIN" value=" 200"/>
<define name="PSI_DDGAIN" value=" 200"/>
-->
<!-- feedback -->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="PSI_PGAIN" value="-2000"/>
<define name="PSI_DGAIN" value="-400"/>
<define name="PSI_IGAIN" value="-10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
<define name="THETA_DDGAIN" value=" 300"/>
<define name="PSI_DDGAIN" value=" 300"/>
</section>
<section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value=" 0.51562740288882"/>
<define name="H_Y" value="-0.05707735220832"/>
<define name="H_Z" value=" 0.85490967783446"/>
</section>
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="10." integer="16"/>
<define name="UNTILT_ACCEL" value="1"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/>
<!--
<define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-200"/>
<define name="HOVER_KI" value="0"/>
-->
<define name="HOVER_KP" value="-150"/>
<define name="HOVER_KD" value="-80"/>
<define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!-- <define name="INV_M" value ="0.2"/> -->
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-50"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-15"/>
<define name="NGAIN" value="-0"/>
</section>
<section name="MISC">
<define name="FACE_REINJ_1" value="1024"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
<modules main_freq="512">
<load name="i2c_abuse_test.xml"/>
</modules>
<firmware name="rotorcraft">
<!-- <define name="USE_PERSISTENT_SETTINGS"/> -->
<!-- <define name="USE_INS_NAV_INIT"/> -->
<define name="USE_ADAPT_HOVER"/>
<define name="FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R"/>
<target name="ap" board="lisa_l_1.0">
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="asctec"/>
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="b2_v1.1"/>
<subsystem name="gps" type="ublox">
<configure name="GPS_BAUD" value="B57600"/>
</subsystem>
<!--subsystem name="ahrs" type="int_cmpl_euler"/-->
<subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="hff"/>
</firmware>
<firmware name="lisa_l_test_progs">
<target name="test_led" board="lisa_l_1.0"/>
<target name="test_uart" board="lisa_l_1.0"/>
<target name="test_servos" board="lisa_l_1.0"/>
<target name="test_telemetry" board="lisa_l_1.0"/>
<target name="test_baro" board="lisa_l_1.0"/>
<target name="test_imu_b2" board="lisa_l_1.0"/>
<target name="test_imu_b2_2" board="lisa_l_1.0"/>
<target name="test_imu_aspirin" board="lisa_l_1.0"/>
<target name="test_rc_spektrum" board="lisa_l_1.0"/>
<target name="test_rc_ppm" board="lisa_l_1.0"/>
<target name="test_adc" board="lisa_l_1.0"/>
<target name="test_hmc5843" board="lisa_l_1.0"/>
<target name="test_itg3200" board="lisa_l_1.0"/>
<target name="test_adxl345" board="lisa_l_1.0"/>
<target name="test_esc_mkk_simple" board="lisa_l_1.0"/>
<target name="test_esc_asctecv1_simple" board="lisa_l_1.0"/>
<target name="test_actuators_mkk" board="lisa_l_1.0"/>
<target name="test_actuators_asctecv1" board="lisa_l_1.0"/>
<target name="tunnel_sw" board="lisa_l_1.0"/>
<target name="tunnel_hw" board="lisa_l_1.0"/>
</firmware>
<firmware name="lisa_passthrough">
<target name="overo_test_passthrough" board="lisa_l_1.0" >
<param name="HOST" value="A7"/>
<param name="USER" value=""/>
<param name="TARGET_DIR" value="~"/>
<param name="PERIODIC_FREQ" value="512"/>
</target>
<target name="stm_passthrough" board="lisa_l_1.0">
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="imu" type="b2_v1.1"/>
</target>
</firmware>
</airframe>
conf/airframes/ENAC/fixed-wing/drops.xml
-4
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@@ -210,10 +210,6 @@ on<!DOCTYPE airframe SYSTEM "airframe.dtd">
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
<makefile>
CONFIG = \"tiny_2_1.h\"
conf/airframes/ENAC/fixed-wing/slayer2.xml
-7
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@@ -188,13 +188,6 @@
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
<!--
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="AEROCOMM"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
-->
<makefile>
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
conf/airframes/ENAC/fixed-wing/weasel.xml
+4
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@@ -10,6 +10,8 @@
<modules>
<load name="baro_board.xml"/>
<load name="airspeed_ads1114.xml"/>
<!--load name="mcp355x.xml"/-->
</modules>
<firmware name="fixedwing">
