mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-06 16:58:48 +08:00
airframes cleanup. Moved airframes that seem not to beeing used anymore into the subdir obsolete. If you still use one of these airframes please update them and move them back to the appropriate place.
This commit is contained in:
Felix Ruess
@@ -0,0 +1,281 @@
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<!DOCTYPE airframe SYSTEM "airframe.dtd">
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<!-- The Black One (http://www.recherche.enac.fr/wiki/index.php/Image:MAC-BlackOne-MAV06.jpg)
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Two ailevons
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Tiny proto, tilted infrared sensor
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2 cells lipo
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Hatch to drop a paint ball
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Gimballed camera -->
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<airframe name="BlackOne Tiny proto">
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<!-- commands section -->
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<servos>
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<servo name="THROTTLE" no="4" min="1000" neutral="1000" max="2000"/>
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<servo name="AILEVON_LEFT" no="5" min="1900" neutral="1470" max="1100"/>
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<servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1595" max="2000"/>
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<servo name="HATCH" no="1" min="1725" neutral="1725" max="1000"/>
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<!--servo name="CAM_ROLL" no="0" min="1025" neutral="1600" max="2175"/-->
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<servo name="CAM_ROLL" no="0" min="2150" neutral="1585" max="1020"/>
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<servo name="CAM_PITCH" no="2" min="1000" neutral="1500" max="2000"/>
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</servos>
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<commands>
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<axis name="THROTTLE" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="HATCH" failsafe_value="0"/>
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<axis name="CAM_ROLL" failsafe_value="0"/>
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<axis name="CAM_PITCH" failsafe_value="0"/>
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</commands>
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<rc_commands>
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<set command="THROTTLE" value="@THROTTLE"/>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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<set command="HATCH" value="@GAIN1"/>
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<set command="CAM_ROLL" value="@ROLL"/>
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</rc_commands>
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<section name="MIXER">
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<define name="AILEVON_AILERON_RATE" value="0.45"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
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</section>
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<command_laws>
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<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
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<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
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<set servo="THROTTLE" value="@THROTTLE"/>
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<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
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<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
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<set servo="HATCH" value="@HATCH"/>
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<!--set servo="CAM_ROLL" value="@CAM_ROLL"/-->
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="0.6"/>
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<define name="MAX_PITCH" value="0.6"/>
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</section>
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<section name="adc" prefix="ADC_CHANNEL_">
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<define name="IR1" value="ADC_0"/>
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<define name="IR2" value="ADC_1"/>
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<define name="IR_TOP" value="ADC_2"/>
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<define name="IR_NB_SAMPLES" value="16"/>
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<define name="VSUPPLY" value="ADC_7"/>
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<define name="GYRO_ROLL" value="ADC_3"/>
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<define name="GYRO_TEMP" value="ADC_4"/>
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<define name="GYRO_NB_SAMPLES" value="16"/>
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</section>
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<section name="INFRARED" prefix="IR_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="12" unit="deg"/>
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<define name="DEFAULT_CONTRAST" value="200"/>
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<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
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<linear name="RollOfIrs" arity="2" coeff1="-0.7" coeff2="0.7"/>
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<linear name="PitchOfIrs" arity="2" coeff1="0.7" coeff2="0.7"/>
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<linear name="TopOfIr" arity="1" coeff1="-1"/>
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<define name="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
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<define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
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<define name="ADC_ROLL_NEUTRAL" value="0"/>
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<define name="ADC_PITCH_NEUTRAL" value="716"/>
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<define name="ADC_TOP_NEUTRAL" value="512"/>
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<define name="CORRECTION_UP" value="1."/>
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<define name="CORRECTION_DOWN" value="1."/>
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<define name="CORRECTION_LEFT" value="1."/>
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<define name="CORRECTION_RIGHT" value="1."/>
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<define name="360_LATERAL_CORRECTION" value="1.3"/>
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<define name="360_LONGITUDINAL_CORRECTION" value="1.3"/>
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<define name="360_VERTICAL_CORRECTION" value="1."/>
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</section>
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<section name="GYRO" prefix="GYRO_">
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<define name="ADC_ROLL_NEUTRAL" value="474"/>
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<define name="ADC_TEMP_NEUTRAL" value="476"/>
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<define name="ADC_TEMP_SLOPE" value="0"/>
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<define name="ROLL_SCALE" value="0.44"/>
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<define name="ROLL_DIRECTION" value="-1."/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
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<define name="VOLTAGE_ADC_A" value="0.0174"/>
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<define name="VOLTAGE_ADC_B" value="3.43"/>
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<define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
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<define name="LOW_BATTERY" value="6.0" unit="V"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="CONTROL_RATE" value="60" unit="Hz"/>
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<define name="TRIGGER_DELAY" value="2."/>
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<define name="NAV_GLIDE_PITCH_TRIM" value="(V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN*V_CTL_ALTITUDE_MAX_CLIMB)"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="-0.025"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="2."/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.40"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="-0.03"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
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<!-- auto pitch inner loop -->
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<define name="AUTO_PITCH_PGAIN" value="-0.06"/>
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<define name="AUTO_PITCH_IGAIN" value="0.025"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
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<define name="THROTTLE_SLEW" value="0.05"/>
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</section>
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="-0.85"/>
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<define name="ROLL_MAX_SETPOINT" value="0.5" unit="radians"/>
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<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
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<define name="ROLL_PGAIN" value="8000."/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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<define name="PITCH_PGAIN" value="-8000."/>
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<define name="PITCH_DGAIN" value="0."/>
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<define name="ELEVATOR_OF_ROLL" value="1750"/>
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<!-- roll rate loop -->
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<define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
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<define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
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<define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
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<define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="1500."/>
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<define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="1500."/>
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<define name="ROLL_RATE_IGAIN" value="0."/>
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<define name="ROLL_RATE_DGAIN" value="0."/>
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<define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
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</section>
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<section name="NAV">
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<define name="NAV_PITCH" value="0."/>
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</section>
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<section name="AGGRESSIVE" prefix="AGR_">
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<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
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<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
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<define name="CLIMB_THROTTLE" value="0.8"/><!-- Throttle for Aggressive Climb -->
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<define name="CLIMB_PITCH" value="0.4"/><!-- Pitch for Aggressive Climb -->
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<define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive Decent -->
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<define name="DESCENT_PITCH" value="-0.4"/><!-- Pitch for Aggressive Decent -->
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<define name="CLIMB_NAV_RATIO" value="0.5"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
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<define name="DESCENT_NAV_RATIO" value="1.0"/>
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</section>
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<section name="GYRO_GAINS">
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<define name="GYRO_MAX_RATE" value="200."/>
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<define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
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<define name="ALT_ROLL__PGAIN" value="1.0"/>
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<define name="ROLL_RATE_PGAIN" value="1000.0"/>
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<define name="ROLL_RATE_IGAIN" value="0.0"/>
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<define name="ROLL_RATE_DGAIN" value="0.0"/>
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</section>
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
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<define name="HOME_RADIUS" value="100" unit="m"/>
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</section>
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<section name="CAM" prefix="CAM_">
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<define name="PHI0" value="-45" unit="deg"/>
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</section>
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<makefile>
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include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
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FLASH_MODE=IAP
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ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny.h\" -DLED -DTIME_LED=1
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ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
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ap.srcs += commands.c
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ap.CFLAGS += -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015
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ap.srcs += $(SRC_ARCH)/servos_4015_hw_new.c actuators.c
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ap.CFLAGS += -DRADIO_CONTROL
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ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
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#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
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#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
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ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
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ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
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ap.CFLAGS += -DINTER_MCU
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ap.srcs += inter_mcu.c
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ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_1 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD1 -DUSE_AD1_7 -DUSE_AD1_3 -DUSE_AD1_2
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ap.srcs += $(SRC_ARCH)/adc_hw.c
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ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200 -DGPS_CONFIGURE -DZ_CONTRAST_DEFAULT=1
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ap.srcs += gps_ubx.c gps.c
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ap.CFLAGS += -DINFRARED -DALT_KALMAN -DIR_360
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ap.srcs += infrared.c estimator.c
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ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
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ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
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ap.CFLAGS += -DGYRO -DADXRS150
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ap.srcs += gyro.c
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ap.srcs += bomb.c
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#Cap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM
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#Cap.srcs += traffic_info.c point.c cam.c
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# Video switch
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ap.CFLAGS += -DUSE_GPIO
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ap.srcs += $(SRC_ARCH)/gpio.c
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# Hardware In The Loop
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#ap.CFLAGS += -DHITL
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# Config for SITL simulation
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include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
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sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DIR_360
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sim.srcs += bomb.c
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#Csim.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM
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#Csim.srcs += traffic_info.c point.c
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</makefile>
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</airframe>
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@@ -0,0 +1,39 @@
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<!-- dc motor controller -->
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<airframe name="dc_mc">
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<makefile>
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ARCHI=avr
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|
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main.ARCHDIR=$(ARCHI)
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main.ARCH = atmega8
|
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main.TARGET = main
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main.TARGETDIR = main
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# to check : 16MHz reso
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main.LOW_FUSE = 2e
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main.HIGH_FUSE = cb
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main.EXT_FUSE = ff
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main.LOCK_FUSE = ff
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main.CFLAGS += -DBOARD_CONFIG=\"conf_dc_mc.h\"
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main.srcs = main_dc_mc.c
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main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-2)'
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main.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
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main.CFLAGS += -DLED
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#-DTIME_LED=1
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main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
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main.srcs += $(SRC_ARCH)/uart_hw.c
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main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
|
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main.srcs += downlink.c pprz_transport.c
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|
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main.srcs += $(SRC_ARCH)/dc_mc_link.c
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main.srcs += $(SRC_ARCH)/dc_mc_power.c
|
||||
|
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</makefile>
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|
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</airframe>
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@@ -0,0 +1,284 @@
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<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
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|
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<!-- Twinstar II, 2x Jeti 12 advance
|
||||
Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
|
||||
PerkinElmer TPS334 IR Sensors
|
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Tilted infrared sensor
|
||||
XBee modem
|
||||
K66, LEA 5H
|
||||
-->
|
||||
|
||||
<airframe name="Drops K66">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR_LEFT" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILERON_LEFT" no="1" min="1900" neutral="1500" max="1100"/>
|
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<servo name="ELEVATOR" no="2" min="1900" neutral="1500" max="1100"/>
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<servo name="RUDDER" no="3" min="1100" neutral="1500" max="1900"/>
|
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<servo name="AILERON_RIGHT" no="4" min="1900" neutral="1500" max="1100"/>
|
||||
<servo name="HATCH" no="5" min="1860" neutral="1860" max="1022"/>
|
||||
<servo name="MOTOR_RIGHT" no="6" min="1000" neutral="1000" max="2000"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="HATCH" failsafe_value="0"/>
|
||||
<axis name="GAIN1" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
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<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="YAW" value="@YAW"/>
|
||||
<set command="HATCH" value="@CALIB"/>
|
||||
<set command="GAIN1" value="@GAIN1"/>
|
||||
</rc_commands>
|
||||
|
||||
<auto_rc_commands>
|
||||
<set command="YAW" value="@YAW"/>
|
||||
<set command="GAIN1" value="@GAIN1"/>
|
||||
</auto_rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILERON_DIFF" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="MOTOR_LEFT" value="@THROTTLE"/>
|
||||
<set servo="MOTOR_RIGHT" value="(@GAIN1 > 0 ? @THROTTLE : 0)"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
<set servo="RUDDER" value="@YAW"/>
|
||||
<let var="roll" value="@ROLL"/>
|
||||
<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
|
||||
<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
|
||||
<set servo="HATCH" value="@HATCH"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_2"/>
|
||||
<define name="IR_TOP" value="ADC_0"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
<define name="GYRO_ROLL" value="ADC_3"/>
|
||||
<define name="GYRO_NB_SAMPLES" value="32"/>
|
||||
</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="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="-1"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.7"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR1_SIGN" value="1"/>
|
||||
<define name="IR2_SIGN" value="-1"/>
|
||||
<define name="TOP_SIGN" value="-1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="520"/>
|
||||
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
|
||||
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
|
||||
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
|
||||
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
|
||||
<define name="ROLL_DIRECTION" value="-1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<!-- 0.0247311828 -->
|
||||
<!-- 0.02432905 -->
|
||||
<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
|
||||
<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
|
||||
<define name="MAXIMUM_AIRSPEED" value="18." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<!-- <define name="XBEE_INIT" value=""ATPL2\rATRN1\rATTT80\r""/> -->
|
||||
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<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"/-->
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.06"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.101000003517"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.06"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.1"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-1.0340000391"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.60" 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="6000."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="-8898.3046875"/>
|
||||
<define name="PITCH_DGAIN" value="-1694.91503906"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="1520.73706055"/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="-5847.45800781"/>
|
||||
<define name="ROLL_RATE_GAIN" value="-2923.72900391"/>
|
||||
|
||||
<define name="ROLL_KFF" value="-500"/>
|
||||
<define name="ROLL_IGAIN" value="-5000"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.35"/><!-- 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="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="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"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
<makefile>
|
||||
CONFIG = \"tiny_2_1.h\"
|
||||
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
|
||||
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_AUTO1
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
#TRANSPARENT
|
||||
#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
|
||||
#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
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 += -DGYRO -DADXRS150
|
||||
ap.srcs += gyro.c
|
||||
|
||||
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 -DWIND_INFO -DWIND_INFO_RET
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl_a.c fw_v_ctl.c
|
||||
|
||||
ap.srcs += nav_line.c
|
||||
ap.srcs += nav_survey_rectangle.c
|
||||
|
||||
ap.srcs += bomb.c
|
||||
|
||||
ap.srcs += snav.c
|
||||
|
||||
# Config for SITL simulation
|
||||
# include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.ARCHDIR = $(ARCHI)
|
||||
sim.ARCH = sitl
|
