Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-25 23:46:04 +08:00
Code Issues Actions 26 Packages Projects Releases Wiki Activity

new conf

Browse Source
This commit is contained in:
Pascal Brisset
2007-12-20 09:55:06 +00:00
parent 173226f2a0
commit 81418489e8
1 changed files with 24 additions and 67 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/tyto1.xml
+24 -67
View File
@@ -64,27 +64,25 @@
</section>
<section name="INFRARED" prefix="IR_">
<define name="ADC_IR1_NEUTRAL" value="512"/>
<define name="ADC_IR2_NEUTRAL" value="512"/>
<define name="ADC_TOP_NEUTRAL" value="512"/>
<define name="HORIZ_SENSOR_TILTED" value="1"/>
<define name="IR2_SIGN" value="-1"/>
<define name="TOP_SIGN" value="-1"/>
<define name="LATERAL_CORRECTION" value="1."/>
<define name="LONGITUDINAL_CORRECTION" value="1."/>
<define name="VERTICAL_CORRECTION" value="1."/>
<define name="ROLL_NEUTRAL_DEFAULT" value="-6" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="6" 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"/>
<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="-716"/>
<define name="ADC_TOP_NEUTRAL" value="512"/>
<define name="CORRECTION_UP" value="1."/>
<define name="CORRECTION_DOWN" value="1."/>
<define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/>
<define name="360_LATERAL_CORRECTION" value="1."/>
<define name="360_LONGITUDINAL_CORRECTION" value="1."/>
<define name="360_VERTICAL_CORRECTION" value="1."/>
</section>
<section name="GYRO" prefix="GYRO_">
@@ -149,27 +147,19 @@
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.23"/>
<define name="ROLL_MAX_SETPOINT" value="0.4" 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="-200"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="5000."/>
<define name="PITCH_DGAIN" value="0."/>
<define name="ELEVATOR_OF_ROLL" value="0.2"/>
<!-- roll rate loop -->
<define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
<define name="ROLL_RATE_SETPOINT_PGAIN" value="-10." unit="rad/s/rad"/>
<define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
<define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="1000."/>
<define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="1000."/>
<define name="ROLL_RATE_IGAIN" value="0."/>
<define name="ROLL_RATE_DGAIN" value="0."/>
<define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/>
</section>
<section name="NAV">
@@ -188,16 +178,6 @@
<define name="DESCENT_NAV_RATIO" value="1.0"/>
</section>
<section name="GYRO_GAINS">
<define name="GYRO_MAX_RATE" value="200."/>
<define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
<define name="ALT_ROLL__PGAIN" value="1.0"/>
<define name="ROLL_RATE_PGAIN" value="1000.0"/>
<define name="ROLL_RATE_IGAIN" value="0.0"/>
<define name="ROLL_RATE_DGAIN" value="0.0"/>
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
@@ -218,13 +198,14 @@
</section>
<makefile>
CONFIG=\"tiny_1_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DTELEMETRY_MODE_FBW=1
ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
ap.CFLAGS += -DFBW -DAP -DCONFIG=$(CONFIG) -DLED -DTIME_LED=1
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
@@ -248,49 +229,25 @@ ap.srcs += inter_mcu.c
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
ap.srcs += $(SRC_ARCH)/adc_hw.c
ap.CFLAGS += -DGPS -DGPS_CONFIGURE -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
ap.CFLAGS += -DGPS -DGPS_CONFIGURE -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600
ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
# -DGPS_LED=2
ap.srcs += gps_ubx.c gps.c latlong.c
ap.CFLAGS += -DINFRARED -DALT_KALMAN -DIR_360
ap.CFLAGS += -DINFRARED -DALT_KALMAN
ap.srcs += infrared.c estimator.c
ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
ap.CFLAGS += -DGYRO -DADXRS150
ap.srcs += gyro.c nav_line.c discsurvey.c
ap.srcs += traffic_info.c nav_survey_rectangle.c
# Hack to use the same tuning file than slayer1
ap.CFLAGS += -DUSE_GPIO
ap.srcs += $(SRC_ARCH)/gpio.c
# Harware In The Loop
#ap.CFLAGS += -DHITL
ap.srcs += gyro.c nav_line.c
ap.srcs += nav_survey_rectangle.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += nav_line.c nav_survey_rectangle.c
# a test program to setup actuators
setup_actuators.ARCHDIR = $(ARCHI)
setup_actuators.ARCH = arm7tdmi
setup_actuators.TARGET = setup_actuators
setup_actuators.TARGETDIR = setup_actuators
setup_actuators.CFLAGS += -DFBW -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART0 -DUART0_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart0
setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4015_hw.c main.c
</makefile>
</airframe>