@@ -40,6 +42,8 @@
<subsystem name="navigation"/>
<!-- Sensors -->
<subsystem name="gps" type="ublox"/>
<!--subsystem name="spi"/-->
</firmware>
conf/airframes/ENAC/malolo_sim.xml
-7
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@@ -192,14 +192,7 @@
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
<!--
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
-->
<section name="SIMU">
<!--define name="JSBSIM_MODEL" value="&quot;fulmar&quot;"/-->
conf/airframes/ENAC/quadrotor/blender.xml
-1
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@@ -228,7 +228,6 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="VoltageOfAdc(adc)" value="(0.025*adc)"/>
</section>
conf/airframes/ENAC/quadrotor/booz2_g1.xml
-2
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@@ -193,9 +193,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.183" integer="16"/>
</section>
<section name="AUTOPILOT">
conf/airframes/ENAC/quadrotor/g1_vision.xml
-2
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@@ -174,9 +174,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.183" integer="16"/>
</section>
<section name="AUTOPILOT">
conf/airframes/ENAC/quadrotor/mkk1-vision.xml
-2
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@@ -207,9 +207,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9." unit="V"/>
<define name="BATTERY_SENS" value="0.183" integer="16"/>
</section>
<section name="AUTOPILOT">
conf/airframes/ENAC/quadrotor/mkk1.xml
-2
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@@ -227,9 +227,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9." unit="V"/>
<define name="BATTERY_SENS" value="0.183" integer="16"/>
</section>
<section name="AUTOPILOT">
conf/airframes/ENAC/quadrotor/nova1.xml
-2
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@@ -198,9 +198,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9." unit="V"/>
<define name="BATTERY_SENS" value="0.183" integer="16"/>
</section>
<section name="AUTOPILOT">
conf/airframes/NoVa_L.xml
-2
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@@ -102,9 +102,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.48" integer="16"/>
</section>
conf/airframes/PPZUAV/fixed-wing/kalscott_easystar.xml
-205
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@@ -1,205 +0,0 @@
<!DOCTYPE airframe SYSTEM "airframe.dtd">
<!--
Multiplex EasyStar, using rudder
TWOG v1 board
Tilted infrared sensor
XBee 2.4GHz modem in transparent mode
-->
<!-- commands section -->
<servos>
<servo name="THROTTLE" no="0" min="1120" neutral="1120" max="1920"/>
<servo name="ELEVATOR" no="6" min="1100" neutral="1514" max="1900"/>
<servo name="RUDDER" no="7" min="2050" neutral="1612" max="950"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="THROTTLE" value="@THROTTLE"/>
</rc_commands>
<command_laws>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="RUDDER" value="@ROLL"/>
<set servo="ELEVATOR" value="@PITCH"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="RadOfDeg(50)"/>
<define name="MAX_PITCH" value="RadOfDeg(40)"/>
</section>
<section name="adc" prefix="ADC_CHANNEL_">
<define name="IR1" value="ADC_1"/>
<define name="IR2" value="ADC_2"/>
<define name="IR_TOP" value="ADC_0"/>
<define name="IR_NB_SAMPLES" value="16"/>
</section>
<section name="INFRARED" prefix="IR_">
<define name="ADC_IR1_NEUTRAL" value="512"/>
<define name="ADC_IR2_NEUTRAL" value="510"/>
<define name="ADC_TOP_NEUTRAL" value="516"/>
<define name="LATERAL_CORRECTION" value="0.7"/>
<define name="LONGITUDINAL_CORRECTION" value="0.7"/>
<define name="VERTICAL_CORRECTION" value="1."/>
<define name="HORIZ_SENSOR_TILTED" value="1"/>
<define name="IR1_SIGN" value="1"/>
<define name="IR2_SIGN" value="-1"/>
<define name="TOP_SIGN" value="1"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="-5.3" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="-3" unit="deg"/>
<define name="CORRECTION_UP" value="1."/>
<define name="CORRECTION_DOWN" value="1."/>
<define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="8.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="8.5" unit="V"/>
<define name="LOW_BAT_LEVEL" value="9.5" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.5" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
<define name="CARROT" value="4." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(2.0*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<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="90."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.0" unit="volt"/>