||||
sim.TARGET = autopilot
|
||||
sim.TARGETDIR = autopilot
|
||||
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO
|
||||
sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
|
||||
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
sim.srcs += nav_line.c nav_survey_rectangle.c
|
||||
|
||||
sim.srcs += bomb.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,237 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<!--
|
||||
Multiplex EasyStar, using rudder
|
||||
TWOG v1 board
|
||||
Tilted infrared sensor
|
||||
XBee 2.4GHz modem in transparent mode
|
||||
-->
|
||||
|
||||
<airframe name="EasyStar2 - TWOG v1">
|
||||
|
||||
<modules>
|
||||
<load name="campod.xml"/>
|
||||
</modules>
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<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="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="CAM_PAN" failsafe_value="0"/>
|
||||
<axis name="CAM_TILT" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="CAM_PAN" value="@CAM_PAN"/>
|
||||
<set command="CAM_TILT" value="@CAM_TILT"/>
|
||||
</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="CAM_TILT" value="@CAM_TILT"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="RadOfDeg(50)"/>
|
||||
<define name="MAX_PITCH" value="RadOfDeg(40)"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_2"/>
|
||||
<define name="IR_TOP" value="ADC_0"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ADC_IR1_NEUTRAL" value="512"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="510"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="516"/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="0.7"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="0.7"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1."/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR1_SIGN" value="1"/>
|
||||
<define name="IR2_SIGN" value="-1"/>
|
||||
<define name="TOP_SIGN" value="1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="-5.3" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="-3" unit="deg"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000" unit="mA"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="8.0" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="8.5" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="9.5" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="12.5" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
|
||||
<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="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_">
|
||||
<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"/>
|
||||
<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_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"/>
|
||||
</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="ROLL_RATE_GAIN" value="-200"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<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>
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.4" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="RadOfDeg(15)" unit="rad"/>
|
||||
<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>
|
||||
|
||||
<makefile>
|
||||
CONFIG = \"tiny_2_1_1.h\"
|
||||
|
||||
# Target configuration
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
|
||||
|
||||
# Servo driver
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
|
||||
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
|
||||
|
||||
# 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
|
||||
|
||||
# ADC configuration
|
||||
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.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.srcs += nav_line.c
|
||||
ap.srcs += nav_survey_rectangle.c
|
||||
|
||||
# Camera control
|
||||
#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.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.srcs += airspeed.c airspeed_ets.c baro_ets.c i2c.c $(SRC_ARCH)/i2c_hw.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,43 @@
|
||||
<airframe name="Examples">
|
||||
|
||||
<makefile>
|
||||
|
||||
ARCHI=arm7
|
||||
|
||||
FLASH_MODE = IAP
|
||||
|
||||
|
||||
|
||||
#
|
||||
# GPS :
|
||||
#
|
||||
#
|
||||
example_gps.ARCHDIR = $(ARCHI)
|
||||
example_gps.ARCH = arm7tdmi
|
||||
example_gps.TARGET = example_gps
|
||||
example_gps.TARGETDIR = example_gps
|
||||
|
||||
example_gps.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\"
|
||||
example_gps.srcs = example/example_gps.c
|
||||
|
||||
example_gps.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-2)'
|
||||
example_gps.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
|
||||
|
||||
example_gps.CFLAGS += -DLED
|
||||
|
||||
example_gps.srcs += $(SRC_ARCH)/armVIC.c
|
||||
|
||||
example_gps.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
|
||||
example_gps.srcs += $(SRC_ARCH)/uart_hw.c
|
||||
|
||||
example_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
|
||||
example_gps.srcs += downlink.c pprz_transport.c
|
||||
|
||||
example_gps.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400
|
||||
example_gps.CFLAGS += -DGPS -DUBX -DGPS_LINK=Uart0 -DDOWNLINK_GPS_DEVICE=Uart0 -DGPS_BAUD=38400
|
||||
example_gps.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
|
||||
</makefile>
|
||||
|
||||
</airframe>
|
||||
@@ -0,0 +1,247 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
|
||||
Tiny 2.11 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
|
||||
K66, LEA 4P
|
||||
-->
|
||||
|
||||
<airframe name="Funjet FMI 1 K66">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1521" max="1100"/>
|
||||
<servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1510" max="1900"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.45"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_2"/>
|
||||
<define name="IR_TOP" value="ADC_0"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
</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="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="-1"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.5"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR1_SIGN" value="1"/>
|
||||
<define name="IR2_SIGN" value="-1"/>
|
||||
<define name="TOP_SIGN" value="-1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<!-- 0.0247311828 -->
|
||||
<!-- 0.02432905 -->
|
||||
<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
|
||||
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<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"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.1"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-0.9"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
|
||||
<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="6600."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="-5500."/>
|
||||
<define name="PITCH_DGAIN" value="0.4"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="2400"/>
|
||||
|
||||
<!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
|
||||
<define name="ROLL_RATE_GAIN" value="-1500"/-->
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.35"/><!-- 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_">
|
||||
<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"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
CONFIG = \"tiny_2_1.h\"
|
||||
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
|
||||
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
#TRANSPARENT
|
||||
#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
|
||||
#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
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 -DGPS_USE_LATLONG
|
||||
# -DGPS_LED=2
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
ap.srcs += nav_line.c
|
||||
ap.srcs += nav_survey_rectangle.c
|
||||
|
||||
ap.srcs += humid_sht.c
|
||||
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 $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
sim.srcs += nav_line.c nav_survey_rectangle.c
|
||||
|
||||
sim.srcs += joystick.c
|
||||
sim.CFLAGS += -DUSE_JOYSTICK
|
||||
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,244 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
|
||||
Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
|
||||
PerkinElmer TPS334 IR Sensors
|
||||
Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
|
||||
XBee modem
|
||||
Payload: Sensirion humidity/temp, VTI pressure/temp
|
||||
K62, LEA 5
|
||||
-->
|
||||
|
||||
<airframe name="Funjet GFI 1 K62">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1426" max="1100"/>
|
||||
<servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1571" max="1900"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.45"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_2"/>
|
||||
<define name="IR_TOP" value="ADC_0"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
</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="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="-1"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.5"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR1_SIGN" value="1"/>
|
||||
<define name="IR2_SIGN" value="-1"/>
|
||||
<define name="TOP_SIGN" value="-1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<!-- 0.0247311828 -->
|
||||
<!-- 0.02432905 -->
|
||||
<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
|
||||
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<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"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.1"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-0.9"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
|
||||
<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="6600."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="-5500."/>
|
||||
<define name="PITCH_DGAIN" value="0.4"/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="2400"/>
|
||||
|
||||
<!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
|
||||
<define name="ROLL_RATE_GAIN" value="-1500"/-->
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.35"/><!-- 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_">
|
||||
<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"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
CONFIG = \"tiny_2_1.h\"
|
||||
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
|
||||
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
#TRANSPARENT
|
||||
#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
|
||||
#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
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 -DGPS_USE_LATLONG
|
||||
# -DGPS_LED=2
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
ap.srcs += nav_line.c
|
||||
ap.srcs += nav_survey_rectangle.c
|
||||
|
||||
ap.srcs += humid_sht.c
|
||||
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 $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
sim.srcs += nav_line.c nav_survey_rectangle.c
|
||||
|
||||
sim.srcs += joystick.c
|
||||
sim.CFLAGS += -DUSE_JOYSTICK
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,271 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
|
||||
<airframe name="FunJetmm Tiny 1.1">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="THROTTLE" no="2" min="1550" neutral="1550" max="1900"/>
|
||||
<servo name="LIGHT" no="1" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="5" min="1900" neutral="1480" max="1100"/>
|
||||
<servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1553" max="1900"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="HATCH" failsafe_value="0"/>
|
||||
<axis name="LIGHT" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="LIGHT" value="@GAIN1"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="-0.45"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
|
||||
<set servo="LIGHT" value="@LIGHT"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="RadOfDeg(30)"/>
|
||||
<define name="MAX_PITCH" value="RadOfDeg(30)"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_0"/>
|
||||
<define name="IR2" value="ADC_1"/>
|
||||
<define name="IR_TOP" value="ADC_2"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="2" 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_IR1_NEUTRAL" value="504"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="501"/>
|
||||
<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="LATERAL_CORRECTION" value="1.3"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1.3"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="5.45"/>
|
||||
<define name="ADC_CHANNEL_VSUPPLY" value="AdcBank1(6)"/>
|
||||
<define name="VoltageOfAdc(adc)" value="(0.01787109375*adc)"/>
|
||||
<define name="LOW_BATTERY" value="9.0" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
|
||||
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="150."/>
|
||||
<define name="LIGHT_PIN_1" value="3"/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="10.0" unit="volt"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.024"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="50"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-60"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.011"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.03"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.1"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-0.45"/>
|
||||
<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="9000."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="-5500."/>
|
||||
<define name="PITCH_DGAIN" value="0.4"/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="1200"/>
|
||||
|
||||
<!-- roll rate loop -->
|
||||
<define name="ROLL_RATE_MODE_DEFAULT" value="0"/>
|
||||
<define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." 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"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="0.8"/><!-- Throttle for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.22"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.0"/><!-- Throttle for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.25"/><!-- 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="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="LO_THROTTLE_ROLL_RATE_PGAIN" value="1000."/>
|
||||
<define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="1000."/>
|
||||
<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="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"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
#TRANSPARENT ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
|
||||
#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
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 -DGPS_LED=2 -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
|
||||
|
||||
ap.srcs += gps_ubx.c gps.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED
|
||||
# -DALT_KALMAN
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c nav_survey_rectangle.c nav_line.c
|
||||
|
||||
|
||||
#ap.CFLAGS += -DGYRO -DADXRS150
|
||||
#ap.srcs += gyro.c
|
||||
|
||||
#ap.srcs += bomb.c
|
||||
#ap.srcs += traffic_info.c
|
||||
|
||||
ap.srcs += i2c.c arm7/i2c_hw.c dpicco.c
|
||||
ap.CFLAGS += -DDPICCO
|
||||
|
||||
ap.srcs += humid_sht.c
|
||||
ap.CFLAGS += -DUSE_HUMID_SHT
|
||||
|
||||
ap.srcs += baro_scp.c
|
||||
ap.CFLAGS += -DUSE_BARO_SCP
|
||||
|
||||
#ap.srcs += i2c.c arm7/i2c_hw.c mlx90614.c
|
||||
#ap.CFLAGS += -DUSE_MLX90614
|
||||
|
||||
# Hack to use the same tuning file than slayer1
|
||||
ap.CFLAGS += -DUSE_GPIO
|
||||
ap.srcs += $(SRC_ARCH)/gpio.c
|
||||
|
||||
#ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -D USE_BARO_MS5534A
|
||||
#ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
|
||||
|
||||
# Harware In The Loop
|
||||
|
||||
#ap.CFLAGS += -DHITL
|
||||
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN
|
||||
sim.srcs += nav_survey_rectangle.c nav_line.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,246 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
|
||||
Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
|
||||
PerkinElmer TPS334 IR Sensors
|
||||
Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
|
||||
XBee modem
|
||||
Payload: Sensirion humidity/temp, VTI pressure/temp
|
||||
-->
|
||||
|
||||
<airframe name="Funjet GFI 4 Tiny 2.1">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR" no="0" min="1550" neutral="1550" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1516" max="1100"/>
|
||||
<servo name="AILEVON_RIGHT" no="6" min="1120" neutral="1549" max="1900"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.45"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_2"/>
|
||||
<define name="IR_TOP" value="ADC_0"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
</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="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="1.3"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1.3"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR1_SIGN" value="-1"/>
|
||||
<define name="IR2_SIGN" value="1"/>
|
||||
<define name="TOP_SIGN" value="1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="1" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<!-- 0.0247311828 -->
|
||||
<!-- 0.02432905 -->
|
||||
<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
|
||||
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<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="10" unit="volt"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.024"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="50"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-60"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.012"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.03"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.1"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<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="7600."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="-5500."/>
|
||||
<define name="PITCH_DGAIN" value="0.4"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="1200"/>
|
||||
|
||||
<!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
|
||||
<define name="ROLL_RATE_GAIN" value="-1500"/-->
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="0.8"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.25"/><!-- 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_">
|
||||
<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"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
CONFIG = \"tiny_2_1.h\"
|
||||
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
|
||||
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
#TRANSPARENT
|
||||
#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
|
||||
#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
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 -DGPS_USE_LATLONG
|
||||
# -DGPS_LED=2
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
ap.srcs += nav_line.c
|
||||
ap.srcs += nav_survey_rectangle.c
|
||||
|
||||
ap.srcs += humid_sht.c
|
||||
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 $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
sim.srcs += nav_line.c nav_survey_rectangle.c
|
||||
|
||||
sim.srcs += joystick.c
|
||||
sim.CFLAGS += -DUSE_JOYSTICK
|
||||
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,247 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
|
||||
Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
|
||||
PerkinElmer TPS334 IR Sensors
|
||||
Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
|
||||
XBee modem
|
||||
Payload: Sensirion humidity/temp, VTI pressure/temp
|
||||
K66, LEA 5
|
||||
-->
|
||||
|
||||
<airframe name="Funjet GFI 5 K66">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1520" max="1100"/>
|
||||
<servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1456" max="1900"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.45"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_2"/>
|
||||
<define name="IR_TOP" value="ADC_0"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
</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="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="-1"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.5"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR1_SIGN" value="1"/>
|
||||
<define name="IR2_SIGN" value="-1"/>
|
||||
<define name="TOP_SIGN" value="-1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="3" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<!-- 0.0247311828 -->
|
||||
<!-- 0.02432905 -->
|
||||
<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
|
||||
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<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"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.1"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-0.9"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
|
||||
<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="6600."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="-5500."/>
|
||||
<define name="PITCH_DGAIN" value="0.4"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="2400"/>
|
||||
|
||||
<!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
|
||||
<define name="ROLL_RATE_GAIN" value="-1500"/-->
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.35"/><!-- 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_">
|
||||
<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"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
CONFIG = \"tiny_2_1.h\"
|
||||
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
|
||||
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
#TRANSPARENT
|
||||
#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
|
||||
#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
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 -DGPS_USE_LATLONG
|
||||
# -DGPS_LED=2
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
ap.srcs += nav_line.c
|
||||
ap.srcs += nav_survey_rectangle.c
|
||||
|
||||
ap.srcs += humid_sht.c
|
||||
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 $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
sim.srcs += nav_line.c nav_survey_rectangle.c
|
||||
|
||||
sim.srcs += joystick.c
|
||||
sim.CFLAGS += -DUSE_JOYSTICK
|
||||
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,247 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
|
||||
Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
|
||||
PerkinElmer TPS334 IR Sensors
|
||||
Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
|
||||
XBee modem
|
||||
Payload: Sensirion humidity/temp, VTI pressure/temp
|
||||
K62, LEA 5
|
||||
-->
|
||||
|
||||
<airframe name="Funjet GFI 6 K62">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1573" max="1100"/>
|
||||
<servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1399" max="1900"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.45"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_2"/>
|
||||
<define name="IR_TOP" value="ADC_0"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
</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="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="-1"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.5"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR1_SIGN" value="1"/>
|
||||
<define name="IR2_SIGN" value="-1"/>
|
||||
<define name="TOP_SIGN" value="-1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<!-- 0.0247311828 -->
|
||||
<!-- 0.02432905 -->
|
||||
<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
|
||||
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<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"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.1"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-0.9"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
|
||||
<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="6600."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="-5500."/>
|
||||
<define name="PITCH_DGAIN" value="0.4"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="2400"/>
|
||||
|
||||
<!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
|
||||
<define name="ROLL_RATE_GAIN" value="-1500"/-->
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.35"/><!-- 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_">
|
||||
<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"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
CONFIG = \"tiny_2_1.h\"
|
||||
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
|
||||
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
#TRANSPARENT
|
||||
#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
|
||||
#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
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 -DGPS_USE_LATLONG
|
||||
# -DGPS_LED=2
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
ap.srcs += nav_line.c
|
||||
ap.srcs += nav_survey_rectangle.c
|
||||
|
||||
ap.srcs += humid_sht.c
|
||||
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 $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
sim.srcs += nav_line.c nav_survey_rectangle.c
|
||||
|
||||
sim.srcs += joystick.c
|
||||
sim.CFLAGS += -DUSE_JOYSTICK
|
||||
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,247 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
|
||||
Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
|
||||
PerkinElmer TPS334 IR Sensors
|
||||
Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
|
||||
XBee modem
|
||||
Payload: Sensirion humidity/temp, VTI pressure/temp
|
||||
K66, LEA 4 (set to POSLLH)
|
||||
-->
|
||||
|
||||
<airframe name="Funjet GFI 7 K66">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1533" max="1100"/>
|
||||
<servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1474" max="1900"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.45"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_2"/>
|
||||
<define name="IR_TOP" value="ADC_0"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
</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="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="-1"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.5"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR1_SIGN" value="1"/>
|
||||
