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This commit is contained in:
Antoine Drouin
2006-07-19 16:58:33 +00:00
parent 655493f132
commit 7db4484a2b
8 changed files with 68 additions and 38 deletions
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Makefile
+1 -1
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@@ -156,7 +156,7 @@ ac: hard_ac
#
# call with : make bl PROC=[TINY|FBW|AP|GENERIC]
bl:
cd $(AIRBORNE)/arm7/test/bootloader; make
cd $(AIRBORNE)/arm7/test/bootloader; make clean; make
upload_bl: bl
lpc21isp -control $(AIRBORNE)/arm7/test/bootloader/bl.hex /dev/ttyS0 38400 12000
conf/airframes/microjet5.xml
+10 -10
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@@ -51,18 +51,18 @@
</section>
<section name="INFRARED" prefix="IR_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="6" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="9" unit="deg"/>
<define name="DEFAULT_CONTRAST" value="200"/>
<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
<linear name="RollOfIrs" arity="2" coeff1="-0.5" coeff2="0.5"/>
<linear name="PitchOfIrs" arity="2" coeff1="-0.5" coeff2="-0.5"/>
<define name="RAD_OF_IR_CONTRAST" value="1."/>
<linear name="RollOfIrs" arity="2" coeff1="-0.7" coeff2="0.7"/>
<linear name="PitchOfIrs" arity="2" coeff1="-0.7" coeff2="-0.7"/>
<linear name="TopOfIr" arity="1" coeff1="-1"/>
<define name="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
<define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
<define name="ADC_ROLL_NEUTRAL" value="0"/>
<define name="ADC_PITCH_NEUTRAL" value="-512"/>
<define name="ADC_TOP_NEUTRAL" value="512"/>
<define name="ADC_PITCH_NEUTRAL" value="-716"/>
<define name="ADC_TOP_NEUTRAL" value="716"/>
</section>
<section name="GYRO" prefix="GYRO_">
@@ -89,7 +89,7 @@
<section name="PID">
<define name="ROLL_PGAIN" value="5000."/>
<define name="PITCH_OF_ROLL" value="0.0"/>
<define name="PITCH_OF_ROLL" value="0.25"/>
<define name="PITCH_PGAIN" value="8000."/>
<define name="MAX_ROLL" value="0.35"/>
<define name="MAX_PITCH" value="0.35"/>
@@ -100,7 +100,7 @@
<section name="ALT" prefix="CLIMB_">
<define name="PITCH_PGAIN" value="-0.1"/>
<define name="PITCH_IGAIN" value="0.025"/>
<define name="PGAIN" value="-0.03"/>
<define name="PGAIN" value="-0.02"/>
<define name="IGAIN" value="0.1"/>
<define name="MAX" value="1."/>
<define name="LEVEL_GAZ" value="0.50"/>
@@ -109,7 +109,7 @@
</section>
<section name="NAV">
<define name="COURSE_PGAIN" value="-0.2"/>
<define name="COURSE_PGAIN" value="-0.5"/>
<define name="ALTITUDE_PGAIN" value="-0.025"/>
<define name="NAV_PITCH" value="0."/>
</section>
conf/flight_plans/flight_plan.dtd
+4 -1
View File
@@ -121,7 +121,8 @@ pitch CDATA #IMPLIED
alt CDATA #IMPLIED
until CDATA #IMPLIED
approaching_time CDATA #IMPLIED
gaz CDATA #IMPLIED>
gaz CDATA #IMPLIED
climb CDATA #IMPLIED>
<!ATTLIST set
var CDATA #REQUIRED
@@ -153,6 +154,8 @@ cam_mode (null|fix|manual|nadir|target|follow) #IMPLIED
target CDATA #IMPLIED