<!-- outer loop -->
<define name="ALTITUDE_PGAIN" value="-0.075" unit="(m/s)/m"/>
<define name="ALTITUDE_MAX_CLIMB" value="4." unit="m/s"/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5" unit="%"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.4" unit="%"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.8" unit="%"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" unit="pprz_t"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000" unit="pprz_t"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.02" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05" unit="rad/(m/s)"/>
<define name="AUTO_PITCH_PGAIN" value="-0.125"/>
<define name="AUTO_PITCH_IGAIN" value="0.025"/>
<define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
<define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-25)"/>
<define name="THROTTLE_SLEW" value="1.0"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.7"/>
<define name="ROLL_MAX_SETPOINT" value="RadOfDeg(35)" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="RadOfDeg(25)" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="RadOfDeg(-25)" unit="radians"/>
<define name="PITCH_PGAIN" value="-20000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="-7400"/>
<define name="ROLL_RATE_GAIN" value="-200"/>
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="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="0.9"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="RadOfDeg(18)"/><!-- 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="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.4" unit="%"/>
<define name="DEFAULT_ROLL" value="RadOfDeg(15)" unit="rad"/>
<define name="DEFAULT_PITCH" value="RadOfDeg(0)" unit="rad"/>
<define name="HOME_RADIUS" value="90" unit="m"/>
</section>
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="PPRZ"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
<makefile>
CONFIG = \"tiny_2_1_1.h\"
# Target configuration
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 -DUSE_MODULES
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
ap.srcs += commands.c
# Servo driver
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
# Radio configuration
ap.CFLAGS += -DRADIO_CONTROL
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
# Telemetry configuration
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B57600
ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
# ADC configuration
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
ap.srcs += $(SRC_ARCH)/adc_hw.c
# USE_GPS configuration
ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG -DGPS_LED=2
ap.srcs += gps_ubx.c gps.c latlong.c
ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN
ap.srcs += infrared.c estimator.c
# Control loops
ap.CFLAGS += -DNAV -DLOITER_TRIM
ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
ap.srcs += subsystems/navigation/nav_line.c
ap.srcs += subsystems/navigation/nav_survey_rectangle.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN -DUSE_MODULES
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
</makefile>
</airframe>
conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
-2
View File
@@ -178,9 +178,7 @@
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.18" integer="16"/>
</section>
conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
-2
View File
@@ -196,9 +196,7 @@
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.18" integer="16"/>
</section>
conf/airframes/Poine/booz2_a1.xml
-2
View File
@@ -169,9 +169,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.48" integer="16"/>
</section>
<section name="AUTOPILOT">
conf/airframes/Poine/booz2_a1p.xml
-2
View File
@@ -173,9 +173,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.48" integer="16"/>
</section>
<section name="AUTOPILOT">
conf/airframes/Poine/booz2_a7.xml
-2
View File
@@ -74,9 +74,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.48" integer="16"/>
</section>
conf/airframes/Poine/booz2_a8.xml
-2
View File
@@ -182,9 +182,7 @@
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.48" integer="16"/>
</section>
conf/airframes/Poine/easy_glider1.xml
-1
View File
@@ -76,7 +76,6 @@
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
<!--define name="MILLIAMP_PER_PERCENT" value="0.86"/-->