<define name="IR2_SIGN" value="-1"/>
|
||||
<define name="TOP_SIGN" value="-1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<!-- 0.0247311828 -->
|
||||
<!-- 0.02432905 -->
|
||||
<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
|
||||
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<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"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.1"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-0.9"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
|
||||
<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="6600."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="-5500."/>
|
||||
<define name="PITCH_DGAIN" value="0.4"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="2400"/>
|
||||
|
||||
<!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
|
||||
<define name="ROLL_RATE_GAIN" value="-1500"/-->
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.35"/><!-- 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_">
|
||||
<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"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
CONFIG = \"tiny_2_1.h\"
|
||||
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
|
||||
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
#TRANSPARENT
|
||||
#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
|
||||
#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
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 -DGPS_USE_LATLONG
|
||||
# -DGPS_LED=2
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
ap.srcs += nav_line.c
|
||||
ap.srcs += nav_survey_rectangle.c
|
||||
|
||||
ap.srcs += humid_sht.c
|
||||
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 $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
sim.srcs += nav_line.c nav_survey_rectangle.c
|
||||
|
||||
sim.srcs += joystick.c
|
||||
sim.CFLAGS += -DUSE_JOYSTICK
|
||||
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,247 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
|
||||
Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
|
||||
PerkinElmer TPS334 IR Sensors
|
||||
Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
|
||||
XBee modem
|
||||
Payload: Sensirion humidity/temp, VTI pressure/temp
|
||||
K68, LEA 5
|
||||
-->
|
||||
|
||||
<airframe name="Funjet GFI 8 K68">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1563" max="1100"/>
|
||||
<servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1489" max="1900"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.45"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_2"/>
|
||||
<define name="IR_TOP" value="ADC_0"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
</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="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="-1"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.5"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR1_SIGN" value="1"/>
|
||||
<define name="IR2_SIGN" value="-1"/>
|
||||
<define name="TOP_SIGN" value="-1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<!-- 0.0247311828 -->
|
||||
<!-- 0.02432905 -->
|
||||
<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
|
||||
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<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"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.1"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-0.9"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
|
||||
<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="6600."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="-5500."/>
|
||||
<define name="PITCH_DGAIN" value="0.4"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="2400"/>
|
||||
|
||||
<!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
|
||||
<define name="ROLL_RATE_GAIN" value="-1500"/-->
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.35"/><!-- 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_">
|
||||
<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"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
CONFIG = \"tiny_2_1.h\"
|
||||
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
|
||||
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
#TRANSPARENT
|
||||
#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
|
||||
#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
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 -DGPS_USE_LATLONG
|
||||
# -DGPS_LED=2
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
ap.srcs += nav_line.c
|
||||
ap.srcs += nav_survey_rectangle.c
|
||||
|
||||
ap.srcs += humid_sht.c
|
||||
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 $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
sim.srcs += nav_line.c nav_survey_rectangle.c
|
||||
|
||||
sim.srcs += joystick.c
|
||||
sim.CFLAGS += -DUSE_JOYSTICK
|
||||
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,247 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
|
||||
Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
|
||||
PerkinElmer TPS334 IR Sensors
|
||||
Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
|
||||
XBee modem
|
||||
Payload: Sensirion humidity/temp, VTI pressure/temp
|
||||
K68, LEA 5
|
||||
-->
|
||||
|
||||
<airframe name="Funjet GFI 9 K68">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1574" max="1100"/>
|
||||
<servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1509" max="1900"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.45"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_2"/>
|
||||
<define name="IR_TOP" value="ADC_0"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
</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="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="-1"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.5"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR1_SIGN" value="1"/>
|
||||
<define name="IR2_SIGN" value="-1"/>
|
||||
<define name="TOP_SIGN" value="-1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<!-- 0.0247311828 -->
|
||||
<!-- 0.02432905 -->
|
||||
<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
|
||||
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<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"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.1"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-0.9"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
|
||||
<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="6600."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="-5500."/>
|
||||
<define name="PITCH_DGAIN" value="0.4"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="2400"/>
|
||||
|
||||
<!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
|
||||
<define name="ROLL_RATE_GAIN" value="-1500"/-->
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.35"/><!-- 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_">
|
||||
<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"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
CONFIG = \"tiny_2_1.h\"
|
||||
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
|
||||
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
#TRANSPARENT
|
||||
#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
|
||||
#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
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 -DGPS_USE_LATLONG
|
||||
# -DGPS_LED=2
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
ap.srcs += nav_line.c
|
||||
ap.srcs += nav_survey_rectangle.c
|
||||
|
||||
ap.srcs += humid_sht.c
|
||||
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 $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
sim.srcs += nav_line.c nav_survey_rectangle.c
|
||||
|
||||
sim.srcs += joystick.c
|
||||
sim.CFLAGS += -DUSE_JOYSTICK
|
||||
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,270 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<airframe name="GlassOne #1 Tiny V1.1">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="THROTTLE" no="6" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="4" min="2100" neutral="1594" max="900"/>
|
||||
<servo name="AILEVON_RIGHT" no="5" min="900" neutral="1387" max="2000"/>
|
||||
<!-- +8.1 +2.0 -5.5 -->
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.5"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_RIGHT" value="-$elevator + $aileron"/>
|
||||
<set servo="AILEVON_LEFT" value="-$elevator - $aileron"/>
|
||||
<!--set servo="HATCH" value="@HATCH"/-->
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.9"/>
|
||||
<define name="MAX_PITCH" value="0.9"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_0"/>
|
||||
<define name="IR2" value="ADC_1"/>
|
||||
<define name="IR_TOP" value="ADC_2"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
<define name="GYRO_ROLL" value="ADC_3"/>
|
||||
<define name="GYRO_TEMP" value="ADC_4"/>
|
||||
<define name="SUPPLY_CURRENT" value="ADC_5"/>
|
||||
<define name="GYRO_NB_SAMPLES" value="16"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
|
||||
<linear name="RollOfIrs" arity="2" coeff1="-0.7" coeff2="0.7"/>
|
||||
<linear name="PitchOfIrs" arity="2" coeff1="0.7" coeff2="0.7"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="5.7" unit="deg"/>
|
||||
<define name="DEFAULT_CONTRAST" value="200"/>
|
||||
<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
|
||||
<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_IR1_NEUTRAL" value="508"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="518"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="512"/>
|
||||
<!--define name="ADC_IR1_NEUTRAL" value="524"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="511"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="550"/-->
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="2.5"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="2.5"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1."/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="518"/>
|
||||
<define name="ADC_TEMP_NEUTRAL" value="476"/>
|
||||
<define name="ADC_TEMP_SLOPE" value="0"/>
|
||||
<define name="ROLL_SCALE" value="1.0"/>
|
||||
<define name="ROLL_DIRECTION" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
||||
<define name="ADC_CHANNEL_VSUPPLY" value="AdcBank1(6)"/>
|
||||
<define name="VoltageOfAdc(adc)" value="(0.01787109375*adc)"/>
|
||||
<define name="LOW_BATTERY" value="9.0" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1.5"/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="(V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN*V_CTL_ALTITUDE_MAX_CLIMB)"/>
|
||||
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
|
||||
<define name="LIGHT_PIN_1" value="3"/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
<!--define name="POWER_CTL_BAT_NOMINAL" value="8.4" unit="volt"/-->
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.07"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="4."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.65"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.024"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.06"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.06"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.025"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.05"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-1.2"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.5" 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="7000."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="-8000."/>
|
||||
<define name="PITCH_DGAIN" value="0."/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="4000"/>
|
||||
|
||||
<!-- roll rate loop -->
|
||||
<define name="ROLL_RATE_MODE_DEFAULT" value="0"/>
|
||||
<define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
|
||||
<define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
|
||||
<define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="1500."/>
|
||||
<define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="1500."/>
|
||||
<define name="ROLL_RATE_IGAIN" value="0."/>
|
||||
<define name="ROLL_RATE_DGAIN" value="0."/>
|
||||
<define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="20"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="0.9"/><!-- Throttle for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive Decent -->
|
||||
<define name="CLIMB_NAV_RATIO" value="0.5"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
|
||||
<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="2" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.15" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="AEROCOMM"/>
|
||||
<define name="DEVICE_ADDRESS" value="0x005067397193"/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
|
||||
#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
ap.srcs += inter_mcu.c
|
||||
|
||||
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DGPS_CONFIGURE -DZ_CONTRAST_DEFAULT=1
|
||||
ap.CFLAGS += -DGPS_BAUD=38400
|
||||
|
||||
ap.srcs += gps_ubx.c gps.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED
|
||||
ap.srcs += infrared.c estimator.c
|
||||
# -DALT_KALMAN
|
||||
|
||||
ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c nav_survey_rectangle.c
|
||||
|
||||
#ap.CFLAGS += -DGYRO -DADXRS150
|
||||
#ap.srcs += gyro.c
|
||||
|
||||
#ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH
|
||||
#ap.srcs += point.c cam.c
|
||||
|
||||
ap.srcs += traffic_info.c nav_line.c
|
||||
|
||||
# Video switch
|
||||
ap.CFLAGS += -DUSE_GPIO
|
||||
ap.srcs += $(SRC_ARCH)/gpio.c
|
||||
|
||||
# Hardware In The Loop
|
||||
|
||||
#ap.CFLAGS += -DHITL
|
||||
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM
|
||||
sim.srcs += bomb.c nav_survey_rectangle.c
|
||||
|
||||
sim.srcs += traffic_info.c nav_line.c
|
||||
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,241 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<airframe name="GlassOne #2 Tiny 0.9">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="THROTTLE" no="6" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="4" min="1870" neutral="1594" max="1100"/>
|
||||
<servo name="AILEVON_RIGHT" no="5" min="1100" neutral="1407" max="2000"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.5"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_RIGHT" value="-$elevator + $aileron"/>
|
||||
<set servo="AILEVON_LEFT" value="-$elevator - $aileron"/>
|
||||
<!--set servo="HATCH" value="@HATCH"/-->
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.9"/>
|
||||
<define name="MAX_PITCH" value="0.9"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_0"/>
|
||||
<define name="IR2" value="ADC_1"/>
|
||||
<define name="IR_TOP" value="ADC_2"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
|
||||
<linear name="RollOfIrs" arity="2" coeff1="-0.7" coeff2="0.7"/>
|
||||
<linear name="PitchOfIrs" arity="2" coeff1="0.7" coeff2="0.7"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="5.7" unit="deg"/>
|
||||
<define name="DEFAULT_CONTRAST" value="200"/>
|
||||
<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
|
||||
<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_IR1_NEUTRAL" value="508"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="510"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="512"/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="2.5"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="2.5"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1."/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
||||
<define name="VOLTAGE_ADC_A" value="0.0174"/>
|
||||
<define name="VOLTAGE_ADC_B" value="3.43"/>
|
||||
<define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
|
||||
<define name="LOW_BATTERY" value="9.0" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1.5"/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="(V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN*V_CTL_ALTITUDE_MAX_CLIMB)"/>
|
||||
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
|
||||
<define name="LIGHT_PIN_1" value="3"/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
<!--define name="POWER_CTL_BAT_NOMINAL" value="8.4" unit="volt"/-->
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.07"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="4."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.65"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.024"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.06"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.06"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.025"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.05"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-1.2"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.5" 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="7000."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="-8000."/>
|
||||
<define name="PITCH_DGAIN" value="0."/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="4000"/>
|
||||
|
||||
<!-- roll rate loop -->
|
||||
<define name="ROLL_RATE_MODE_DEFAULT" value="0"/>
|
||||
<define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
|
||||
<define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
|
||||
<define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="1500."/>
|
||||
<define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="1500."/>
|
||||
<define name="ROLL_RATE_IGAIN" value="0."/>
|
||||
<define name="ROLL_RATE_DGAIN" value="0."/>
|
||||
<define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="20"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="0.9"/><!-- Throttle for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive Decent -->
|
||||
<define name="CLIMB_NAV_RATIO" value="0.5"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
|
||||
<define name="DESCENT_NAV_RATIO" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.15" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="AEROCOMM"/>
|
||||
<define name="DEVICE_ADDRESS" value="0x005067397193"/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny.h\" -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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_hw_new.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
|
||||
#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
ap.srcs += inter_mcu.c
|
||||
|
||||
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DGPS_CONFIGURE -DZ_CONTRAST_DEFAULT=1
|
||||
ap.CFLAGS += -DGPS_BAUD=38400
|
||||
|
||||
ap.srcs += gps_ubx.c gps.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED
|
||||
ap.srcs += infrared.c estimator.c
|
||||
# -DALT_KALMAN
|
||||
|
||||
ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c nav_survey_rectangle.c
|
||||
|
||||
#ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH
|
||||
#ap.srcs += point.c cam.c
|
||||
|
||||
ap.srcs += traffic_info.c nav_line.c
|
||||
|
||||
# Video switch
|
||||
ap.CFLAGS += -DUSE_GPIO
|
||||
ap.srcs += $(SRC_ARCH)/gpio.c
|
||||
|
||||
# Hardware In The Loop
|
||||
|
||||
#ap.CFLAGS += -DHITL
|
||||
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM
|
||||
sim.srcs += bomb.c nav_survey_rectangle.c
|
||||
|
||||
sim.srcs += traffic_info.c nav_line.c
|
||||
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,268 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<airframe name="GlassOne #3 Tiny V1.1">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="THROTTLE" no="6" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="4" min="1890" neutral="1587" max="1155"/>
|
||||
<servo name="AILEVON_RIGHT" no="5" min="1095" neutral="1422" max="1824"/>
|
||||
<!--servo name="AILEVON_LEFT" no="4" min="1880" neutral="1594" max="1215"/>
|
||||
<servo name="AILEVON_RIGHT" no="5" min="1115" neutral="1387" max="1744"/-->
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.5"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_RIGHT" value="-$elevator + $aileron"/>
|
||||
<set servo="AILEVON_LEFT" value="-$elevator - $aileron"/>
|
||||
<!--set servo="HATCH" value="@HATCH"/-->
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.9"/>
|
||||
<define name="MAX_PITCH" value="0.9"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_0"/>
|
||||
<define name="IR2" value="ADC_1"/>
|
||||
<define name="IR_TOP" value="ADC_2"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
<define name="GYRO_ROLL" value="ADC_3"/>
|
||||
<define name="GYRO_TEMP" value="ADC_4"/>
|
||||
<define name="SUPPLY_CURRENT" value="ADC_5"/>
|
||||
<define name="GYRO_NB_SAMPLES" value="16"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
|
||||
<linear name="RollOfIrs" arity="2" coeff1="-0.7" coeff2="0.7"/>
|
||||
<linear name="PitchOfIrs" arity="2" coeff1="0.7" coeff2="0.7"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="10" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="DEFAULT_CONTRAST" value="200"/>
|
||||
<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
|
||||
<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_IR1_NEUTRAL" value="508"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="510"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="512"/>
|
||||
<!--define name="ADC_IR1_NEUTRAL" value="524"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="511"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="550"/-->
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="2.5"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="2.5"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1."/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="518"/>
|
||||
<define name="ADC_TEMP_NEUTRAL" value="476"/>
|
||||
<define name="ADC_TEMP_SLOPE" value="0"/>
|
||||
<define name="ROLL_SCALE" value="1.0"/>
|
||||
<define name="ROLL_DIRECTION" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
||||
<define name="ADC_CHANNEL_VSUPPLY" value="AdcBank1(6)"/>
|
||||
<define name="VoltageOfAdc(adc)" value="(0.01787109375*adc)"/>
|
||||
<define name="LOW_BATTERY" value="9.0" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1.5"/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="(V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN*V_CTL_ALTITUDE_MAX_CLIMB)"/>
|
||||
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
|
||||
<define name="LIGHT_PIN_1" value="3"/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
<!--define name="POWER_CTL_BAT_NOMINAL" value="8.4" unit="volt"/-->
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.07"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="4."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.65"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.024"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.06"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.06"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.025"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.05"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-1.2"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.63" 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="7000."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="-8000."/>
|
||||
<define name="PITCH_DGAIN" value="0."/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="4000"/>
|
||||
|
||||
<!-- roll rate loop -->
|
||||
<define name="ROLL_RATE_MODE_DEFAULT" value="0"/>
|
||||
<define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
|
||||
<define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
|
||||
<define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="1500."/>
|
||||
<define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="1500."/>
|
||||
<define name="ROLL_RATE_IGAIN" value="0."/>
|
||||
<define name="ROLL_RATE_DGAIN" value="0."/>
|
||||
<define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="20"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="0.9"/><!-- Throttle for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive Decent -->
|
||||
<define name="CLIMB_NAV_RATIO" value="0.5"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
|
||||
<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="2" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.15" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="AEROCOMM"/>
|
||||
<define name="DEVICE_ADDRESS" value="0x005067397193"/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
|
||||
#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
ap.srcs += inter_mcu.c
|
||||
|
||||
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DGPS_CONFIGURE -DZ_CONTRAST_DEFAULT=1
|
||||
ap.CFLAGS += -DGPS_BAUD=38400
|
||||
|
||||
ap.srcs += gps_ubx.c gps.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED
|
||||
ap.srcs += infrared.c estimator.c
|
||||
# -DALT_KALMAN
|
||||
|
||||
ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c nav_survey_rectangle.c
|
||||
|
||||
#ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH
|
||||
#ap.srcs += point.c cam.c
|
||||
|
||||
ap.srcs += traffic_info.c nav_line.c
|
||||
|
||||
# Video switch
|
||||
ap.CFLAGS += -DUSE_GPIO
|
||||
ap.srcs += $(SRC_ARCH)/gpio.c
|
||||
|
||||
# Hardware In The Loop
|
||||
|
||||
#ap.CFLAGS += -DHITL
|
||||
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM
|
||||
sim.srcs += bomb.c nav_survey_rectangle.c
|
||||
|
||||
sim.srcs += traffic_info.c nav_line.c
|
||||
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,207 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<!--
|
||||
Multiplex EasyStar, using rudder
|
||||
TWOG v1 board
|
||||
Tilted infrared sensor
|
||||
XBee 2.4GHz modem in transparent mode
|
||||
-->
|
||||
|
||||
<airframe name="EasyStar TWOG">
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="THROTTLE" no="7" min="1120" neutral="1120" max="1920"/>
|
||||
<servo name="ELEVATOR" no="3" min="1100" neutral="1515" max="1900"/>
|
||||
<servo name="RUDDER" no="4" min="2050" neutral="1440" max="950"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
</rc_commands>
|
||||
|
||||
<command_laws>
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="RUDDER" value="@ROLL"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="RadOfDeg(50)"/>
|
||||
<define name="MAX_PITCH" value="RadOfDeg(40)"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_2"/>
