mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-26 16:30:07 +08:00
fix CRLF line endings to LF only
This commit is contained in:
Felix Ruess
@@ -1,10 +1,10 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<!--
|
||||
Multiplex EasyStar, using rudder
|
||||
TWOG v1 board
|
||||
Tilted infrared sensor
|
||||
XBee 2.4GHz modem in transparent mode
|
||||
<!--
|
||||
Multiplex EasyStar, using rudder
|
||||
TWOG v1 board
|
||||
Tilted infrared sensor
|
||||
XBee 2.4GHz modem in transparent mode
|
||||
-->
|
||||
|
||||
<airframe name="EasyStar2 - TWOG v1">
|
||||
@@ -15,17 +15,17 @@
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="THROTTLE" no="0" min="1120" neutral="1120" max="1920"/>
|
||||
<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"/>
|
||||
<servo name="CAM_PAN" no="3" min="1000" neutral="1500" max="2000"/>
|
||||
<servo name="CAM_TILT" no="4" min="1000" neutral="1450" max="2000"/>
|
||||
</servos>
|
||||
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="CAM_PAN" failsafe_value="0"/>
|
||||
<axis name="CAM_TILT" failsafe_value="0"/>
|
||||
</commands>
|
||||
@@ -33,16 +33,16 @@
|
||||
<rc_commands>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="CAM_PAN" value="@CAM_PAN"/>
|
||||
<set command="CAM_TILT" value="@CAM_TILT"/>
|
||||
</rc_commands>
|
||||
</rc_commands>
|
||||
|
||||
<command_laws>
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="RUDDER" value="@ROLL"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
<set servo="CAM_PAN" value="@CAM_PAN"/>
|
||||
<set servo="RUDDER" value="@ROLL"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
<set servo="CAM_PAN" value="@CAM_PAN"/>
|
||||
<set servo="CAM_TILT" value="@CAM_TILT"/>
|
||||
</command_laws>
|
||||
|
||||
@@ -94,51 +94,51 @@
|
||||
<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="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."/>
|
||||
<define name="MIN_CIRCLE_RADIUS" value="60."/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
|
||||
<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"/>
|
||||
<!-- 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)"/>
|
||||
<!-- auto airspeed and altitude inner loop -->
|
||||
<define name="AUTO_AIRSPEED_SETPOINT" value="14.5" unit="m/s"/>
|
||||
<define name="AUTO_AIRSPEED_PGAIN" value="0.060"/>
|
||||
<define name="AUTO_AIRSPEED_IGAIN" value="0.050"/>
|
||||
<define name="AUTO_AIRSPEED_IGAIN" value="0.050"/>
|
||||
<define name="AUTO_GROUNDSPEED_SETPOINT" value="6.0" unit="m/s"/>
|
||||
<define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
|
||||
<define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>
|
||||
<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"/>
|
||||
<define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>
|
||||
<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="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>
|
||||
|
||||
@@ -147,15 +147,15 @@
|
||||
<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="0.70"/><!-- 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 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="0.70"/><!-- 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_">
|
||||
@@ -165,11 +165,11 @@
|
||||
<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>
|
||||
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="PPRZ"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
CONFIG = \"tiny_2_1_1.h\"
|
||||
@@ -179,7 +179,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 -DUSE_MODULES
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -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
|
||||
@@ -190,47 +190,47 @@ 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
|
||||
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)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
ap.srcs += inter_mcu.c
|
||||
ap.srcs += inter_mcu.c
|
||||
|
||||
# ADC configuration
|
||||
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
|
||||
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
# GPS configuration
|
||||
ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG -DGPS_LED=2
|
||||
ap.CFLAGS += -DGPS -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 += -DINFRARED -DALT_KALMAN
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
# Control loops
|
||||
ap.CFLAGS += -DNAV -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
ap.CFLAGS += -DNAV -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
ap.srcs += nav_line.c
|
||||
ap.srcs += nav_line.c
|
||||
ap.srcs += nav_survey_rectangle.c
|
||||
|
||||
# Camera control
|
||||
#ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
|
||||
#ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
|
||||
#-DTEST_CAM
|
||||
#ap.srcs += cam.c point.c
|
||||
|
||||
# EagleTree sensors (altimeter and airspeed)
|
||||
ap.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0 -DAGR_CLIMB
|
||||
ap.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0 -DAGR_CLIMB
|
||||
ap.srcs += airspeed.c airspeed_ets.c baro_ets.c i2c.c $(SRC_ARCH)/i2c_hw.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 += nav_line.c nav_survey_rectangle.c
|
||||
sim.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0 -DAGR_CLIMB
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN -DUSE_MODULES
|
||||
sim.srcs += nav_line.c nav_survey_rectangle.c
|
||||
sim.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0 -DAGR_CLIMB
|
||||
sim.srcs += airspeed.c airspeed_ets.c baro_ets.c i2c.c $(SRC_ARCH)/i2c_hw.c
|
||||
|
||||
</makefile>
|
||||
|
||||
Reference in New Issue
Block a user