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
conf/airframes/Poine/h_hex.xml
-2
View File
@@ -76,9 +76,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.48" integer="16"/>
</section>
conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml
+1 -1
View File
@@ -1,6 +1,6 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
<!--
YAPA + XSens + XBee
-->
conf/airframes/TU_Delft/MicrojetCDW.xml
-5
View File
@@ -184,11 +184,6 @@
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
</section>
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
<firmware name="fixedwing">
<target name="ap" board="tiny_1.1">
<configure name="PERIODIC_FREQUENCY" value="960"/> <!-- IMU FREQ -->
conf/airframes/TU_Delft/Trip50A.xml
-7
View File
@@ -231,13 +231,6 @@ inline static void h_ctl_roll_loop( void ) {
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
</section>
<!--
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="0x005067361851"/>
</section>
-->
<section name="SIMU">
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
</section>
conf/airframes/TU_Delft/Trip50B.xml
-7
View File
@@ -236,13 +236,6 @@ inline static void h_ctl_roll_loop( void ) {
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
</section>
<!--
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="0x005067361851"/>
</section>
-->
<section name="SIMU">
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
</section>
conf/airframes/TU_Delft/holiday50.xml
-7
View File
@@ -231,13 +231,6 @@ inline static void h_ctl_roll_loop( void ) {
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
</section>
<!--
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="AEROCOMM"/>
<define name="DEVICE_ADDRESS" value="0x005067361851"/>
</section>
-->
<section name="SIMU">
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
</section>
conf/airframes/TU_Delft/skywalkerfiber.xml
+7 -7
View File
@@ -1,6 +1,6 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
<!--
Skywalker Fiberglass "GraySky" FPV 168 (http://www..com/)
YAPA v2 (http://paparazzi.enac.fr/wiki/Yapa#Yapa_v2)
With modified power routing
@@ -51,7 +51,7 @@
<subsystem name="gps" type="ublox"/>
</firmware>
<!-- **************************** MODULES ********************************** -->
<!-- **************************** MODULES ********************************** -->
<modules>
<!-- <load name="light.xml">
<define name="LIGHT_LED_STROBE" value="3"/>
@@ -68,7 +68,7 @@
</load>
</modules>
<!-- ***************************** SERVOS ********************************** -->
<!-- ***************************** SERVOS ********************************** -->
<servos>
<!-- Define here to which CONNECTOR NUMBER the servo is connected to, on the autopilot cicuit board -->
<servo name="THROTTLE" no="9" min="1000" neutral="1000" max="2000"/>
@@ -85,7 +85,7 @@
<axis name="YAW" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<!-- both ailerons up as braking spoilerons -->
<axis name="BRAKE" failsafe_value="9600"/>
<axis name="BRAKE" failsafe_value="9600"/>
</commands>
<rc_commands>
@@ -167,7 +167,7 @@
<!-- <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/> -->
<!-- Note that 3S lipo 3.1*3=9.3 most of the time the cutof for the motor part of the ESC -->
<define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
@@ -250,7 +250,7 @@
<define name="GLIDE_PITCH" value="45" unit="deg"/>
</section>
<!-- ******************* VERTICAL CONTROL ********************************** -->
<!-- ******************* VERTICAL CONTROL ********************************** -->
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
@@ -272,7 +272,7 @@
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
</section>
<!-- ******************* HORIZONTAL CONTROL ******************************** -->
<!-- ******************* HORIZONTAL CONTROL ******************************** -->
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.16799998283"/>
conf/airframes/UofAdelaide/A1000_BOOZ.xml
-2
View File
@@ -242,9 +242,7 @@ second attempt
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.25" integer="16"/>
</section>
<section name="AUTOPILOT">
conf/airframes/UofAdelaide/A1000_LISA.xml
-2
View File
@@ -74,9 +74,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.48" integer="16"/>
</section>
conf/airframes/UofAdelaide/A1000_NOVA.xml
-3
View File
@@ -204,10 +204,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.0" unit="V"/>