|
||||
<define name="IR_TOP" value="ADC_0"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ADC_IR1_NEUTRAL" value="512"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="510"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="500"/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="0.7"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="0.7"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1."/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR1_SIGN" value="1"/>
|
||||
<define name="IR2_SIGN" value="-1"/>
|
||||
<define name="TOP_SIGN" value="1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="-5.3" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="-3" unit="deg"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="BAT">
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="8.0" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="8.5" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="9.5" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="12.5" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
|
||||
<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="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="100."/>
|
||||
<define name="MIN_CIRCLE_RADIUS" value="60."/>
|
||||
</section>
|
||||
|
||||
<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"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05" unit="rad/(m/s)"/>
|
||||
<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="ROLL_RATE_GAIN" value="-200"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<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="0.9"/><!-- 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_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.4" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="RadOfDeg(15)" unit="rad"/>
|
||||
<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>
|
||||
|
||||
<makefile>
|
||||
CONFIG = \"tiny_2_1_1.h\"
|
||||
|
||||
# Target configuration
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
|
||||
|
||||
# Servo driver
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
|
||||
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
|
||||
|
||||
# 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
|
||||
|
||||
# ADC configuration
|
||||
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.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.srcs += nav_line.c
|
||||
ap.srcs += nav_survey_rectangle.c
|
||||
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN -DUSE_MODULES
|
||||
sim.srcs += nav_line.c nav_survey_rectangle.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,260 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<!-- Lila, Jeti advance 40 plus
|
||||
Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
|
||||
PerkinElmer TPS334 IR Sensors
|
||||
Tilted infrared sensor
|
||||
XBee modem
|
||||
K66, LEA 5H
|
||||
-->
|
||||
|
||||
<airframe name="Lila K66">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="2" min="1700" neutral="1503" max="1300"/>
|
||||
<servo name="AILEVON_RIGHT" no="6" min="1300" neutral="1503" max="1700"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.45"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.7"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_2"/>
|
||||
<define name="IR_TOP" value="ADC_0"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
<define name="GYRO_ROLL" value="ADC_3"/>
|
||||
<define name="GYRO_NB_SAMPLES" value="16"/>
|
||||
</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="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="-1"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.5"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR1_SIGN" value="1"/>
|
||||
<define name="IR2_SIGN" value="-1"/>
|
||||
<define name="TOP_SIGN" value="1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="490"/>
|
||||
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
|
||||
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
|
||||
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
|
||||
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
|
||||
<define name="ROLL_DIRECTION" value="-1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<!-- 0.0247311828 -->
|
||||
<!-- 0.02432905 -->
|
||||
<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
|
||||
<define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
|
||||
<define name="MAXIMUM_AIRSPEED" value="40." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<!-- <define name="XBEE_INIT" value=""ATPL2\rATRN1\rATTT80\r""/> -->
|
||||
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<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"/-->
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.04"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.4"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.20"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="2000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-800"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.011"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.101000003517"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.04"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.1"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-0.78"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
|
||||
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="-2500."/>
|
||||
<define name="PITCH_DGAIN" value="-1000"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="1100"/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
|
||||
<!--define name="ROLL_RATE_GAIN" value="-1500"/-->
|
||||
|
||||
<define name="ROLL_KFF" value="-500"/>
|
||||
<define name="ROLL_IGAIN" value="-500"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.35"/><!-- 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_">
|
||||
<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"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</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="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
<makefile>
|
||||
CONFIG = \"tiny_2_1.h\"
|
||||
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
|
||||
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
#TRANSPARENT
|
||||
#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
|
||||
#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
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 += -DGYRO -DADXRS150
|
||||
ap.srcs += gyro.c
|
||||
|
||||
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 -DWIND_INFO -DWIND_INFO_RET
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl_a.c fw_v_ctl.c
|
||||
|
||||
ap.srcs += nav_line.c
|
||||
ap.srcs += nav_survey_rectangle.c
|
||||
|
||||
ap.srcs += snav.c
|
||||
|
||||
# Config for SITL simulation
|
||||
sim.ARCHDIR = $(ARCHI)
|
||||
sim.ARCH = sitl
|
||||
sim.TARGET = autopilot
|
||||
sim.TARGETDIR = autopilot
|
||||
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO
|
||||
sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
|
||||
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
sim.srcs += nav_line.c nav_survey_rectangle.c
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,256 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<airframe name="MAC06A Tiny 1.1">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="GAZ" no="2" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="HATCH" no="1" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="CAM_ROLL" no="0" min="1000" neutral="1500" max="2000"/>
|
||||
<servo name="CAM_PITCH" no="3" min="1000" neutral="1500" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="6" min="1900" neutral="1432" max="1100"/>
|
||||
<servo name="AILEVON_RIGHT" no="5" min="1100" neutral="1530" max="1900"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="HATCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="HATCH" value="@GAIN1"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.45"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="GAZ" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
<set servo="HATCH" value="@HATCH"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.6"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_0"/>
|
||||
<define name="IR2" value="ADC_1"/>
|
||||
<define name="IR_TOP" value="ADC_2"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
<define name="GYRO_ROLL" value="ADC_3"/>
|
||||
<define name="GYRO_TEMP" value="ADC_4"/>
|
||||
<define name="GYRO_NB_SAMPLES" value="16"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<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="0.7" 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_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="515"/>
|
||||
<define name="ADC_TEMP_NEUTRAL" value="470"/>
|
||||
<define name="ADC_TEMP_SLOPE" value="0"/>
|
||||
<define name="ROLL_SCALE" value="0.44"/>
|
||||
<define name="ROLL_DIRECTION" value="-1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
||||
|
||||
<define name="ADC_CHANNEL_VSUPPLY" value="AdcBank1(6)"/>
|
||||
<define name="VoltageOfAdc(adc)" value="(0.01787109375*adc)"/>
|
||||
|
||||
<define name="LOW_BATTERY" value="6.0" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.03"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.35"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.1"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-0.8"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
|
||||
|
||||
<define name="ROLL_PGAIN" value="5000."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="-9000."/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="1250"/>
|
||||
|
||||
<!-- roll rate loop -->
|
||||
<define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
|
||||
<define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
|
||||
<define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
|
||||
<define name="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"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" 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="0.8"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.25"/><!-- 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="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_GAZ" value="0.3" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<!--
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
-->
|
||||
|
||||
<makefile>
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
#XBEE ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
|
||||
#XBEE ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
ap.srcs += inter_mcu.c
|
||||
|
||||
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
|
||||
|
||||
ap.srcs += gps_ubx.c gps.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED -DALT_KALMAN -DIR_360
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DGYRO -DADXRS150
|
||||
ap.srcs += gyro.c
|
||||
|
||||
ap.srcs += bomb.c
|
||||
|
||||
|
||||
|
||||
# Harware In The Loop
|
||||
|
||||
#ap.CFLAGS += -DHITL
|
||||
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360
|
||||
sim.srcs += bomb.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,246 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
|
||||
Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
|
||||
Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
|
||||
Radiotronix modem
|
||||
-->
|
||||
|
||||
<airframe name="JSBSim test file (from funjet file)">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="2" min="1130" neutral="1500" max="1880"/>
|
||||
<servo name="AILEVON_RIGHT" no="6" min="1980" neutral="1515" max="1170"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.75"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_2"/>
|
||||
<define name="IR_TOP" value="ADC_0"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
|
||||
<define name="GYRO_ROLL" value="ADC_3"/>
|
||||
<define name="GYRO_NB_SAMPLES" value="16"/>
|
||||
|
||||
</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="LATERAL_CORRECTION" value="1."/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1."/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.5"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR2_SIGN" value="-1"/>
|
||||
<define name="TOP_SIGN" value="-1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="-3.6" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="6" unit="deg"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="520"/>
|
||||
<define name="ADC_TEMP_NEUTRAL" value="476"/>
|
||||
<define name="ADC_TEMP_SLOPE" value="0"/>
|
||||
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
|
||||
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
|
||||
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
|
||||
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
|
||||
<define name="ROLL_DIRECTION" value="-1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
||||
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="17." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
|
||||
<!-- <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="80."/>
|
||||
<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"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.04"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.35"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.3"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.5"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-1."/>
|
||||
|
||||
<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="PITCH_PGAIN" value="-10000."/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="2500"/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
|
||||
<define name="ROLL_RATE_GAIN" value="-1500"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
<define name="NAV_CROSS_TRACK_ERROR_IGAIN" value="0.05"/>
|
||||
<define name="NAV_CROSS_TRACK_ERROR_MAX" value="10." unit="deg"/>
|
||||
</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="0.7"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.25"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.15"/><!-- 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="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="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<!--
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
-->
|
||||
|
||||
<section name="Digital camera telecommand">
|
||||
<!-- IOs are seen as LEDs -->
|
||||
|
||||
<define name="LED_6_BANK" value="0"/>
|
||||
<define name="LED_6_PIN" value="2"/> <!-- I2C SCL -->
|
||||
|
||||
<!-- ADC 5 -->
|
||||
<define name="LED_7_BANK" value="0"/>
|
||||
<define name="LED_7_PIN" value="3"/> <!-- I2C SDA -->
|
||||
|
||||
<define name="DC_SHUTTER_LED" value="6"/> <!-- Grey wire -->
|
||||
<define name="DC_ZOOM_LED" value="7"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="JSBSIM_MODEL" value="\"Malolo1\""/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
CONFIG = \"tiny_2_1.h\"
|
||||
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
|
||||
# Config for SITL simulation with JSBSim
|
||||
SIM_TYPE = JSBSIM
|
||||
sim.ARCHDIR = $(ARCHI)
|
||||
sim.ARCH = sitl
|
||||
sim.TARGET = sim
|
||||
sim.TARGETDIR = sim
|
||||
|
||||
sim.CFLAGS += -I$(SIMDIR) -I/home/cocoleon/usr/include/JSBSim -I/usr/include
|
||||
sim.CFLAGS += `pkg-config glib-2.0 --cflags`
|
||||
sim.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lpcre -lglibivy -L/home/cocoleon/usr/lib/ -lJSBSim
|
||||
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
|
||||
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV
|
||||
|
||||
sim.srcs = $(SRC_ARCH)/jsbsim_hw.c $(SRC_ARCH)/jsbsim_gps.c $(SRC_ARCH)/jsbsim_ir.c $(SRC_ARCH)/ivy_transport.c
|
||||
sim.srcs += latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c
|
||||
sim.srcs += nav_line.c nav_survey_rectangle.c
|
||||
|
||||
sim.srcs += $(SIMDIR)/sim_ac_jsbsim.c $(SIMDIR)/sim_ac_fw.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,217 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<!-- Microjet Multiplex (http://www.multiplex-rc.de/)
|
||||
Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
|
||||
Tilted infrared sensor
|
||||
Transparent modem
|
||||
-->
|
||||
|
||||
<airframe name="Microjet 5 Tiny 2.11">
|
||||
<servos>
|
||||
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="2" min="1130" neutral="1575" max="1880"/>
|
||||
<servo name="AILEVON_RIGHT" no="6" min="1980" neutral="1465" max="1170"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="HATCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.75"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_2"/>
|
||||
<define name="IR_TOP" value="ADC_3"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
|
||||
<define name="GYRO_ROLL" value="ADC_3"/>
|
||||
<define name="GYRO_NB_SAMPLES" value="16"/>
|
||||
|
||||
</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="LATERAL_CORRECTION" value="1."/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1."/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.5"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR2_SIGN" value="-1"/>
|
||||
<define name="TOP_SIGN" value="-1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="-3.6" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="5" unit="deg"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="520"/>
|
||||
<define name="ADC_TEMP_NEUTRAL" value="476"/>
|
||||
<define name="ADC_TEMP_SLOPE" value="0"/>
|
||||
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
|
||||
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
|
||||
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
|
||||
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
|
||||
<define name="ROLL_DIRECTION" value="-1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="2000"/>
|
||||
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
|
||||
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
|
||||
<define name="MAXIMUM_AIRSPEED" value="25." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
||||
<define name="MIN_CIRCLE_RADIUS" value="50."/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.04"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.35"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.5"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<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="PITCH_PGAIN" value="-10000."/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="2500"/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
|
||||
<define name="ROLL_RATE_GAIN" value="-1500"/>
|
||||
</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="0.6"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.20"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.15"/><!-- 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_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="1" 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"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
<makefile>
|
||||
CONFIG = \"tiny_2_1_1.h\"
|
||||
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
|
||||
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
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 -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED -DALT_KALMAN
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
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
|
||||
ap.srcs += nav_line.c nav_survey_rectangle.c
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DTRAFFIC_INFO
|
||||
sim.srcs += nav_survey_rectangle.c traffic_info.c nav_line.c
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,238 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<airframe name="Microjet5">
|
||||
<!-- tiny test airframe -->
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="1" max="1150" neutral="1520" min="1950"/>
|
||||
<servo name="AILEVON_RIGHT" no="2" max="1900" neutral="1460" min="1050"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.3"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.7"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.6"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_0"/>
|
||||
<define name="IR2" value="ADC_1"/>
|
||||
<define name="IR_TOP" value="ADC_6"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
<define name="GYRO_ROLL" value="ADC_4"/>
|
||||
<define name="GYRO_TEMP" value="ADC_5"/>
|
||||
<define name="GYRO_NB_SAMPLES" value="16"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="6" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="9" unit="deg"/>
|
||||
<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_IR1_NEUTRAL" value="512"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="512"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="512"/>
|
||||
</section>
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_COEF" value="1"/>
|
||||
<define name="ADC_ROLL_NEUTRAL" value="500"/>
|
||||
<define name="ADC_TEMP_NEUTRAL" value="476"/>
|
||||
<define name="ADC_TEMP_SLOPE" value="0"/>
|
||||
<define name="ROLL_SCALE" value="0.44"/>
|
||||
<define name="ROLL_DIRECTION" value="1"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="11000"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
</section>
|
||||
|
||||
<section name="ALT" prefix="CLIMB_">
|
||||
<define name="PITCH_PGAIN" value="-0.05"/>
|
||||
<define name="PITCH_IGAIN" value="0.075"/>
|
||||
<define name="PGAIN" value="-0.01"/>
|
||||
<define name="IGAIN" value="0.1"/>
|
||||
<define name="MAX" value="1."/>
|
||||
<define name="PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
<define name="THROTTLE_OF_CLIMB" value="0.15" unit="%/(m/s)"/>
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-0.4"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.6" 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_ATTITUDE_GAIN" value="-1500"/>
|
||||
<define name="ROLL_RATE_GAIN" value="-10"/>
|
||||
<define name="PITCH_PGAIN" value="-9000."/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="0"/>
|
||||
|
||||
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.03"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.35"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.1"/>
|
||||
|
||||
</section>
|
||||
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="GYRO_GAINS">
|
||||
<define name="GYRO_MAX_RATE" value="200."/>
|
||||
<define name="ROLLRATESUM_NB_SAMPLES" value="60"/>
|
||||
<define name="ALT_ROLL_PGAIN" value="120.0"/>
|
||||
<define name="ROLL_RATE_PGAIN" value="85.0"/>
|
||||
<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="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<!--
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
-->
|
||||
|
||||
|
||||
<makefile>
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny.h\" -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.CFLAGS += -DLED_3_BANK=0 -DLED_3_PIN=17 -DLED_4_BANK=0 -DLED_4_PIN=18 -DLED_5_BANK=0 -DLED_5_PIN=19 -DLED_6_BANK=0 -DLED_6_PIN=20
|
||||
|
||||
|
||||
ap.srcs += commands.c
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015
|
||||
ap.srcs += actuators.c $(SRC_ARCH)/servos_4015_hw.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
|
||||
#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c latlong.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
ap.srcs += inter_mcu.c
|
||||
|
||||
ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD1 -DUSE_AD1_5 -DUSE_AD1_7 -DUSE_AD1_3 -DUSE_AD1_5
|
||||
#ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_1 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD1 -DUSE_AD1_5 -DUSE_AD1_7 -DUSE_AD1_3 -DUSE_AD1_5
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
|
||||
|
||||
ap.srcs += gps_ubx.c gps.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DGYRO -DADXRS150
|
||||
ap.srcs += gyro.c
|
||||
|
||||
# Harware In The Loop
|
||||
|
||||
#ap.CFLAGS += -DHITL
|
||||
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\"
|
||||
sim.srcs += nav_survey_rectangle.c traffic_info.c nav_line.c
|
||||
sim.CFLAGS += -DGYRO -DADXRS150
|
||||
sim.srcs += gyro.c
|
||||
|
||||
|
||||
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,260 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
<!-- rc 41.050 -->
|
||||
<airframe name="Microjet6 Tiny 1.1">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="GAZ" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="HATCH" no="2" max="2000" neutral="1000" min="1000"/>
|
||||
<servo name="AILEVON_LEFT" no="6" min="1075" neutral="1518" max="2025"/>
|
||||
<servo name="AILEVON_RIGHT" no="3" min="1975" neutral="1595" max="975"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="HATCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="HATCH" value="@GAIN1"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.4"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.7"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="GAZ" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
<set servo="HATCH" value="@HATCH"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.6"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_0"/>
|
||||
<define name="IR2" value="ADC_1"/>
|
||||
<define name="IR_TOP" value="ADC_6"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
<define name="GYRO_ROLL" value="ADC_4"/>
|
||||
<define name="GYRO_NB_SAMPLES" value="16"/>
|
||||
|
||||
</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="4." unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="2" unit="deg"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1.0"/>
|
||||
<define name="CORRECTION_DOWN" value="1.0"/>
|
||||
<define name="CORRECTION_LEFT" value="1.4"/>
|
||||
<define name="CORRECTION_RIGHT" value="1.4"/>
|
||||
</section>
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="500"/>
|
||||
<define name="ADC_TEMP_NEUTRAL" value="476"/>
|
||||
<define name="ADC_TEMP_SLOPE" value="0"/>
|
||||
<define name="ROLL_SCALE" value="0.44"/>
|
||||
<define name="ROLL_DIRECTION" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
||||
<define name="LOW_BATTERY" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
|
||||
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
||||
|
||||
<define name="GLIDE_AIRSPEED" value="10"/>
|
||||
<define name="GLIDE_VSPEED" value="3."/>