cam_ac_target CDATA #IMPLIED
climb CDATA #IMPLIED
pitch CDATA #IMPLIED
gaz CDATA #IMPLIED
until CDATA #IMPLIED>
<!ATTLIST survey_rectangle
conf/flight_plans/generic.xml
+36 -16
View File
@@ -1,4 +1,4 @@
<flight_plan ALT="450" GROUND_ALT="400" LAT0="43.4624" LON0="1.2727" MAX_DIST_FROM_HOME="1500" NAME="Generic" QFU="270" SECURITY_HEIGHT="25">
<flight_plan ALT="450" GROUND_ALT="400" LAT0="43.4624" LON0="1.2727" MAX_DIST_FROM_HOME="500" NAME="Generic" QFU="270" SECURITY_HEIGHT="25">
<dl_settings>
<dl_settings NAME="flight params">
<dl_setting MAX="2" MIN="0" STEP="1" VAR="light_mode"/>
@@ -16,20 +16,22 @@
<dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ir_pitch_neutral"/>
<dl_setting MAX="15000" MIN="1000" STEP="250" VAR="roll_pgain"/>
<dl_setting MAX="15000" MIN="1000" STEP="250" VAR="pitch_pgain"/>
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="pitch_of_roll"/>
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="pitch_of_vz"/>
</dl_settings>
<dl_settings name="rate_loop">
<dl_setting VAR="roll_rate_pgain" MIN="0." STEP="1.0" MAX="2000."/>
<dl_setting VAR="attitude_pgain" MAX="100" STEP="1" MIN="10"/>
<dl_setting MAX="2000." MIN="0." STEP="1.0" VAR="roll_rate_pgain"/>
<dl_setting MAX="100" MIN="10" STEP="1" VAR="attitude_pgain"/>
</dl_settings>
<dl_settings name="nav">
<dl_setting VAR="climb_level_gaz" MAX="0.7" STEP="0.05" MIN="0.3"/>
<dl_setting VAR="climb_pgain" MAX="-0.01" STEP="0.01" MIN="-0.5"/>
<dl_setting VAR="course_pgain" MAX="-0.1" STEP="0.05" MIN="-2"/>
<dl_setting MAX="0.7" MIN="0.3" STEP="0.05" VAR="climb_level_gaz"/>
<dl_setting MAX="-0.01" MIN="-0.1" STEP="0.01" VAR="climb_pgain"/>
<dl_setting MAX="-0.1" MIN="-2" STEP="0.05" VAR="course_pgain"/>
</dl_settings>
</dl_settings>
</dl_settings>
<waypoints>
<waypoint NAME="HOME" X="0" Y="0"/>
<waypoint NAME="1" X="200" Y="0"/>
@@ -37,13 +39,6 @@
<waypoint ALT="450." NAME="S1" X="-181.37499716" Y="122.374998203"/>
<waypoint ALT="450." NAME="S2" X="136.75000196" Y="308.874998301"/>
</waypoints>
<!--
<include name="fs" procedure="failsafe_modes.xml">
<arg name="kill_pitch" value="-0.5"/>
</include>
-->
<blocks>
<block NAME="wait GPS">
<while COND="!GPS_FIX_VALID(gps_mode)"/>
@@ -57,15 +52,40 @@
<block NAME="circlehome">
<circle RADIUS="75" WP="HOME"/>
</block>
<block NAME="circlehome pitch">
<circle RADIUS="75" WP="HOME" gaz="0.6" pitch="auto"/>
</block>
<block name="att20">
<attitude gaz="0.5" roll="20" until="FALSE" vmode="gaz"/>
</block>
<block name="att30">
<attitude gaz="0.5" roll="30" until="FALSE" vmode="gaz"/>
</block>
<block name="climb0_att">
<attitude climb="0" roll="0" until="block_time > 20" vmode="climb"/>
<deroute block="circlehome"/>
</block>
<block name="climb1_att">
<attitude climb="1" roll="0" until="block_time > 20" vmode="climb"/>
<deroute block="circlehome"/>
</block>
<block name="climb0">
<go climb="0" vmode="climb" wp="1"/>
<deroute block="circlehome"/>
</block>
<block name="climb1">
<go climb="1" vmode="climb" wp="1"/>