<define name="BATTERY_SENS" value="0.18" integer="16"/>
<!-- <define name="BATTERY_SENS" value="1" integer="16"/>-->
</section>
<section name="AUTOPILOT">
conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
-3
View File
@@ -204,10 +204,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.0" unit="V"/>
<define name="BATTERY_SENS" value="0.18" integer="16"/>
<!-- <define name="BATTERY_SENS" value="1" integer="16"/>-->
</section>
<section name="AUTOPILOT">
conf/airframes/UofAdelaide/booz2_a1000.xml
-2
View File
@@ -244,9 +244,7 @@ second attempt
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.25" integer="16"/>
</section>
<section name="AUTOPILOT">
conf/airframes/UofAdelaide/lisa_a1000.xml
-2
View File
@@ -71,9 +71,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.48" integer="16"/>
</section>
conf/airframes/booz2_flixr.xml
-1
View File
@@ -212,7 +212,6 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86" />
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V" />
<define name="MAX_BAT_LEVEL" value="12.0" unit="V" />
<define name="VoltageOfAdc(adc)" value="(0.0246*adc)"/>
conf/airframes/booz2_ppzuav.xml
-3
View File
@@ -179,10 +179,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="6.4" unit="V"/>
<define name="BATTERY_SENS" value="0.18" integer="16"/>
<!-- <define name="BATTERY_SENS" value="1" integer="16"/>-->
</section>
<section name="AUTOPILOT">
conf/airframes/easy_glider_example.xml
-1
View File
@@ -69,7 +69,6 @@
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
<!--define name="MILLIAMP_PER_PERCENT" value="0.86"/-->
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
conf/airframes/easystar_example.xml
-5
View File
@@ -164,9 +164,4 @@
<define name="HOME_RADIUS" value="90" unit="m"/>
</section>
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="PPRZ"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
</airframe>
conf/airframes/esden/jt_lisam.xml
-2
View File
@@ -65,9 +65,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.48" integer="16"/>
</section>
conf/airframes/esden/lisa_asctec.xml
-2
View File
@@ -81,9 +81,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.48" integer="16"/>
</section>
conf/airframes/esden/lisa_asctec_aspirin.xml
-2
View File
@@ -81,9 +81,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.48" integer="16"/>
</section>
conf/airframes/esden/lisa_m_pwm.xml
-2
View File
@@ -95,9 +95,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.48" integer="16"/>
</section>
conf/airframes/esden/lisa_pwm_aspirin.xml
-2
View File
@@ -69,9 +69,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.48" integer="16"/>
</section>
conf/airframes/esden/synerani_4B.xml
-2
View File
@@ -72,9 +72,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.48" integer="16"/>
</section>
conf/airframes/mentor_tum.xml
-7
View File
@@ -208,13 +208,6 @@
<define name="HOME_RADIUS" value="70" unit="m"/>
</section>
<!--
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="PPRZ"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
-->
<section name="SIMU">
<define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
<define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
conf/airframes/microjet_example.xml
-6
View File
@@ -159,12 +159,6 @@
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
</section>
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
<section name="SIMU">
<define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
<define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
conf/airframes/mm/extra/press_t.xml
-5
View File
@@ -174,11 +174,6 @@
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
<section name="SIMU">
conf/airframes/mm/extra/probe_t.xml
-5
View File
@@ -194,11 +194,6 @@
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
<section name="MAX11040">
conf/airframes/mm/extra/rctx.xml
-6
View File
@@ -12,18 +12,12 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<!-- 0.0247311828 -->
<!-- 0.02432905 -->
<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
</section>
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
<makefile>
CONFIG = \"tiny_2_1.h\"
conf/airframes/mm/fixed-wing/funjeteth1.xml
-5
View File
@@ -170,11 +170,6 @@
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
<section name="MICROMAG">

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