diff --git a/conf/airframes/booz2_a1p.xml b/conf/airframes/booz2_a1p.xml new file mode 100644 index 0000000000..0422a466cf --- /dev/null +++ b/conf/airframes/booz2_a1p.xml @@ -0,0 +1,230 @@ + + + + + + + + + + + + + + + + +
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+ + + + + +ARCH=lpc21 +BOARD_CFG = \"boards/booz2_v1_0.h\" + +# prevents motors from ever starting +#ap.CFLAGS += -DKILL_MOTORS +ap.CFLAGS += -DMODEM_BAUD=B57600 + +include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile +include $(CFG_BOOZ)/booz2_autopilot.makefile +include $(CFG_BOOZ)/booz2_test_progs.makefile + +include $(CFG_BOOZ)/booz2_simulator_nps.makefile + +include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile +include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile +include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1.makefile +include $(CFG_BOOZ)/subsystems/booz2_gps.makefile + +include $(CFG_BOOZ)/subsystems/booz_ahrs_mlkf.makefile + +include $(CFG_BOOZ)/subsystems/booz2_fms_test_signal.makefile + + + + diff --git a/conf/simulator/nps/nps_sensors_params_booz2_a1p.h b/conf/simulator/nps/nps_sensors_params_booz2_a1p.h new file mode 100644 index 0000000000..d78c10f695 --- /dev/null +++ b/conf/simulator/nps/nps_sensors_params_booz2_a1p.h @@ -0,0 +1,173 @@ +/* + * $Id$ + * + * Copyright (C) 2009 Antoine Drouin + * + * This file is part of paparazzi. + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, write to + * the Free Software Foundation, 59 Temple Place - Suite 330, + * Boston, MA 02111-1307, USA. + * + */ + +#ifndef NPS_SENSORS_PARAMS_H +#define NPS_SENSORS_PARAMS_H + +#include "airframe.h" + +#if 1 +#define NPS_BODY_TO_IMU_PHI IMU_BODY_TO_IMU_PHI +#define NPS_BODY_TO_IMU_THETA IMU_BODY_TO_IMU_THETA +#define NPS_BODY_TO_IMU_PSI IMU_BODY_TO_IMU_PSI +#else +#define NPS_BODY_TO_IMU_PHI RadOfDeg(0.) +#define NPS_BODY_TO_IMU_THETA RadOfDeg(0.) +#define NPS_BODY_TO_IMU_PSI RadOfDeg(0.) +#endif + +/* + * Accelerometer + */ +#define NPS_ACCEL_RESOLUTION (65536) +/* ms-2 */ +/* aka 2^10/ACCEL_X_SENS */ +#define NPS_ACCEL_SENSITIVITY_XX ACCEL_BFP_OF_REAL(-1./2.50411474) +#define NPS_ACCEL_SENSITIVITY_YY ACCEL_BFP_OF_REAL(-1./2.48126183) +#define NPS_ACCEL_SENSITIVITY_ZZ ACCEL_BFP_OF_REAL(-1./2.51396167) + +#define NPS_ACCEL_NEUTRAL_X 32081 +#define NPS_ACCEL_NEUTRAL_Y 33738 +#define NPS_ACCEL_NEUTRAL_Z 32441 +/* m2s-4 */ +#define NPS_ACCEL_NOISE_STD_DEV_X 5.e-2 +#define NPS_ACCEL_NOISE_STD_DEV_Y 5.e-2 +#define NPS_ACCEL_NOISE_STD_DEV_Z 5.e-2 +/* ms-2 */ +#define NPS_ACCEL_BIAS_X 0 +#define NPS_ACCEL_BIAS_Y 0 +#define NPS_ACCEL_BIAS_Z 0 +/* s */ +#define NPS_ACCEL_DT (1./512.) + + + +/* + * Gyrometer + */ +#define NPS_GYRO_RESOLUTION 65536 + +/* 2^12/GYRO_X_SENS */ +#define NPS_GYRO_SENSITIVITY_PP RATE_BFP_OF_REAL( 1./1.01) +#define NPS_GYRO_SENSITIVITY_QQ RATE_BFP_OF_REAL(-1./1.01) +#define NPS_GYRO_SENSITIVITY_RR RATE_BFP_OF_REAL(-1./1.01) + +#define NPS_GYRO_NEUTRAL_P 33924 +#define NPS_GYRO_NEUTRAL_Q 33417 +#define NPS_GYRO_NEUTRAL_R 32809 + +#define NPS_GYRO_NOISE_STD_DEV_P RadOfDeg(0.1) +#define NPS_GYRO_NOISE_STD_DEV_Q RadOfDeg(0.1) +#define NPS_GYRO_NOISE_STD_DEV_R RadOfDeg(0.1) + +#define NPS_GYRO_BIAS_INITIAL_P RadOfDeg( 2.0) +#define NPS_GYRO_BIAS_INITIAL_Q RadOfDeg( 1.0) +#define NPS_GYRO_BIAS_INITIAL_R RadOfDeg(-5.0) + +#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_P RadOfDeg(0.0) +#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_Q RadOfDeg(0.0) +#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_R RadOfDeg(0.0) +/* s */ +#define NPS_GYRO_DT (1./512.) + + + +/* + * Magnetometer + */ +//#define BSM_MAG_RESOLUTION 65536 + +#define NPS_MAG_IMU_TO_SENSOR_PHI 0. +#define NPS_MAG_IMU_TO_SENSOR_THETA 0. +#define NPS_MAG_IMU_TO_SENSOR_PSI 0. + +#define NPS_MAG_SENSITIVITY_XX MAG_BFP_OF_REAL(-1./4.94075530) +#define NPS_MAG_SENSITIVITY_YY MAG_BFP_OF_REAL( 1./5.10207664) +#define NPS_MAG_SENSITIVITY_ZZ MAG_BFP_OF_REAL(-1./4.90788848) + +#define NPS_MAG_NEUTRAL_X 2358 +#define NPS_MAG_NEUTRAL_Y 2362 +#define NPS_MAG_NEUTRAL_Z 2119 + +#define NPS_MAG_NOISE_STD_DEV_X 2e-3 +#define NPS_MAG_NOISE_STD_DEV_Y 2e-3 +#define NPS_MAG_NOISE_STD_DEV_Z 2e-3 + +#define NPS_MAG_DT (1./100.) + + +/* + * Range meter + */ +#define BSM_RANGEMETER_RESOLUTION (1024) +#define BSM_RANGEMETER_SENSITIVITY (1024. / 12.) +#define BSM_RANGEMETER_MAX_RANGE (6. * BSM_RANGEMETER_SENSITIVITY) +#define BSM_RANGEMETER_DT (1./20.) + + +/* + * Barometer + */ +/* m */ +/* aka 2^8/INS_BARO_SENS */ +#define NPS_BARO_QNH 900. +#define NPS_BARO_SENSITIVITY 17.066667 +#define NPS_BARO_DT (1./100.) +#define NPS_BARO_NOISE_STD_DEV 5.e-2 + +/* + * GPS + */ + +#ifdef GPS_PERFECT + +#define NPS_GPS_SPEED_NOISE_STD_DEV 0. +#define NPS_GPS_SPEED_LATENCY 0. +#define NPS_GPS_POS_NOISE_STD_DEV 0.001 +#define NPS_GPS_POS_BIAS_INITIAL_X 0. +#define NPS_GPS_POS_BIAS_INITIAL_Y 0. +#define NPS_GPS_POS_BIAS_INITIAL_Z 0. +#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 0. +#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 0. +#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 0. +#define NPS_GPS_POS_LATENCY 0. + +#else + +#define NPS_GPS_SPEED_NOISE_STD_DEV 1 +#define NPS_GPS_SPEED_LATENCY 0.8 +#define NPS_GPS_POS_NOISE_STD_DEV 2 +#define NPS_GPS_POS_BIAS_INITIAL_X 0e-1 +#define NPS_GPS_POS_BIAS_INITIAL_Y -0e-1 +#define NPS_GPS_POS_BIAS_INITIAL_Z -0e-1 +#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 1e-3 +#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 1e-3 +#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 1e-3 +#define NPS_GPS_POS_LATENCY 0.8 + +#endif /* GPS_PERFECT */ + +#define NPS_GPS_DT (1./4.) + +#endif /* NPS_SENSORS_PARAMS_H */