<deroute block="circlehome"/>
</block>
<block NAME="stack 1">
<circle RADIUS="75" WP="1"/>
</block>
<block NAME="route12">
<go approaching_time="1" from="1" hmode="route" wp="2"/>
<go approaching_time="0" from="1" hmode="route" wp="2"/>
<deroute block="stack 2"/>
</block>
<block NAME="route21">
<go approaching_time="1" from="2" hmode="route" wp="1"/>
<go approaching_time="0" from="2" hmode="route" wp="1"/>
<deroute block="stack 1"/>
</block>
<block NAME="stack 2">
sw/airborne/arm7/test/bootloader/Makefile
+1 -1
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@@ -1,5 +1,5 @@
#PROC_AP PROC_FBW PROC_TINY
PROC = AP
#PROC = AP
ALLFLAGS = -DPROC_$(PROC)
LIBNAME = usbstack
sw/airborne/infrared.c
+1 -1
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@@ -205,7 +205,7 @@ void estimator_update_state_infrared( void ) {
z_constrast_mode = 0;
#endif
ir_top = Max(ir_top, 1);
float c = rad_of_ir*(1-z_constrast_mode)+z_constrast_mode*(IR_RAD_OF_IR_CONTRAST/ir_top);
float c = rad_of_ir*(1-z_constrast_mode)+z_constrast_mode*((float)IR_RAD_OF_IR_CONTRAST/ir_top);
estimator_phi = c * ir_roll - ir_roll_neutral;
estimator_theta = c * ir_pitch - ir_pitch_neutral;
}
sw/airborne/nav.c
+7 -6
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@@ -312,6 +312,13 @@ static unit_ reset_waypoints( void ) __attribute__ ((unused));
extern float nav_altitude;
#define CLIMB_MODE_GAZ 0
#define CLIMB_MODE_PITCH 1
#define CLIMB_MODE_AGRESSIVE 2
#define CLIMB_MODE_BLENDED 3
uint8_t climb_mode = CLIMB_MODE_GAZ;
#include "flight_plan.h"
float ground_alt = GROUND_ALT;
@@ -517,12 +524,6 @@ float desired_course = 0.;
float max_roll = MAX_ROLL;
float altitude_error;
#define CLIMB_MODE_GAZ 0
#define CLIMB_MODE_PITCH 1
#define CLIMB_MODE_AGRESSIVE 2
#define CLIMB_MODE_BLENDED 3
uint8_t climb_mode = CLIMB_MODE_GAZ;
/** \brief Computes ::nav_desired_roll from course estimation and expected
sw/tools/gen_flight_plan.ml
+8 -2
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@@ -151,12 +151,18 @@ let output_cam_mode = fun x index_of_waypoints ->
lprintf "cam_ac_target(%s);\n" i
| _ -> failwith (sprintf "Error: unknown '%s' cam mode" m)
let pprz_gaz = fun s ->
let g = float_of_string s in
if g < 0. || g > 1. then
failwith "gaz must be > 0 and < 1";
g*. 9600.
let output_vmode x wp last_wp =
let pitch = try Xml.attrib x "pitch" with _ -> "0.0" in
if pitch = "auto"
then begin
lprintf "climb_mode = CLIMB_MODE_PITCH;\n";
lprintf "nav_desired_gaz = %s;\n" (parsed_attrib x "gaz")
lprintf "nav_desired_gaz = %f;\n" (pprz_gaz (parsed_attrib x "gaz"))
end else begin
lprintf "nav_pitch = %s;\n" (parse pitch);
end;
@@ -193,7 +199,7 @@ let output_vmode x wp last_wp =
if (pitch = "auto") then
failwith "auto pich mode not compatible with vmode=gaz";
lprintf "vertical_mode = VERTICAL_MODE_AUTO_GAZ;\n";
lprintf "nav_desired_gaz = %s;\n" (parsed_attrib x "gaz")
lprintf "nav_desired_gaz = %f;\n" (pprz_gaz (parsed_attrib x "gaz"))
| x -> failwith (sprintf "Unknown vmode '%s'" x)
end;
vmode