|
||||
<define name="GLIDE_PITCH" value="45" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.03"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW_LIMITER" value="10"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-0.55"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.6" 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="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="-12500."/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="1250"/>
|
||||
|
||||
<!-- 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="3000."/>
|
||||
<define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="3000."/>
|
||||
<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_SLEW" value="0.1"/>
|
||||
|
||||
<define name="SIMPLE_ROLL_PGAIN" value="-15000"/>
|
||||
<define name="SIMPLE_ROLL_DGAIN" value="-3000"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
<define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/>
|
||||
<define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
|
||||
</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="1.00"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.25"/><!-- 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_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="1" 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"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<!--
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
-->
|
||||
|
||||
<makefile>
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
# API mode
|
||||
# ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600
|
||||
# ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
# transparent
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
ap.srcs += inter_mcu.c
|
||||
|
||||
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4 -DUSE_ADC_6
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
|
||||
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DGYRO -DADXRS150
|
||||
ap.srcs += gyro.c
|
||||
|
||||
ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
|
||||
ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
|
||||
|
||||
ap.srcs += nav_line.c
|
||||
|
||||
# Harware In The Loop
|
||||
|
||||
#ap.CFLAGS += -DHITL
|
||||
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DUSE_BARO_MS5534A
|
||||
sim.srcs += nav_survey_rectangle.c $(SRC_ARCH)/sim_baro.c bomb.c nav_line.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,248 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<airframe name="Microjet I Tiny 1.1">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="THROTTLE" no="0" min="1290" neutral="1290" max="1810"/>
|
||||
<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1385" max="1000"/>
|
||||
<servo name="AILEVON_RIGHT" no="3" min="1000" neutral="1530" max="2000"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.4"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.7"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.7"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_2"/>
|
||||
<define name="IR_TOP" value="ADC_0"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
<define name="GYRO_ROLL" value="ADC_3"/>
|
||||
<define name="GYRO_NB_SAMPLES" value="16"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ADC_IR1_NEUTRAL" value="507"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="507"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="505"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR2_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="5" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="5" unit="deg"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1.0"/>
|
||||
<define name="CORRECTION_DOWN" value="1.0"/>
|
||||
<define name="CORRECTION_LEFT" value="1.0"/>
|
||||
<define name="CORRECTION_RIGHT" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="488"/>
|
||||
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
|
||||
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
|
||||
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
|
||||
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
|
||||
<define name="ROLL_DIRECTION" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<define name="XBEE_INIT" value="\"ATPL2\rATRN5\rATTT80\r\""/>
|
||||
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
||||
|
||||
<define name="GLIDE_AIRSPEED" value="10"/>
|
||||
<define name="GLIDE_VSPEED" value="3."/>
|
||||
<define name="GLIDE_PITCH" value="45" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="external leds">
|
||||
<!-- ADC 4 -->
|
||||
<define name="LED_4_BANK" value="0"/>
|
||||
<define name="LED_4_PIN" value="22"/>
|
||||
|
||||
<!-- ADC 5 -->
|
||||
<define name="LED_5_BANK" value="0"/>
|
||||
<define name="LED_5_PIN" value="12"/>
|
||||
|
||||
<define name="LIGHT_LED_1" value="4"/>
|
||||
<define name="LIGHT_LED_2" value="5"/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.03"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.4"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-1.4"/>
|
||||
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="-12500."/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="1250"/>
|
||||
|
||||
<define name="ROLL_SLEW" value="0.1"/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
|
||||
<define name="ROLL_RATE_GAIN" value="-1500"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<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="1.00"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.25"/><!-- 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_">
|
||||
<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"/>
|
||||
</section>
|
||||
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
|
||||
|
||||
# 41.120MHz
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B19200
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
# transparent
|
||||
# ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
|
||||
# ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
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 -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
|
||||
#ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
|
||||
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
ap.CFLAGS += -DGYRO -DADXRS150
|
||||
ap.srcs += gyro.c
|
||||
|
||||
ap.srcs += nav_line.c nav_survey_rectangle.c
|
||||
|
||||
ap.srcs += light.c
|
||||
ap.CFLAGS += -DUSE_LIGHT
|
||||
|
||||
# PID sensor
|
||||
ap.CFLAGS += -DUSE_ADC_6 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_6 -DADC_CHANNEL_GENERIC_NB_SAMPLES=16
|
||||
ap.srcs += adc_generic.c
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
sim.srcs += nav_survey_rectangle.c nav_line.c
|
||||
|
||||
sim.srcs += light.c
|
||||
sim.CFLAGS += -DUSE_LIGHT
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,246 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<airframe name="Microjet II Tiny 1.1">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="THROTTLE" no="0" min="1280" neutral="1280" max="1810"/>
|
||||
<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1460" max="1000"/>
|
||||
<servo name="AILEVON_RIGHT" no="3" min="1000" neutral="1520" max="2000"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.4"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.7"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.7"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_2"/>
|
||||
<define name="IR_TOP" value="ADC_0"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
<define name="GYRO_ROLL" value="ADC_3"/>
|
||||
<define name="GYRO_NB_SAMPLES" value="16"/>
|
||||
|
||||
</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"/>
|
||||
|
||||
<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="LATERAL_CORRECTION" value="1."/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1."/>
|
||||
<define name="VERTICAL_CORRECTION" value="1."/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="-3.5" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="1.2" unit="deg"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1.0"/>
|
||||
<define name="CORRECTION_DOWN" value="1.0"/>
|
||||
<define name="CORRECTION_LEFT" value="1.0"/>
|
||||
<define name="CORRECTION_RIGHT" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="507"/>
|
||||
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
|
||||
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
|
||||
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
|
||||
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
|
||||
<define name="ROLL_DIRECTION" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
||||
<define name="LOW_BATTERY" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<define name="XBEE_INIT" value="\"ATPL2\rATRN5\rATTT80\r\""/>
|
||||
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
||||
|
||||
<define name="GLIDE_AIRSPEED" value="10"/>
|
||||
<define name="GLIDE_VSPEED" value="3."/>
|
||||
<define name="GLIDE_PITCH" value="45" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="external leds">
|
||||
<!-- ADC 4 -->
|
||||
<define name="LED_4_BANK" value="0"/>
|
||||
<define name="LED_4_PIN" value="22"/>
|
||||
|
||||
<!-- ADC 5 -->
|
||||
<define name="LED_5_BANK" value="0"/>
|
||||
<define name="LED_5_PIN" value="12"/>
|
||||
|
||||
<define name="LIGHT_LED_1" value="4"/>
|
||||
<define name="LIGHT_LED_2" value="5"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.03"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-1.25"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="-9500."/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="1250"/>
|
||||
|
||||
<define name="ROLL_SLEW" value="0.1"/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
|
||||
<define name="ROLL_RATE_GAIN" value="-1500"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<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="1.00"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.25"/><!-- 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_">
|
||||
<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"/>
|
||||
</section>
|
||||
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
|
||||
|
||||
# 41.000MHz
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B19200
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
# transparent
|
||||
#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
|
||||
#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
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 -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
|
||||
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
ap.CFLAGS += -DGYRO -DADXRS150
|
||||
ap.srcs += gyro.c
|
||||
|
||||
ap.srcs += nav_line.c nav_survey_rectangle.c
|
||||
ap.srcs += traffic_info.c
|
||||
|
||||
ap.srcs += light.c
|
||||
ap.CFLAGS += -DUSE_LIGHT
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
sim.srcs += nav_survey_rectangle.c nav_line.c
|
||||
sim.srcs += traffic_info.c
|
||||
|
||||
|
||||
sim.srcs += light.c
|
||||
sim.CFLAGS += -DUSE_LIGHT
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,234 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<airframe name="Microjet III Tiny 1.1">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="THROTTLE" no="0" min="1290" neutral="1290" max="1810"/>
|
||||
<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1510" max="1000"/>
|
||||
<servo name="AILEVON_RIGHT" no="3" min="1000" neutral="1535" max="2000"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.4"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.7"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.7"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_2"/>
|
||||
<define name="IR_TOP" value="ADC_0"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
<define name="GYRO_ROLL" value="ADC_3"/>
|
||||
<define name="GYRO_NB_SAMPLES" value="16"/>
|
||||
|
||||
</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="0.7"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1."/>
|
||||
<define name="VERTICAL_CORRECTION" value="1."/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="-5.15" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1.0"/>
|
||||
<define name="CORRECTION_DOWN" value="1.0"/>
|
||||
<define name="CORRECTION_LEFT" value="1.0"/>
|
||||
<define name="CORRECTION_RIGHT" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="500"/>
|
||||
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
|
||||
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
|
||||
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
|
||||
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
|
||||
<define name="ROLL_DIRECTION" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<define name="XBEE_INIT" value=""ATPL2\rATRN5\rATTT80\r""/>
|
||||
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
||||
|
||||
<define name="GLIDE_AIRSPEED" value="10"/>
|
||||
<define name="GLIDE_VSPEED" value="3."/>
|
||||
<define name="GLIDE_PITCH" value="45" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.03"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-1.4"/>
|
||||
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="-12000."/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="1250"/>
|
||||
|
||||
<define name="ROLL_SLEW" value="0.1"/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
|
||||
<define name="ROLL_RATE_GAIN" value="-1500"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<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="1.00"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.25"/><!-- 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_">
|
||||
<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"/>
|
||||
</section>
|
||||
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
CONFIG=\"tiny_1_1.h\"
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
|
||||
|
||||
# 41.200MHz
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
# transparent
|
||||
#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_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.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
|
||||
#ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
|
||||
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
ap.CFLAGS += -DGYRO -DADXRS150
|
||||
# -DESTIMATOR_COMP_FILTER
|
||||
ap.srcs += gyro.c
|
||||
|
||||
ap.srcs += nav_line.c nav_survey_rectangle.c
|
||||
ap.srcs += traffic_info.c
|
||||
|
||||
# PID sensor
|
||||
ap.CFLAGS += -DUSE_ADC_6 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_6 -DADC_CHANNEL_GENERIC_NB_SAMPLES=16
|
||||
ap.srcs += adc_generic.c
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
# -DESTIMATOR_COMP_FILTER
|
||||
sim.srcs += nav_survey_rectangle.c nav_line.c traffic_info.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,226 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<airframe name="MiniMag F&S 1.1">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="THROTTLE" no="0" min="1400" neutral="1400" max="2000"/>
|
||||
<!-- Servo aileron gauche = couleur blanche -->
|
||||
<!-- Aileron gauche oppose de l'aileron droit -->
|
||||
<servo name="AILERON_LEFT" no="1" min="1825" neutral="1422" max="1000"/>
|
||||
<!-- max = valeur aileron vers le bas-->
|
||||
<servo name="AILERON_RIGHT" no="3" min="1925" neutral="1445" max="1175"/>
|
||||
<!-- Rudder = Couleur rouge droite gauche -->
|
||||
<servo name="RUDDER" no="4" min="1975" neutral="1520" max="1000"/>
|
||||
<servo name="ELEVATOR" no="5" min="1950" neutral="1605" max="1050"/>
|
||||
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="HATCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="YAW" value="@YAW"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILERON_DIFF" value="0.66"/>
|
||||
<define name="COMBI_SWITCH" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
|
||||
|
||||
<let var="roll" value="@ROLL"/>
|
||||
<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
|
||||
<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.8"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_2"/>
|
||||
<define name="IR2" value="ADC_1"/>
|
||||
<define name="IR_TOP" value="ADC_0"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
</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="LATERAL_CORRECTION" value="1."/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1."/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.5"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="-12" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="9" unit="deg"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
||||
|
||||
<define name="LOW_BATTERY" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
|
||||
<!-- <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="50."/>
|
||||
</section>
|
||||
|
||||
<section name="Digital camera telecommand">
|
||||
<!-- ADC 4 and ADC 5 pins are used. They are seen as LEDs -->
|
||||
<!-- ADC 4 -->
|
||||
<define name="LED_4_BANK" value="0"/>
|
||||
<define name="LED_4_PIN" value="22"/>
|
||||
|
||||
<!-- ADC 5 -->
|
||||
<define name="LED_5_BANK" value="0"/>
|
||||
<define name="LED_5_PIN" value="12"/>
|
||||
|
||||
<define name="DC_SHUTTER_LED" value="4"/>
|
||||
<define name="DC_ZOOM_LED" value="5"/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.07"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-500"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.025"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.05"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-1.4"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.6" 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="6000."/>
|
||||
<define name="PITCH_PGAIN" value="-9000."/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="2000"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<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="0.8"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.25"/><!-- 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_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="1" 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"/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_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.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
|
||||
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c nav_line.c
|
||||
|
||||
ap.CFLAGS += -DDIGITAL_CAM
|
||||
ap.srcs += dc.c
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
sim.srcs += nav_survey_rectangle.c nav_line.c
|
||||
sim.srcs += dc.c
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,223 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<!-- mini wing, 3A brushless
|
||||
Tiny 2.11 board, LEA 5H
|
||||
PerkinElmer TPS334 IR Sensors
|
||||
Tilted infrared sensor
|
||||
XBee modem
|
||||
-->
|
||||
|
||||
<airframe name="mini wing">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="2" min="1720" neutral="1341" max="1000"/>
|
||||
<servo name="AILEVON_RIGHT" no="6" min="1220" neutral="1523" max="1840"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.45"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_2"/>
|
||||
<define name="IR_TOP" value="ADC_0"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
</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="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="-1"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.5"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR1_SIGN" value="-1"/>
|
||||
<define name="IR2_SIGN" value="1"/>
|
||||
<define name="TOP_SIGN" value="-1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="3.4" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="2100."/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="6.2" unit="V"/>
|
||||
<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<!-- <define name="XBEE_INIT" value=""ATPL2\rATRN1\rATTT80\r""/> -->
|
||||
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="60."/>
|
||||
<define name="MIN_CIRCLE_RADIUS" value="50."/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="7.4" unit="volt"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.7"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="50"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-60"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.11"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.1"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-0.8"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.62" unit="radians"/> <!-- 0.5 -->
|
||||
<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="6600."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="-5500."/>
|
||||
<define name="PITCH_DGAIN" value="0.4"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="1200"/>
|
||||
|
||||
<!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
|
||||
<define name="ROLL_RATE_GAIN" value="-1500"/-->
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.35"/><!-- 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_">
|
||||
<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"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
CONFIG = \"tiny_2_1.h\"
|
||||
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
|
||||
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL -DUSE_RC_TELEMETRY
|
||||
ap.srcs += radio_control.c ppm_telemetry.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
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 -DGPS_USE_LATLONG
|
||||
# -DGPS_LED=2
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
ap.srcs += nav_line.c
|
||||
ap.srcs += nav_survey_rectangle.c
|
||||
|
||||
ap.CFLAGS += -DTELEMETRY_MODE_FBW=1
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
sim.srcs += nav_line.c nav_survey_rectangle.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,269 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<airframe name="MiniMag Laas N1 Tiny 0.99">
|
||||
|
||||
<modules>
|
||||
<load name="formation_flight.xml"/>
|
||||
</modules>
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="THROTTLE" no="0" min="1200" neutral="1200" max="2000"/>
|
||||
<!-- Aileron gauche (blanc) oppose de l'aileron droit (jaune) -->
|
||||
<!-- max = valeur aileron vers le bas-->
|
||||
<servo name="AILERON_LEFT" no="3" min="1900" neutral="1450" max="1100"/>
|
||||
<servo name="AILERON_RIGHT" no="1" min="1900" neutral="1520" max="1100"/>
|
||||
<servo name="RUDDER" no="4" min="1850" neutral="1500" max="1150"/>
|
||||
<servo name="ELEVATOR" no="5" min="2000" neutral="1568" max="1150"/>
|
||||
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="HATCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="YAW" value="@YAW"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILERON_DIFF" value="0.66"/>
|
||||
<define name="COMBI_SWITCH" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
|
||||
|
||||
<let var="roll" value="@ROLL"/>
|
||||
<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
|
||||
<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.6"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_0"/>
|
||||
<define name="IR2" value="ADC_1"/>
|
||||
<define name="IR_TOP" value="ADC_2"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="-2.6" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="8.6" unit="deg"/>
|
||||
|
||||
<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="1.5"/>
|
||||
|
||||
<define name="ADC_IR1_NEUTRAL" value="507"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="509"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="515"/>
|
||||
|
||||
<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="LATERAL_CORRECTION" value="1."/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1."/>
|
||||
<define name="VERTICAL_CORRECTION" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
|
||||
<define name="CARROT" value="3." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\rATBD6\rATWR\r\""/> -->
|
||||
<define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
|
||||
<!-- <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="60."/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.15"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.90"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.05"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.065"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.15"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.05"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-1."/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.6" 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="10000."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="-12000."/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="1250"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
<define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/>
|
||||
<define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
|
||||
</section>
|
||||
|
||||
<section name="FORMATION" prefix="FORM_">
|
||||
<define name="CARROT" value="3." unit="s"/> <!-- carrot distance for followers -->
|
||||
<define name="POS_PGAIN" value="0.02"/> <!-- coef on position error -->
|
||||
<define name="SPEED_PGAIN" value="0.4"/> <!-- coef on speed error -->
|
||||
<define name="COURSE_PGAIN" value="0.8"/> <!-- coef on course error (override course pgain for followers) -->
|
||||
<define name="ALTITUDE_PGAIN" value="0.1"/> <!-- coef on altitude error -->
|
||||
<define name="PROX" value="60." unit="m"/> <!-- proximity distance -->
|
||||
<define name="MODE" value="0"/> <!-- mode 0 = global, 1 = local -->
|
||||
</section>
|
||||
|
||||
<section name="TCAS" prefix="TCAS_">
|
||||
<define name="TAU_TA" value="10." unit="s"/> <!-- traffic advisory -->
|
||||
<define name="TAU_RA" value="6." unit="s"/> <!-- resolution advisory -->
|
||||
<define name="ALIM" value="15." unit="m"/> <!-- altitude limitation -->
|
||||
<define name="DT_MAX" value="2000" unit="ms"/> <!-- lost comm or timeout -->
|
||||
</section>
|
||||
|
||||
<section name="POTENTIAL">
|
||||
<define name="FORCE_POS_GAIN" value="50"/>
|
||||
<define name="FORCE_SPEED_GAIN" value="1"/>
|
||||
<define name="FORCE_CLIMB_GAIN" value="8"/>
|
||||
