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This commit is contained in:
Martin Mueller
2008-11-09 08:11:20 +00:00
parent 3607a34d35
commit 7f7867cd78
2 changed files with 37 additions and 14 deletions
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conf/airframes/funjetgfi1.xml
+21 -6
View File
@@ -1,5 +1,12 @@
<!DOCTYPE airframe SYSTEM "airframe.dtd">
<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
Tiny 1.1 board
PerkinElmer TPS334 IR Sensors
Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
XBee modem
Payload: IST and Sensirion humidity/temp, VTI pressure/temp
-->
<airframe name="FunJet GFI 1 Tiny 1.1">
@@ -7,8 +14,8 @@
<servos>
<servo name="THROTTLE" no="2" min="1550" neutral="1550" max="1900"/>
<servo name="LIGHT" no="1" min="1000" neutral="1000" max="2000"/>
<servo name="AILEVON_LEFT" no="6" min="1100" neutral="1554" max="1900"/>
<servo name="AILEVON_RIGHT" no="5" min="1900" neutral="1446" max="1100"/>
<servo name="AILEVON_RIGHT" no="5" min="1900" neutral="1432" max="1100"/>
<servo name="AILEVON_LEFT" no="6" min="1100" neutral="1546" max="1900"/>
</servos>
<commands>
@@ -54,7 +61,7 @@
<section name="INFRARED" prefix="IR_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="5" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="1" unit="deg"/>
<define name="DEFAULT_CONTRAST" value="200"/>
<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
<linear name="RollOfIrs" arity="2" coeff1="0.7" coeff2="-0.7"/>
@@ -95,7 +102,7 @@
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
<define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
<define name="LIGHT_PIN_1" value="3"/>
</section>
@@ -128,12 +135,12 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.35"/>
<define name="COURSE_PGAIN" value="-0.80"/>
<define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="ROLL_PGAIN" value="5000."/>
<define name="ROLL_PGAIN" value="8300."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-5500."/>
<define name="PITCH_DGAIN" value="0.4"/>
@@ -235,6 +242,11 @@ ap.CFLAGS += -DUSE_HUMID_SHT
ap.srcs += baro_scp.c
ap.CFLAGS += -DUSE_BARO_SCP
ap.srcs += bomb.c
ap.srcs += joystick.c
ap.CFLAGS += -DUSE_JOYSTICK
# Hack to use the same tuning file than slayer1
ap.CFLAGS += -DUSE_GPIO
ap.srcs += $(SRC_ARCH)/gpio.c
@@ -251,6 +263,9 @@ include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN
sim.srcs += nav_survey_rectangle.c nav_line.c
sim.srcs += joystick.c
sim.CFLAGS += -DUSE_JOYSTICK
</makefile>
</airframe>
conf/airframes/funjetgfi4.xml
+16 -8
View File
@@ -2,8 +2,10 @@
<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
PerkinElmer TPS334 IR Sensors
Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
XBee modem
Payload: Sensirion humidity/temp, VTI pressure/temp
-->
<airframe name="Funjet GFI 4 Tiny 2.1">
@@ -11,8 +13,8 @@
<!-- commands section -->
<servos>
<servo name="MOTOR" no="0" min="1550" neutral="1550" max="2000"/>
<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1490" max="1100"/>
<servo name="AILEVON_RIGHT" no="6" min="1120" neutral="1544" max="1900"/>
<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1516" max="1100"/>
<servo name="AILEVON_RIGHT" no="6" min="1120" neutral="1549" max="1900"/>
</servos>
<commands>
@@ -93,13 +95,13 @@
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
<define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
<define name="MIN_CIRCLE_RADIUS" value="50."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<define name="POWER_CTL_BAT_NOMINAL" value="10" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.024"/>
<!-- outer loop saturation -->
@@ -127,12 +129,13 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.35"/>
<define name="COURSE_PGAIN" value="-0.8"/>
<define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="ROLL_PGAIN" value="5000."/>
<define name="ROLL_PGAIN" value="7600."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-5500."/>
<define name="PITCH_DGAIN" value="0.4"/>
@@ -160,7 +163,7 @@
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
@@ -208,7 +211,7 @@ ap.srcs += inter_mcu.c
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
ap.srcs += $(SRC_ARCH)/adc_hw.c
ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
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
@@ -227,12 +230,17 @@ ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3 -DSCK_PIN=2
ap.srcs += baro_scp.c
ap.CFLAGS += -DUSE_BARO_SCP
ap.srcs += joystick.c
ap.CFLAGS += -DUSE_JOYSTICK
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += nav_line.c nav_survey_rectangle.c
sim.srcs += joystick.c
sim.CFLAGS += -DUSE_JOYSTICK
</makefile>
</airframe>