</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="0.8"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.25"/><!-- 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_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="1" 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"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="YAW_RESPONSE_FACTOR" value="1."/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.h\" -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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
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_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
|
||||
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED -DALT_KALMAN
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c nav_line.c
|
||||
|
||||
# Hack to use the same tuning file than slayer1
|
||||
# ap.CFLAGS += -DUSE_GPIO
|
||||
# ap.srcs += $(SRC_ARCH)/gpio.c
|
||||
|
||||
# traffic
|
||||
ap.CFLAGS += -DTRAFFIC_INFO
|
||||
ap.srcs += traffic_info.c snav.c
|
||||
|
||||
# external module
|
||||
ap.srcs += external.c
|
||||
|
||||
# tcas
|
||||
ap.CFLAGS += -DTCAS
|
||||
ap.srcs += tcas.c
|
||||
|
||||
# Harware In The Loop
|
||||
|
||||
#ap.CFLAGS += -DHITL
|
||||
|
||||
ap.CFLAGS += -DUSE_MODULES
|
||||
sim.CFLAGS += -DUSE_MODULES
|
||||
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DTRAFFIC_INFO -DTCAS
|
||||
sim.srcs += nav_survey_rectangle.c nav_line.c external.c traffic_info.c snav.c tcas.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,269 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<airframe name="MiniMag Laas N2 Tiny 1.1">
|
||||
|
||||
<modules>
|
||||
<load name="formation_flight.xml"/>
|
||||
</modules>
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="THROTTLE" no="0" min="1200" neutral="1200" max="2000"/>
|
||||
<!-- Aileron gauche (jaune) oppose de l'aileron droit (blanc) -->
|
||||
<!-- max = valeur aileron vers le bas-->
|
||||
<!-- !!! pb d'inversion des sorties, roll < 0 à droite -->
|
||||
<servo name="AILERON_LEFT" no="1" min="1900" neutral="1500" max="1100"/>
|
||||
<servo name="AILERON_RIGHT" no="3" min="1900" neutral="1500" max="1100"/>
|
||||
<servo name="RUDDER" no="4" min="1850" neutral="1500" max="1150"/>
|
||||
<servo name="ELEVATOR" no="5" min="1850" neutral="1350" max="900"/>
|
||||
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="HATCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="YAW" value="@YAW"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILERON_DIFF" value="0.66"/>
|
||||
<define name="COMBI_SWITCH" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
|
||||
|
||||
<let var="roll" value="@ROLL"/>
|
||||
<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
|
||||
<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.6"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_0"/>
|
||||
<define name="IR2" value="ADC_1"/>
|
||||
<define name="IR_TOP" value="ADC_2"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="-1.6" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="8.5" unit="deg"/>
|
||||
|
||||
<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="ADC_IR1_NEUTRAL" value="515"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="518"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="513"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="0.8"/>
|
||||
<define name="CORRECTION_RIGHT" value="0.8"/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="1."/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1."/>
|
||||
<define name="VERTICAL_CORRECTION" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
|
||||
<define name="CARROT" value="3." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\rATBD6\rATWR\r\""/> -->
|
||||
<define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
|
||||
<!-- <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="60."/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.15"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.90"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.05"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.065"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.15"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.05"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-1."/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.6" 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="10000."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="-12000."/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="1250"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
<define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/>
|
||||
<define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
|
||||
</section>
|
||||
|
||||
<section name="FORMATION" prefix="FORM_">
|
||||
<define name="CARROT" value="3." unit="s"/> <!-- carrot distance for followers -->
|
||||
<define name="POS_PGAIN" value="0.02"/> <!-- coef on position error -->
|
||||
<define name="SPEED_PGAIN" value="0.4"/> <!-- coef on speed error -->
|
||||
<define name="COURSE_PGAIN" value="0.8"/> <!-- coef on course error (override course pgain for followers) -->
|
||||
<define name="ALTITUDE_PGAIN" value="0.1"/> <!-- coef on altitude error -->
|
||||
<define name="PROX" value="60." unit="m"/> <!-- proximity distance -->
|
||||
<define name="MODE" value="0"/> <!-- mode 0 = global, 1 = local -->
|
||||
</section>
|
||||
|
||||
<section name="TCAS" prefix="TCAS_">
|
||||
<define name="TAU_TA" value="10." unit="s"/> <!-- traffic advisory -->
|
||||
<define name="TAU_RA" value="6." unit="s"/> <!-- resolution advisory -->
|
||||
<define name="ALIM" value="15." unit="m"/> <!-- altitude limitation -->
|
||||
<define name="DT_MAX" value="2000" unit="ms"/> <!-- lost comm or timeout -->
|
||||
</section>
|
||||
|
||||
<section name="POTENTIAL">
|
||||
<define name="FORCE_POS_GAIN" value="50"/>
|
||||
<define name="FORCE_SPEED_GAIN" value="1"/>
|
||||
<define name="FORCE_CLIMB_GAIN" value="8"/>
|
||||
</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="0.8"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.25"/><!-- 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_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="1" 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"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="YAW_RESPONSE_FACTOR" value="1."/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
|
||||
CONFIG=\"tiny_1_1.h\"
|
||||
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
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_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DGPS_BAUD=38400
|
||||
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED -DALT_KALMAN
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c nav_line.c
|
||||
|
||||
#traffic
|
||||
ap.CFLAGS += -DTRAFFIC_INFO
|
||||
ap.srcs += traffic_info.c snav.c
|
||||
|
||||
# external module
|
||||
ap.srcs += external.c
|
||||
|
||||
# tcas
|
||||
ap.CFLAGS += -DTCAS
|
||||
ap.srcs += tcas.c
|
||||
|
||||
|
||||
# Harware In The Loop
|
||||
|
||||
#ap.CFLAGS += -DHITL
|
||||
|
||||
ap.CFLAGS += -DUSE_MODULES
|
||||
sim.CFLAGS += -DUSE_MODULES
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DTRAFFIC_INFO -DTCAS
|
||||
sim.srcs += nav_survey_rectangle.c nav_line.c external.c traffic_info.c snav.c tcas.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,267 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<airframe name="MiniMag Laas N3 Tiny 1.1">
|
||||
|
||||
<modules>
|
||||
<load name="formation_flight.xml"/>
|
||||
</modules>
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="THROTTLE" no="0" min="1200" neutral="1200" max="2000"/>
|
||||
<!-- max = valeur aileron vers le bas-->
|
||||
<!-- Aileron gauche (jaune) oppose de l'aileron droit (blanc) -->
|
||||
<!-- !!! pb d'inversion des sorties, roll < 0 à droite -->
|
||||
<servo name="AILERON_LEFT" no="1" min="1775" neutral="1525" max="1150"/>
|
||||
<servo name="AILERON_RIGHT" no="3" min="1775" neutral="1520" max="1200"/>
|
||||
<servo name="RUDDER" no="4" min="1850" neutral="1550" max="1150"/>
|
||||
<servo name="ELEVATOR" no="5" min="2000" neutral="1580" max="1150"/>
|
||||
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="HATCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="YAW" value="@YAW"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILERON_DIFF" value="0.66"/>
|
||||
<define name="COMBI_SWITCH" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
|
||||
|
||||
<let var="roll" value="@ROLL"/>
|
||||
<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
|
||||
<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.6"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_0"/>
|
||||
<define name="IR2" value="ADC_1"/>
|
||||
<define name="IR_TOP" value="ADC_2"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="3" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="9" unit="deg"/>
|
||||
|
||||
<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="ADC_IR1_NEUTRAL" value="519"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="508"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="516"/>
|
||||
|
||||
<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="LATERAL_CORRECTION" value="1."/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1."/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.4"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
|
||||
<define name="CARROT" value="3." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\rATBD6\rATWR\r\""/> -->
|
||||
<define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
|
||||
<!-- <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="40."/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.15"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.90"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.05"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.065"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.15"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.05"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-1."/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.6" 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="10000."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="-12000."/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="1250"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
<define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/>
|
||||
<define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
|
||||
</section>
|
||||
|
||||
<section name="FORMATION" prefix="FORM_">
|
||||
<define name="CARROT" value="3." unit="s"/> <!-- carrot distance for followers -->
|
||||
<define name="POS_PGAIN" value="0.02"/> <!-- coef on position error -->
|
||||
<define name="SPEED_PGAIN" value="0.4"/> <!-- coef on speed error -->
|
||||
<define name="COURSE_PGAIN" value="0.8"/> <!-- coef on course error (override course pgain for followers) -->
|
||||
<define name="ALTITUDE_PGAIN" value="0.1"/> <!-- coef on altitude error -->
|
||||
<define name="PROX" value="60." unit="m"/> <!-- proximity distance -->
|
||||
<define name="MODE" value="0"/> <!-- mode 0 = global, 1 = local -->
|
||||
</section>
|
||||
|
||||
<section name="TCAS" prefix="TCAS_">
|
||||
<define name="TAU_TA" value="10." unit="s"/> <!-- traffic advisory -->
|
||||
<define name="TAU_RA" value="6." unit="s"/> <!-- resolution advisory -->
|
||||
<define name="ALIM" value="15." unit="m"/> <!-- altitude limitation -->
|
||||
<define name="DT_MAX" value="2000" unit="ms"/> <!-- lost comm or timeout -->
|
||||
</section>
|
||||
|
||||
<section name="POTENTIAL">
|
||||
<define name="FORCE_POS_GAIN" value="50"/>
|
||||
<define name="FORCE_SPEED_GAIN" value="1"/>
|
||||
<define name="FORCE_CLIMB_GAIN" value="8"/>
|
||||
</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="0.8"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.25"/><!-- 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_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="1" 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"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="YAW_RESPONSE_FACTOR" value="1."/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
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_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DGPS_BAUD=38400
|
||||
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED -DALT_KALMAN
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c nav_line.c
|
||||
|
||||
# traffic
|
||||
ap.CFLAGS += -DTRAFFIC_INFO
|
||||
ap.srcs += traffic_info.c snav.c
|
||||
|
||||
# external module
|
||||
ap.srcs += external.c
|
||||
|
||||
# tcas
|
||||
ap.CFLAGS += -DTCAS
|
||||
ap.srcs += tcas.c
|
||||
|
||||
|
||||
# Harware In The Loop
|
||||
|
||||
#ap.CFLAGS += -DHITL
|
||||
|
||||
ap.CFLAGS += -DUSE_MODULES
|
||||
sim.CFLAGS += -DUSE_MODULES
|
||||
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DTRAFFIC_INFO -DTCAS
|
||||
sim.srcs += nav_survey_rectangle.c nav_line.c external.c traffic_info.c snav.c tcas.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,27 @@
|
||||
<airframe name="Nova">
|
||||
|
||||
|
||||
<makefile>
|
||||
ARCHI=arm7
|
||||
|
||||
FLASH_MODE = IAP
|
||||
|
||||
timu.ARCHDIR = $(ARCHI)
|
||||
timu.ARCH = arm7tdmi
|
||||
timu.TARGET = timu
|
||||
timu.TARGETDIR = timu
|
||||
|
||||
timu.CFLAGS += -DBOARD_CONFIG=\"tiny_2_0.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1e-1)'
|
||||
timu.srcs = nova_test_imu.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
|
||||
|
||||
timu.CFLAGS += -DLED -DLED -DTIME_LED=1
|
||||
|
||||
timu.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
|
||||
timu.srcs += downlink.c $(SRC_ARCH)/uart_hw.c pprz_transport.c
|
||||
|
||||
timu.srcs += $(SRC_ARCH)/ADS8344.c
|
||||
|
||||
|
||||
</makefile>
|
||||
|
||||
</airframe>
|
||||
@@ -0,0 +1,298 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<airframe name="RedOne Tiny V1.1">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="HATCH" no="2" min="2200" neutral="1840" max="1070"/>
|
||||
<servo name="THROTTLE" no="4" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="5" min="2100" neutral="1758" max="1411"/>
|
||||
<servo name="AILEVON_RIGHT" no="6" min="900" neutral="1294" max="1585"/>
|
||||
<servo name="CAM_PITCH" no="1" min="1725" neutral="1725" max="1000"/>
|
||||
<servo name="CAM_ROLL" no="0" min="2150" neutral="1585" max="1020"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="HATCH" failsafe_value="0"/>
|
||||
<axis name="CAM_ROLL" failsafe_value="0"/>
|
||||
<axis name="CAM_PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="HATCH" value="@CALIB"/>
|
||||
<set command="CAM_ROLL" value="@ROLL"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.45"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_RIGHT" value="-$elevator + $aileron"/>
|
||||
<set servo="AILEVON_LEFT" value="-$elevator - $aileron"/>
|
||||
<set servo="HATCH" value="@HATCH"/>
|
||||
<!--set servo="CAM_ROLL" value="@CAM_ROLL"/-->
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.9"/>
|
||||
<define name="MAX_PITCH" value="0.9"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_0"/>
|
||||
<define name="IR2" value="ADC_1"/>
|
||||
<define name="IR_TOP" value="ADC_2"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
<define name="GYRO_ROLL" value="ADC_3"/>
|
||||
<define name="GYRO_TEMP" value="ADC_4"/>
|
||||
<define name="SUPPLY_CURRENT" value="ADC_5"/>
|
||||
<define name="GYRO_NB_SAMPLES" value="16"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
|
||||
<linear name="RollOfIrs" arity="2" coeff1="0.7" coeff2="-0.7"/>
|
||||
<linear name="PitchOfIrs" arity="2" coeff1="0.7" coeff2="0.7"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="-10." unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="DEFAULT_CONTRAST" value="200"/>
|
||||
<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
|
||||
<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_IR1_NEUTRAL" value="504"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="501"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="512"/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="2."/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="2."/>
|
||||
<define name="VERTICAL_CORRECTION" value="1."/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="518"/>
|
||||
<define name="ADC_TEMP_NEUTRAL" value="476"/>
|
||||
<define name="ADC_TEMP_SLOPE" value="0"/>
|
||||
<define name="ROLL_SCALE" value="1.0"/>
|
||||
<define name="ROLL_DIRECTION" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
||||
<define name="ADC_CHANNEL_VSUPPLY" value="AdcBank1(6)"/>
|
||||
<define name="VoltageOfAdc(adc)" value="(0.01787109375*adc)"/>
|
||||
<define name="CurrentOfAdc(adc)" value="((adc-177.)*(3.27/0.058))"/>
|
||||
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="6.0" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="6.5" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="7.0" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1.5"/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="(V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN*V_CTL_ALTITUDE_MAX_CLIMB)"/>
|
||||
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
|
||||
<define name="LIGHT_PIN_1" value="3"/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
<!--define name="POWER_CTL_BAT_NOMINAL" value="8.4" unit="volt"/-->
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.07"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="4."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.65"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.024"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.06"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.06"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.025"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.05"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-1.4"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.65" 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="8000."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="-12000."/>
|
||||
<define name="PITCH_DGAIN" value="0."/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="4000"/>
|
||||
|
||||
<!-- roll rate loop -->
|
||||
<define name="ROLL_RATE_MODE_DEFAULT" value="0"/>
|
||||
<define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
|
||||
<define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
|
||||
<define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="1500."/>
|
||||
<define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="1500."/>
|
||||
<define name="ROLL_RATE_IGAIN" value="0."/>
|
||||
<define name="ROLL_RATE_DGAIN" value="0."/>
|
||||
<define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="20"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="0.9"/><!-- Throttle for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive Decent -->
|
||||
<define name="CLIMB_NAV_RATIO" value="0.5"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
|
||||
<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="2" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.15" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="CAM" prefix="CAM_">
|
||||
<define name="PHI0" value="0" unit="deg"/>
|
||||
<define name="ROLL_MAX" value="90" unit="deg"/>
|
||||
<define name="ROLL_NEUTRAL" value="45" unit="deg"/>
|
||||
<define name="ROLL_MIN" value="0" unit="deg"/>
|
||||
<define name="THETA0" value="45" unit="deg"/>
|
||||
<define name="PITCH_MAX" value="90" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL" value="45" unit="deg"/>
|
||||
<define name="PITCH_MIN" value="0" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="AEROCOMM"/>
|
||||
<define name="DEVICE_ADDRESS" value="0x005067397193"/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
|
||||
#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
ap.srcs += inter_mcu.c
|
||||
|
||||
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DGPS_CONFIGURE -DZ_CONTRAST_DEFAULT=1
|
||||
ap.CFLAGS += -DGPS_BAUD=38400
|
||||
|
||||
ap.srcs += gps_ubx.c gps.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED
|
||||
ap.srcs += infrared.c estimator.c
|
||||
# -DALT_KALMAN
|
||||
|
||||
ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c nav_survey_rectangle.c
|
||||
|
||||
ap.CFLAGS += -DGYRO -DADXRS150
|
||||
ap.srcs += gyro.c
|
||||
|
||||
ap.srcs += bomb.c
|
||||
|
||||
ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH
|
||||
ap.srcs += traffic_info.c point.c cam.c nav_line.c
|
||||
|
||||
ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
|
||||
ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
|
||||
ap.CFLAGS += -D BARO_MS5534A_W1=0xB636 -D BARO_MS5534A_W2=0x62DB -D BARO_MS5534A_W3=0x9E9C -D BARO_MS5534A_W4=0xBECB
|
||||
|
||||
# Video switch
|
||||
ap.CFLAGS += -DUSE_GPIO
|
||||
ap.srcs += $(SRC_ARCH)/gpio.c
|
||||
|
||||
ap.CFLAGS += -DUSE_CURRENT
|
||||
|
||||
# Hardware In The Loop
|
||||
|
||||
#ap.CFLAGS += -DHITL
|
||||
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM
|
||||
sim.srcs += bomb.c nav_survey_rectangle.c
|
||||
|
||||
sim.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH
|
||||
sim.srcs += traffic_info.c point.c cam.c nav_line.c
|
||||
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,250 @@
|
||||
<airframe name="Slayer 1">
|
||||
<!-- tiny airframe -->
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="AILEVON_RIGHT" no="1" min="1000" neutral="1500" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="0" min="2000" neutral="1500" max="1000"/>
|
||||
<servo name="GAZ" no="2" min="1250" neutral="1250" max="1850"/>
|
||||
<servo name="HATCH" no="3" min="2000" neutral="2000" max="1000"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="HATCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="HATCH" value="@GAIN1"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.8"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="GAZ" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
<set servo="HATCH" value="@HATCH"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.96"/>
|
||||
<define name="MAX_PITCH" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_0"/>
|
||||
<define name="IR_TOP" value="ADC_4"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
<define name="GYRO_ROLL" value="ADC_5"/>
|
||||
<define name="GYRO_PITCH" value="ADC_6"/>
|
||||
<define name="GYRO_NB_SAMPLES" value="16"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ADC_IR1_NEUTRAL" value="512"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="-16"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="533"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="6" unit="deg"/>
|
||||
|
||||
<linear name="RollOfIrs" arity="2" coeff1=".5" coeff2="0.5"/>
|
||||
<linear name="PitchOfIrs" arity="2" coeff1="-0.5" coeff2="0.5"/>
|
||||
<linear name="TopOfIr" arity="1" coeff1="-1"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1.6"/>
|
||||
<define name="CORRECTION_DOWN" value="1.4"/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="1.25"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1.25"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="467"/>
|
||||
<define name="ADC_PITCH_NEUTRAL" value="471"/>
|
||||
<define name="ROLL_SCALE" value="1.3846"/>
|
||||
<define name="ROLL_DIRECTION" value="1."/>
|
||||
<define name="PITCH_SCALE" value="1.3846"/>
|
||||
<define name="PITCH_DIRECTION" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
|
||||
<define name="CARROT" value="3." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\rATWR\r\""/>
|
||||
<define name="NO_XBEE_API_INIT" value="TRUE"/>
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1.1"/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="100."/>
|
||||
|
||||
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
|
||||
<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.045"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.60"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".45"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="2000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1500"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.008"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.14"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.1"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.025"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.5"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.5"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.05"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-0.88"/>
|
||||
<define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.73" 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="10000."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="-6000."/>
|
||||
<define name="PITCH_DGAIN" value="0."/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="0"/>
|
||||
|
||||
<!-- roll rate loop -->
|
||||
<define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
|
||||
<define name="ROLL_RATE_SETPOINT_PGAIN" value="-5.5"/>
|
||||
<define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
|
||||
<define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="1500."/>
|
||||
<define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="900."/>
|
||||
<define name="ROLL_RATE_IGAIN" value="0."/>
|
||||
<define name="ROLL_RATE_DGAIN" value="0."/>
|
||||
<define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="(V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN*V_CTL_ALTITUDE_MAX_CLIMB)"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="1."/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.42"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.4"/><!-- Pitch for Aggressive Decent -->
|
||||
<define name="CLIMB_NAV_RATIO" value="0.5"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
|
||||
<define name="DESCENT_NAV_RATIO" value="1.0"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.6" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -DXBEE868
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c latlong.c xbee.c
|
||||
|
||||
#transp ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
|
||||
#transp ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
ap.srcs += inter_mcu.c
|
||||
|
||||
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
|
||||
|
||||
ap.srcs += gps_ubx.c gps.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED -DALT_KALMAN
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
ap.srcs += nav_line.c nav_survey_rectangle.c
|
||||
|
||||
ap.CFLAGS += -DGYRO -DIDG300
|
||||
ap.srcs += gyro.c bomb.c
|
||||
|
||||
# Video switch
|
||||
ap.CFLAGS += -DLIGHT_PIN_1=3 -DUSE_GPIO
|
||||
ap.srcs += $(SRC_ARCH)/gpio.c
|
||||
|
||||
|
||||
# Harware In The Loop
|
||||
|
||||
#ap.CFLAGS += -DHITL
|
||||
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN
|
||||
sim.srcs += bomb.c nav_survey_rectangle.c nav_line.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,251 @@
|
||||
<airframe name="Miraterre Test AC">
|
||||
<!-- tiny airframe -->
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="AILEVON_RIGHT" no="0" min="1000" neutral="1433" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1527" max="1000"/>
|
||||
<servo name="GAZ" no="2" min="1250" neutral="1262" max="1850"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="HATCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.8"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="GAZ" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.96"/>
|
||||
<define name="MAX_PITCH" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_0"/>
|
||||
<define name="IR_TOP" value="ADC_6"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
<define name="VSUPPLY" value="ADC_7"/>
|
||||
<define name="GYRO_ROLL" value="ADC_4"/>
|
||||
<define name="GYRO_TEMP" value="ADC_5"/>
|
||||
<define name="GYRO_NB_SAMPLES" value="16"/>
|
||||
</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="DEFAULT_CONTRAST" value="200"/>
|
||||
<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
|
||||
<linear name="RollOfIrs" arity="2" coeff1=".5" coeff2="0.5"/>
|
||||
<linear name="PitchOfIrs" arity="2" coeff1="-0.5" coeff2="0.5"/>
|
||||
<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="512"/>
|
||||
<define name="ADC_PITCH_NEUTRAL" value="0"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="512"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1.6"/>
|
||||
<define name="CORRECTION_DOWN" value="1.4"/>
|
||||
<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="1.5"/>
|
||||
</section>
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="478"/>
|
||||
<define name="ADC_TEMP_NEUTRAL" value="802"/>
|
||||
<define name="ADC_TEMP_SLOPE" value="0"/>
|
||||
<define name="ROLL_SCALE" value="0.44"/>
|
||||
<define name="ROLL_DIRECTION" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
||||
<define name="VOLTAGE_ADC_A" value="0.01818"/>
|
||||
<define name="VOLTAGE_ADC_B" value="-0.09"/>
|
||||
<define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
|
||||
<define name="LOW_BATTERY" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
|
||||
<define name="CARROT" value="3." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
|
||||
<define name="NO_XBEE_API_INIT" value="TRUE"/>
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="100"/>
|
||||
|
||||
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.065"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.65"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".4"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2500"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.008"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.35"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.1"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.025"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.5"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.5"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.05"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-0.88"/>
|
||||
<define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.73" 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="10000."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="-6000."/>
|
||||
<define name="PITCH_DGAIN" value="0."/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="2000"/>
|
||||
|
||||
<!-- roll rate loop -->
|
||||
<define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
|
||||
<define name="ROLL_RATE_SETPOINT_PGAIN" value="-5.5"/>
|
||||
<define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
|
||||
<define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="1500."/>
|
||||
<define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="900."/>
|
||||
<define name="ROLL_RATE_IGAIN" value="0."/>
|
||||
<define name="ROLL_RATE_DGAIN" value="0."/>
|
||||
<define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="(V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN*V_CTL_ALTITUDE_MAX_CLIMB)"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="1."/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.42"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.5"/><!-- Pitch for Aggressive Decent -->
|
||||
<define name="CLIMB_NAV_RATIO" value="0.5"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
|
||||
<define name="DESCENT_NAV_RATIO" value="1.0"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.6" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
|
||||
|
||||
<makefile>
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny.h\" -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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
#TRANSPARENT ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
|
||||
#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
ap.srcs += inter_mcu.c
|
||||
|
||||
ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD1 -DUSE_AD1_3 -DUSE_AD1_5 -DUSE_AD1_2 -DUSE_AD1_4
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
|
||||
|
||||
ap.srcs += gps_ubx.c gps.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED -DALT_KALMAN -DIR_360
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DGYRO -DADXRS150
|
||||
ap.srcs += gyro.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
|
||||
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360
|
||||
sim.srcs += nav_survey_rectangle.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,234 @@
|
||||
<airframe name="Slayer 1">
|
||||
<!-- tiny airframe -->
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="AILEVON_RIGHT" no="1" min="1000" neutral="1500" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="3" min="2000" neutral="1500" max="1000"/>
|
||||
<servo name="THROTTLE" no="4" min="1250" neutral="1250" max="1850"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.8"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.96"/>
|
||||
<define name="MAX_PITCH" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_0"/>
|
||||
<define name="IR_TOP" value="ADC_4"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
<define name="GYRO_ROLL" value="ADC_5"/>
|
||||
<define name="GYRO_NB_SAMPLES" value="16"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="11.4" unit="deg"/>
|
||||
<define name="DEFAULT_CONTRAST" value="200"/> <!-- Contrast used prior to capture on models without z-sensor -->
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/> <!-- "0" indicates x-y sensor is aligned with the fueslage, "1" indicates a 45 deg rotation -->
|
||||
<define name="IR1_SIGN" value="-1"/>
|
||||
<define name="IR2_SIGN" value="1"/>
|
||||
<define name="TOP_SIGN" value="-1"/>
|
||||
<define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
|
||||
<define name="ADC_IR1_NEUTRAL" value="512"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="512"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="512"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1.0"/> <!-- multiplies the up pitch angle reading -->
|
||||
<define name="CORRECTION_DOWN" value="1.5"/> <!-- multiplies the down pitch angle reading -->
|
||||
<define name="CORRECTION_LEFT" value="1.0"/> <!-- multiplies the left roll angle reading -->
|
||||
<define name="CORRECTION_RIGHT" value="1.0"/> <!-- multiplies the right roll angle reading -->
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="1."/> <!-- multiplies the roll ADC reading -->
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1."/> <!-- multiplies the pitch ADC reading -->
|
||||
<define name="VERTICAL_CORRECTION" value="1.414"/> <!-- multiplies the Z ADC output, correcting for TILTED sensors -->
|
||||
</section>
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="452"/>
|
||||
<define name="ROLL_SCALE" value="1.3846"/>
|
||||
<define name="ROLL_DIRECTION" value="-1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.0" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="10." unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
|
||||
<define name="CARROT" value="3." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
|
||||
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1.1"/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="100."/>
|
||||
|
||||
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
|
||||
<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.045"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.45"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1.0"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="2000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1500"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.008"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.14"/>
|
||||
<define name="THROTTLE_SLEW" value="0.05"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-0.88"/>
|
||||
<define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.73" unit="radians"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="-6000."/>
|
||||
<define name="PITCH_DGAIN" value="0."/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="3213.20800781"/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="-5000."/>
|
||||
<define name="ROLL_RATE_GAIN" value="-495.282989502"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="(V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN*V_CTL_ALTITUDE_MAX_CLIMB)"/>
|
||||
<define name="THROTTLE_CUT_APPROACHING_TIME" value="16"/>
|
||||
<define name="FLARE_APPROACHING_TIME" value="16"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="1."/><!-- Throttle for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.42"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.4"/><!-- Pitch for Aggressive Decent -->
|
||||
<define name="CLIMB_NAV_RATIO" value="0.5"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
|
||||
<define name="DESCENT_NAV_RATIO" value="1.0"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.6" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<!--
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
-->
|
||||
|
||||
<makefile>
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
#MAXSTREAM
|
||||
#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
|
||||
#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
#TRANSPARENT
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_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.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4 -DUSE_ADC_5
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B57600
|
||||
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED -DALT_KALMAN
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c nav_line.c snav.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DGYRO -DADXRS150
|
||||
ap.srcs += gyro.c
|
||||
|
||||
|
||||
# Video switch
|
||||
ap.CFLAGS += -DLIGHT_PIN_1=3 -DUSE_GPIO
|
||||
ap.srcs += $(SRC_ARCH)/gpio.c
|
||||
|
||||
# Harware In The Loop
|
||||
|
||||
#ap.CFLAGS += -DHITL
|
||||
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
sim.srcs += nav_survey_rectangle.c nav_line.c snav.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,240 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<!-- Slicer (http://www.recherche.enac.fr/wiki/index.php/Image:Slicer.jpg)
|
||||
Two ailevons
|
||||
Tiny 1.1, tilted infrared sensor, roll gyro, unconfigured GPS at 9600
|
||||
3 cells lipo
|
||||
Gimballed camera on pitch and roll (in this order) axis -->
|
||||
|
||||
<airframe name="Slicer 1">
|
||||
|
||||
<servos>
|
||||
<servo name="AILEVON_RIGHT" no="0" min="1000" neutral="1620" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1400" max="1000"/>
|
||||
<servo name="THROTTLE" no="2" min="1270" neutral="1270" max="1810"/>
|
||||
<servo name="CAM_PAN" no="3" min="2000" neutral="1550" max="1000"/>
|
||||
<servo name="CAM_TILT" no="6" min="1000" neutral="1550" max="2000"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="CAM_TILT" failsafe_value="0"/>
|
||||
<axis name="CAM_PAN" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="CAM_PAN" value="@YAW"/>
|
||||
<set command="CAM_TILT" value="@GAIN1"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.8"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.7"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="- @PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
<set servo="CAM_PAN" value="@CAM_PAN"/>
|
||||
<set servo="CAM_TILT" value="@CAM_TILT"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="1"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_0"/>
|
||||
<define name="IR_TOP" value="ADC_2"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
<define name="GYRO_ROLL" value="ADC_3"/>
|
||||
<define name="GYRO_NB_SAMPLES" value="16"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ADC_IR1_NEUTRAL" value="517"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="495"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="514"/>
|
||||
|
||||
<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="1.0"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="-4" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="6" unit="deg"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1.0"/>
|
||||
<define name="CORRECTION_DOWN" value="1.0"/>
|
||||
<define name="CORRECTION_LEFT" value="1.0"/>
|
||||
<define name="CORRECTION_RIGHT" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="537"/>
|
||||
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
|
||||
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
|
||||
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
|
||||
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
|
||||
<define name="ROLL_DIRECTION" value="-1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
|
||||
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
|
||||
<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
|
||||
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="45."/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.03"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.61"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.40"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-1.3"/>
|
||||
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="-10000."/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="1250"/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
|
||||
<define name="ROLL_RATE_GAIN" value="-1500"/>
|
||||
</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="0.90"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.25"/><!-- 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_">
|
||||
<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"/>
|
||||
</section>
|
||||
|
||||
<section name="CAM" prefix="CAM_">
|
||||
<define name="TILT_MAX" value="30" unit="deg"/>
|
||||
<define name="TILT_NEUTRAL" value="0" unit="deg"/>
|
||||
<define name="TILT_MIN" value="-30" unit="deg"/>
|
||||
<define name="TILT0" value="0" unit="deg"/>
|
||||
|
||||
<define name="PAN_MAX" value="45" unit="deg"/>
|
||||
<define name="PAN_NEUTRAL" value="0" unit="deg"/>
|
||||
<define name="PAN_MIN" value="-45" unit="deg"/>
|
||||
<define name="PAN0" value="0" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
CONFIG=\"tiny_1_1.h\"
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
|
||||
|
||||
# 72MHz
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
# Radiotronix
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
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 += -DGYRO -DADXRS150
|
||||
ap.srcs += gyro.c
|
||||
|
||||
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DGPS_LED=2 -DDOWNLINK_GPS_1Hz
|
||||
ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
|
||||
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
ap.srcs += nav_line.c nav_survey_rectangle.c
|
||||
|
||||
ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
|
||||
# -DTEST_CAM
|
||||
ap.srcs += cam.c point.c
|
||||
# traffic_info.c
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
sim.srcs += nav_survey_rectangle.c nav_line.c
|
||||
sim.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
|
||||
sim.srcs += cam.c point.c traffic_info.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,215 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<!-- Slicer (http://www.recherche.enac.fr/wiki/index.php/Image:Slicer.jpg)
|
||||
Two ailevons
|
||||
Tiny 1.1, tilted infrared sensor, roll gyro, unconfigured GPS at 9600
|
||||
3 cells lipo
|
||||
Fixed camera pointing down -->
|
||||
|
||||
<airframe name="Slicer 2">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="AILEVON_RIGHT" no="0" min="2000" neutral="1273" max="1000"/>
|
||||
<servo name="AILEVON_LEFT" no="1" min="1000" neutral="1514" max="2000"/>
|
||||
<servo name="THROTTLE" no="2" min="1270" neutral="1270" max="1810"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.8"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.7"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="- @PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="1"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_2"/>
|
||||
<define name="IR_TOP" value="ADC_0"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
<define name="GYRO_ROLL" value="ADC_3"/>
|
||||
<define name="GYRO_NB_SAMPLES" value="16"/>
|
||||
|
||||
</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="IR1_SIGN" 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="1.0"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="-7" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1.0"/>
|
||||
<define name="CORRECTION_DOWN" value="1.0"/>
|
||||
<define name="CORRECTION_LEFT" value="1.0"/>
|
||||
<define name="CORRECTION_RIGHT" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="497"/>
|
||||
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
|
||||
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
|
||||
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
|
||||
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
|
||||
<define name="ROLL_DIRECTION" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
|
||||
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
|
||||
<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
|
||||
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="45."/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.03"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.40"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-1.3"/>
|
||||
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="-10000."/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="1250"/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
|
||||
<define name="ROLL_RATE_GAIN" value="-1500"/>
|
||||
</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="0.90"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.25"/><!-- 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_">
|
||||
<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"/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
CONFIG=\"tiny_1_1.h\"
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
|
||||
|
||||
# 72MHz
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
# Radiotronix
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
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 += -DGYRO -DADXRS150
|
||||
ap.srcs += gyro.c
|
||||
|
||||
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DGPS_LED=2 -DDOWNLINK_GPS_1Hz
|
||||
ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
|
||||
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
ap.srcs += nav_line.c nav_survey_rectangle.c
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
sim.srcs += nav_survey_rectangle.c nav_line.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,240 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<airframe name="Corsica Prototype Tiny 0.99">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="THROTTLE" no="0" min="1290" neutral="1290" max="1900"/>
|
||||
<servo name="AILERON_LEFT" no="2" min="1300" neutral="1150" max="940"/> <!-- safety settings ok-->
|
||||
<servo name="AILERON_RIGHT" no="3" min="1250" neutral="1393" max="1556"/>
|
||||
<servo name="ELEVATOR" no="1" min="1340" neutral="1673" max="1950"/>
|
||||
<!-- no rudder on this model <servo name="RUDDER" no="3" min="1270" neutral="1510" max="1790"/> -->
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="FLAPS" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="YAW" value="@YAW"/>
|
||||
<set command="FLAPS" value="@FLAPS"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILERON_DIFF" value="0.66"/>
|
||||
<define name="FLAPS_COEFF" value="0.22"/>
|
||||
<define name="FLAPS_CONSTANT" value="-9600"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
<!-- no rudder on this model <set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/> -->
|
||||
|
||||
<let var="roll" value="@ROLL"/>
|
||||
|
||||
<set servo="AILERON_LEFT" value="-(1.-FLAPS_COEFF)*($roll > 0 ? AILERON_DIFF:1) * $roll + (FLAPS_COEFF*(@FLAPS+FLAPS_CONSTANT))"/>
|
||||
<set servo="AILERON_RIGHT" value=" (1.-FLAPS_COEFF)*($roll > 0 ? 1:AILERON_DIFF) * $roll + (FLAPS_COEFF*(@FLAPS+FLAPS_CONSTANT))"/>
|
||||
|
||||
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="1.0"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_2"/>
|
||||
<define name="IR2" value="ADC_1"/>
|
||||
<define name="IR_TOP" value="ADC_0"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
<define name="GYRO_ROLL" value="ADC_6"/>
|
||||
<define name="GYRO_NB_SAMPLES" value="16"/>
|
||||
</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="1.10599994659"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1.0039999485"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.5"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="-6.47442293167" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="12.261297226" unit="deg"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1.0"/>
|
||||
<define name="CORRECTION_DOWN" value="1.0"/>
|
||||
<define name="CORRECTION_LEFT" value="1.0"/>
|
||||
<define name="CORRECTION_RIGHT" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_COEF" value="1"/>
|
||||
<define name="ADC_ROLL_NEUTRAL" value="512"/>
|
||||
<define name="ADC_TEMP_NEUTRAL" value="476"/>
|
||||
<define name="ADC_TEMP_SLOPE" value="0"/>
|
||||
<define name="ROLL_SCALE" value="0.44"/>
|
||||
<define name="ROLL_DIRECTION" value="1"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="12" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
||||
|
||||
<define name="GLIDE_AIRSPEED" value="10"/>
|
||||
<define name="GLIDE_VSPEED" value="3."/>
|
||||
<define name="GLIDE_PITCH" value="45" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="14.8" unit="volt"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.03"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.80"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.70"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1.0"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.0280000008643"/>
|
||||
|
||||
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-0.499000012875"/>
|
||||
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.5" unit="radians"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="-19703.390625"/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="1250"/>
|
||||
|
||||
<define name="ROLL_SLEW" value="0.1"/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="-8669.72460938"/>
|
||||
<define name="ROLL_RATE_GAIN" value="-963.302978516"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<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="1.00"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.1"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.15"/><!-- 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_">
|
||||
<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"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
#CONFIG=\"tiny_0_99.h\"
|
||||
CONFIG=\"tiny_1_1.h\"
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
|
||||
|
||||
# 41.200MHz
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
# transparent
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
ap.srcs += inter_mcu.c
|
||||
|
||||
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_6
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600
|
||||
ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
|
||||
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DGYRO -DADXRS150 -DPID_RATE_LOOP
|
||||
ap.srcs += gyro.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
ap.srcs += nav_line.c nav_survey_rectangle.c
|
||||
|
||||
# Current sensor
|
||||
ap.CFLAGS += -DUSE_ADC_7 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_7 -DADC_CHANNEL_GENERIC_NB_SAMPLES=16
|
||||
ap.srcs += adc_generic.c
|
||||
|
||||
# Configuration for Hardware In The Loop*
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
sim.srcs += nav_survey_rectangle.c nav_line.c traffic_info.c
|
||||
|
||||
ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
|
||||
ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,227 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<airframe name="Corsica Prototype Tiny 0.99">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="THROTTLE" no="0" min="1290" neutral="1290" max="1810"/>
|
||||
<servo name="AILERON_LEFT" no="4" min="1840" neutral="1706" max="1520"/>
|
||||
<servo name="AILERON_RIGHT" no="5" min="1639" neutral="1420" max="1266"/>
|
||||
<servo name="RUDDER" no="3" min="1270" neutral="1510" max="1790"/>
|
||||
<servo name="ELEVATOR" no="1" min="1340" neutral="1673" max="1950"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="FLAPS" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="YAW" value="@YAW"/>
|
||||
<set command="FLAPS" value="@FLAPS"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILERON_DIFF" value="0.66"/>
|
||||
<define name="COMBI_SWITCH" value="0.0"/>
|
||||
<define name="FLAPS_COEFF" value="0.5"/>
|
||||
<define name="FLAPS_CONSTANT" value="1200"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
|
||||
|
||||
<let var="roll" value="@ROLL"/>
|
||||
|
||||
<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll - (FLAPS_COEFF*@FLAPS+FLAPS_CONSTANT)"/>
|
||||
<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll + (FLAPS_COEFF*@FLAPS+FLAPS_CONSTANT)"/>
|
||||
|
||||
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="1.0"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_2"/>
|
||||
<define name="IR2" value="ADC_1"/>
|
||||
<define name="IR_TOP" value="ADC_0"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
</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="1.10599994659"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1.0039999485"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.5"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="-6.47442293167" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="12.261297226" unit="deg"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1.0"/>
|
||||
<define name="CORRECTION_DOWN" value="1.0"/>
|
||||
<define name="CORRECTION_LEFT" value="1.0"/>
|
||||
<define name="CORRECTION_RIGHT" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="12" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
||||
|
||||
<define name="GLIDE_AIRSPEED" value="10"/>
|
||||
<define name="GLIDE_VSPEED" value="3."/>
|
||||
<define name="GLIDE_PITCH" value="45" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="14.8" unit="volt"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.03"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.80"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.70"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1.0"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.0280000008643"/>
|
||||
|
||||
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-0.499000012875"/>
|
||||
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.5" unit="radians"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="-19703.390625"/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="1250"/>
|
||||
|
||||
<define name="ROLL_SLEW" value="0.1"/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="-8669.72460938"/>
|
||||
<define name="ROLL_RATE_GAIN" value="-963.302978516"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<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="1.00"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.1"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.15"/><!-- 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_">
|
||||
<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"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
CONFIG=\"tiny_0_99.h\"
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
|
||||
|
||||
# 41.200MHz
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += poradio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
# transparent
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
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 -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600
|
||||
ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
|
||||
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
ap.srcs += nav_line.c nav_survey_rectangle.c
|
||||
|
||||
# Current sensor
|
||||
ap.CFLAGS += -DUSE_ADC_7 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_7 -DADC_CHANNEL_GENERIC_NB_SAMPLES=16
|
||||
ap.srcs += adc_generic.c
|
||||
|
||||
# Configuration for Hardware In The Loop
|
||||
# ap.CFLAGS += -DHITL -UGPS_CONFIGURE -UUART0_BAUD -DUART0_BAUD=B57600
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
sim.srcs += nav_survey_rectangle.c nav_line.c traffic_info.c
|
||||
|
||||
ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
|
||||
ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,297 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<airframe name="Storm1 Tiny proto">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="AILEVON_RIGHT" no="6" min="2000" neutral="1650" max="1000"/>
|
||||
<!-- Servo aileron gauche = couleur blanche -->
|
||||
<!-- Aileron gauche oppose de l'aileron droit -->
|
||||
<servo name="AILEVON_LEFT" no="5" min="1000" neutral="1510" max="2000"/>
|
||||
<!-- max = valeur aileron vers le bas-->
|
||||
<servo name="THROTTLE" no="1" min="1200" neutral="1200" max="1800"/>
|
||||
<!-- Rudder = Couleur rouge droite gauche -->
|
||||
<!-- <servo name="RUDDER" no="4" min="1900" neutral="1482" max="1100"/>
|
||||
<servo name="ELEVATOR" no="5" min="1800" neutral="1574" max="1200"/>-->
|
||||
<servo name="HATCH" no="4" min="1900" neutral="1800" max="1100"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="HATCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="HATCH" value="@YAW"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.8"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
<set servo="HATCH" value="@HATCH"/>
|
||||
</command_laws>
|
||||
|
||||
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.8"/>
|
||||
<define name="MAX_PITCH" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_2"/>
|
||||
<define name="IR_TOP" value="ADC_0"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="-17" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="4.2" unit="deg"/>
|
||||
<define name="DEFAULT_CONTRAST" value="200"/>
|
||||
<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
|
||||
|
||||
<!--
|
||||
<linear name="RollOfIrs" arity="2" coeff1="1" coeff2="0"/>
|
||||
<linear name="PitchOfIrs" arity="2" coeff1="0" coeff2="1"/>
|
||||
-->
|
||||
|
||||
<linear name="RollOfIrs" arity="2" coeff1="-1" coeff2="-1"/>
|
||||
<linear name="PitchOfIrs" arity="2" coeff1="-1" coeff2="1"/>
|
||||
|
||||
<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="0"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="0"/>
|
||||
-->
|
||||
|
||||
|
||||
<define name="ADC_ROLL_NEUTRAL" value="-1024"/>
|
||||
<define name="ADC_PITCH_NEUTRAL" value="0"/>
|
||||
<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="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
||||
|
||||
<define name="VoltageOfAdc(adc)" value="(0.01787109375*adc)"/>
|
||||
|
||||
<define name="LOW_BATTERY" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="19." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
|
||||
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
|
||||
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
|
||||
<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
||||
|
||||
<define name="GLIDE_AIRSPEED" value="12.5"/>
|
||||
<define name="GLIDE_VSPEED" value="2."/>
|
||||
<define name="GLIDE_PITCH" value="45" unit="deg"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.03"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.4"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-500"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.05"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-1.2"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.6" 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="7000"/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="-12500."/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="2500"/>
|
||||
|
||||
<!-- roll rate loop -->
|
||||
<define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
|
||||
<define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." 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"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<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="0.8"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.25"/><!-- 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="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="0.0" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.2" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<!--
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
-->
|
||||
|
||||
<makefile>
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny.h\" -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
|
||||
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_hw_new.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -#DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600
|
||||
#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
|
||||
|
||||
ap.CFLAGS += -DTELEMETRY_MODE_FBW=1
|
||||
|
||||
#TRANSPARENT ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
|
||||
#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
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_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
|
||||
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED -DALT_KALMAN -DIR_360
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
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
|
||||
|
||||
ap.srcs += traffic_info.c nav_survey_rectangle.c
|
||||
ap.srcs += bomb.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
|
||||
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360
|
||||
sim.srcs += traffic_info.c
|
||||
sim.srcs += bomb.c nav_survey_rectangle.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,247 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<airframe name="Test Tiny 2.1">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="THROTTLE" no="0" min="1200" neutral="1200" max="2000"/>
|
||||
<!-- Servo aileron gauche = couleur blanche -->
|
||||
<!-- Aileron gauche oppose de l'aileron droit -->
|
||||
<servo name="AILERON_LEFT" no="1" min="1775" neutral="1500" max="1050"/>
|
||||
<!-- max = valeur aileron vers le bas-->
|
||||
<servo name="AILERON_RIGHT" no="3" min="1875" neutral="1475" max="1225"/>
|
||||
<!-- Rudder = Couleur rouge droite gauche -->
|
||||
<servo name="RUDDER" no="4" min="1875" neutral="1500" max="1250"/>
|
||||
<servo name="ELEVATOR" no="5" min="1850" neutral="1586" max="1150"/>
|
||||
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="HATCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="YAW" value="@YAW"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILERON_DIFF" value="0.66"/>
|
||||
<define name="COMBI_SWITCH" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
|
||||
|
||||
<let var="roll" value="@ROLL"/>
|
||||
<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
|
||||
<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.6"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<!-- Serial n°0637446 . ADC_CHANNEL n°2,3 et 7 HS -->
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_0"/>
|
||||
<define name="IR2" value="ADC_1"/>
|
||||
<define name="IR_TOP" value="ADC_4"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
</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_ALIGNED" 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="12" unit="deg"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
||||
<define name="LOW_BATTERY" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
|
||||
<!-- <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="50."/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.07"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-500"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.025"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.05"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-1.2"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.6" 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="12000."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="-9000."/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="1250"/>
|
||||
|
||||
<!-- roll rate loop -->
|
||||
<define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
|
||||
<define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." 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"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<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="0.8"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.25"/><!-- 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="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="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<!--
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
-->
|
||||
|
||||
<makefile>
|
||||
CONFIG = \"tiny_2_1.h\"
|
||||
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
|
||||
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
#XBEE ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
|
||||
#XBEE ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
ap.srcs += inter_mcu.c
|
||||
|
||||
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
|
||||
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED -DALT_KALMAN
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c nav_line.c
|
||||
|
||||
# Harware In The Loop
|
||||
|
||||
#ap.CFLAGS += -DHITL
|
||||
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN
|
||||
sim.srcs += nav_survey_rectangle.c nav_line.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,174 @@
|
||||
<airframe name="TwistedLogic">
|
||||
|
||||
<servos min="0" neutral="0" max="0xff">
|
||||
<servo name="AILERON" no="2" min="900" neutral="1500" max="2100"/>
|
||||
<servo name="ELEVATOR" no="1" min="900" neutral="1500" max="2100"/>
|
||||
<servo name="MOTOR_RIGHT" no="6" min="1250" neutral="1250" max="1810"/>
|
||||
|
||||
<servo name="MOTOR_LEFT" no="3" min="1250" neutral="1250" max="1810"/>
|
||||
<servo name="CAM" no="0" min="900" neutral="1500" max="2100"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="CAM" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<command_laws>
|
||||
<let var="roll" value="1.0 * @ROLL"/>
|
||||
<let var="pitch" value="1.0 * @PITCH"/>
|
||||
<let var="yaw" value="1.0 * @YAW"/>
|
||||
<let var="throttle" value="1.0 * @THROTTLE"/>
|
||||
<let var="right" value="$throttle + $yaw"/><!-- add trim term for Right -->
|
||||
<let var="left" value="$throttle - $yaw"/><!-- .06*thrsubtract trim term for Right -->
|
||||
<set servo="AILERON" value="$roll"/>
|
||||
<set servo="ELEVATOR" value="$pitch"/>
|
||||
<set servo="MOTOR_LEFT" value="$left - Max(0, $right - MAX_PPRZ)"/>
|
||||
<set servo="MOTOR_RIGHT" value="$right - Max(0, $left - MAX_PPRZ)"/>
|
||||
<set servo="CAM" value="@CAM"/>
|
||||
</command_laws>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="YAW" value="@YAW"/>
|
||||
<set command="CAM" value="@GAIN1"/>
|
||||
</rc_commands>
|
||||
|
||||
|
||||
<section name="MICROMAG">
|
||||
|
||||
<define name="MM_SS_PIN" value="20"/>
|
||||
<define name="MM_SS_IODIR" value="IO0DIR"/>
|
||||
<define name="MM_SS_IOSET" value="IO0SET"/>
|
||||
<define name="MM_SS_IOCLR" value="IO0CLR"/>
|
||||
|
||||
<define name="MM_RESET_PIN" value="29"/>
|
||||
<define name="MM_RESET_IODIR" value="IO0DIR"/>
|
||||
<define name="MM_RESET_IOSET" value="IO0SET"/>
|
||||
<define name="MM_RESET_IOCLR" value="IO0CLR"/>
|
||||
|
||||
<define name="MM_DRDY_PINSEL" value="PINSEL1"/>
|
||||
<define name="MM_DRDY_PINSEL_BIT" value="28"/>
|
||||
<define name="MM_DRDY_PINSEL_VAL" value="2"/>
|
||||
<define name="MM_DRDY_EINT" value="3"/>
|
||||
<define name="MM_DRDY_VIC_IT" value="VIC_EINT3"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="BARO">
|
||||
<define name="TL_BARO_W1" value="0xABDC"/>
|
||||
<define name="TL_BARO_W2" value="0x849A"/>
|
||||
<define name="TL_BARO_W3" value="0X939E"/>
|
||||
<define name="TL_BARO_W4" value="0xB259"/>
|
||||
</section>
|
||||
|
||||
|
||||
|
||||
<section name="horizontal_control">
|
||||
<define name="NAV_GOTO_H_PGAIN" value="-1000" unit="pprz/m"/>
|
||||
<define name="NAV_GOTO_H_DGAIN" value="-500" unit="pprz/m/s"/>
|
||||
</section>
|
||||
|
||||
|
||||
<makefile>
|
||||
ARCHI=arm7
|
||||
TL=coaxial
|
||||
|
||||
FLASH_MODE = IAP
|
||||
|
||||
ap.ARCHDIR = $(ARCHI)
|
||||
ap.ARCH = arm7tdmi
|
||||
ap.TARGET = flt
|
||||
ap.TARGETDIR = flt
|
||||
|
||||
ap.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(16.666e-3)' -I$(TL)
|
||||
ap.srcs = $(TL)/tl_main.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
|
||||
|
||||
ap.CFLAGS += -DLED -DLED -DTIME_LED=1
|
||||
|
||||
ap.CFLAGS += -DADC
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c $(TL)/tl_bat.c
|
||||
|
||||
ap.srcs += commands.c
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
# transparent
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c pprz_transport.c $(TL)/tl_telemetry.c datalink.c
|
||||
|
||||
ap.CFLAGS += -DTL_AP_MODE_AUTO=TL_AP_MODE_NAV -DDT_VFILTER="(1./60.)"
|
||||
ap.srcs += $(TL)/tl_autopilot.c $(TL)/tl_control.c $(TL)/tl_estimator.c $(TL)/tl_vfilter.c
|
||||
|
||||
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DDOWNLINK_GPS_DEVICE=DOWNLINK_AP_DEVICE -DGPS_CONFIGURE -DUSER_GPS_CONFIGURE=\"$(TL)/tl_gps_configure.h\" -DGPS_BAUD=38400
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.srcs += $(TL)/tl_imu.c
|
||||
|
||||
ap.CFLAGS += -DADC -DUSE_ADC_5 -DADC_CHANNEL_GR=ADC_5 -DUSE_ADC_6 -DADC_CHANNEL_RM=ADC_6 -DUSE_ADC_7 -DADC_CHANNEL_ACCEL=ADC_7
|
||||
|
||||
ap.srcs += $(TL)/tl_baro.c
|
||||
|
||||
ap.srcs += micromag.c $(SRC_ARCH)/micromag_hw.c
|
||||
|
||||
ap.CFLAGS += -DNAV
|
||||
ap.srcs += common_nav.c $(TL)/tl_nav.c
|
||||
|
||||
|
||||
#ap.CFLAGS += -D TL_BARO_W1=0xABDC -D TL_BARO_W2=0x849A -D TL_BARO_W3=0X939E -D TL_BARO_W4=0xB259
|
||||
|
||||
|
||||
#
|
||||
#
|
||||
#
|
||||
|
||||
tmm.ARCHDIR = $(ARCHI)
|
||||
tmm.ARCH = arm7tdmi
|
||||
tmm.TARGET = tmm
|
||||
tmm.TARGETDIR = tmm
|
||||
|
||||
tmm.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(16.666e-3)'
|
||||
tmm.srcs = $(TL)/tl_test_mm_main.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
|
||||
|
||||
tmm.CFLAGS += -DLED -DLED -DTIME_LED=1
|
||||
tmm.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DUART0_BAUD=B57600
|
||||
tmm.srcs += downlink.c $(SRC_ARCH)/uart_hw.c pprz_transport.c
|
||||
|
||||
tmm.srcs += micromag.c $(SRC_ARCH)/micromag_hw.c
|
||||
|
||||
#
|
||||
#
|
||||
#
|
||||
|
||||
timu.ARCHDIR = $(ARCHI)
|
||||
timu.ARCH = arm7tdmi
|
||||
timu.TARGET = timu
|
||||
timu.TARGETDIR = timu
|
||||
|
||||
timu.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(16.666e-3)'
|
||||
timu.srcs = $(TL)/tl_test_imu_main.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
|
||||
|
||||
timu.CFLAGS += -DLED -DLED -DTIME_LED=1
|
||||
timu.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DUART0_BAUD=B57600
|
||||
timu.srcs += downlink.c $(SRC_ARCH)/uart_hw.c pprz_transport.c
|
||||
|
||||
timu.srcs += $(TL)/tl_imu.c
|
||||
timu.CFLAGS += -DADC -DUSE_ADC_5 -DADC_CHANNEL_GR=ADC_5 -DUSE_ADC_6 -DADC_CHANNEL_RM=ADC_6 -DUSE_ADC_7 -DADC_CHANNEL_ACCEL=ADC_7
|
||||
timu.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
timu.srcs += $(TL)/tl_baro.c
|
||||
timu.srcs += micromag.c $(SRC_ARCH)/micromag_hw.c
|
||||
|
||||
|
||||
|
||||
</makefile>
|
||||
|
||||
</airframe>
|
||||
@@ -0,0 +1,259 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<airframe name="Twinjet">
|
||||
|
||||
<servos>
|
||||
<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILEVON_RIGHT" no="1" min="1230" neutral="1710" max="2100"/>
|
||||
<servo name="AILEVON_LEFT" no="2" min="2120" neutral="1785" max="1300"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.75"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="1.00"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="AILEVON_LEFT" value="$aileron + $elevator"/>
|
||||
<set servo="AILEVON_RIGHT" value="-$aileron + $elevator"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.6"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="AdcBank0(1)"/>
|
||||
<define name="IR2" value="AdcBank0(2)"/>
|
||||
<define name="IR_TOP" value="AdcBank0(3)"/>
|
||||
<define name="GYRO_ROLL" value="AdcBank1(2)"/>
|
||||
<define name="GYRO_TEMP" value="AdcBank1(3)"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
<define name="GYRO_NB_SAMPLES" value="16"/>
|
||||
<define name="VSUPPLY" value="AdcBank0(6)"/>
|
||||
</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_ALIGNED" value="1"/>
|
||||
<define name="IR1_SIGN" value="1"/>
|
||||
<define name="IR2_SIGN" value="-1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="5" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="10" unit="deg"/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="1."/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1."/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.25"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="316"/>
|
||||
<define name="ADC_TEMP_NEUTRAL" value="328"/>
|
||||
<define name="ADC_TEMP_SLOPE" value="-0.36"/>
|
||||
<define name="ROLL_DIRECTION" value="1."/>
|
||||
<define name="ROLL_SCALE" value="0.44"/>
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-0.9"/>
|
||||
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.53" unit="radians"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="-6000."/>
|
||||
<define name="PITCH_DGAIN" value="0."/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="0"/>
|
||||
|
||||
<!-- roll rate loop -->
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
|
||||
<define name="ROLL_RATE_GAIN" value="-1500"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.05"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.40"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".3"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.8"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="2000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1500"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.008"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.14"/>
|
||||
|
||||
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
|
||||
</section>
|
||||
|
||||
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="1000"/>
|
||||
<define name="VOLTAGE_ADC_A" value="0.0156"/>
|
||||
<define name="VOLTAGE_ADC_B" value="-0.029"/>
|
||||
<define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)" unit="s"/>
|
||||
<define name="LIGHT_LED_1" value="3"/>
|
||||
</section>
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE+0.05" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="50" unit="m"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="CLIMB_THROTTLE" value="0.65"/><!-- Throttle for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive Decent -->
|
||||
<define name="CLIMB_PITCH" value="0.2"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
|
||||
<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_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="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="AEROCOMM"/>
|
||||
<define name="DEVICE_ADDRESS" value="0x005067361851"/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/classix.makefile
|
||||
|
||||
# FLASH_MODE=ISP
|
||||
FLASH_MODE=IAP
|
||||
|
||||
fbw.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DLED -DTIME_LED=1
|
||||
fbw.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main.c
|
||||
|
||||
fbw.srcs += commands.c
|
||||
|
||||
fbw.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK_FALLING
|
||||
fbw.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
|
||||
|
||||
fbw.CFLAGS += -DRADIO_CONTROL
|
||||
fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DUART0_BAUD=B9600
|
||||
fbw.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/uart_hw.c
|
||||
|
||||
fbw.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_SLAVE
|
||||
fbw.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c
|
||||
|
||||
fbw.CFLAGS += -DADC -DUSE_AD0
|
||||
fbw.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DAP -DRADIO_CONTROL_AUTO1 -DBOARD_CONFIG=\"classix.h\" -DLED -DTIME_LED=2
|
||||
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_ap.c main.c
|
||||
|
||||
#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
|
||||
#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c traffic_info.c xbee.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0
|
||||
ap.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c
|
||||
|
||||
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
# ADCs for infrared
|
||||
ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_1 -DUSE_AD0_2 -DUSE_AD0_3
|
||||
# ADCs for gyro
|
||||
ap.CFLAGS += -DUSE_AD1 -DUSE_AD1_2 -DUSE_AD1_3
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DINFRARED
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DGYRO -DADXRS150
|
||||
ap.srcs += gyro.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DWIND_INFO
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
ap.srcs += nav_line.c
|
||||
# chemotaxis.c anemotaxis.c discsurvey.c
|
||||
|
||||
ap.srcs += nav_survey_rectangle.c snav.c
|
||||
|
||||
ap.srcs += light.c
|
||||
ap.CFLAGS += -DUSE_LIGHT
|
||||
|
||||
# ap.CFLAGS += -DUSE_JOYSTICK
|
||||
|
||||
|
||||
|
||||
|
||||
test.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK_FALLING -DUSE_UART0 -DDATALINK -DPPRZ_INPUT -DPPRZ_UART=Uart0 -DUART0_BAUD=B9600
|
||||
test.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_4017_hw.c main.c
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"classix.h\" -DAGR_CLIMB -DLOITER_TRIM
|
||||
#sim.srcs += traffic_info.c
|
||||
#sim.srcs += nav_line.c chemotaxis.c anemotaxis.c discsurvey.c bomb.c nav_survey_rectangle.c
|
||||
|
||||
sim.srcs += nav_survey_rectangle.c nav_line.c light.c snav.c
|
||||
sim.CFLAGS += -DUSE_LIGHT
|
||||
|
||||
sim.CFLAGS += -DUSE_ADC_GENERIC
|
||||
|
||||
sim.srcs += joystick.c
|
||||
sim.CFLAGS += -DUSE_JOYSTICK
|
||||
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,196 @@
|
||||
<airframe name="Twin1">
|
||||
|
||||
<servos>
|
||||
<servo name="GAZ" no="9" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILERON_LEFT" no="2" min="1100" neutral="1492" max="2000"/>
|
||||
<servo name="AILERON_RIGHT" no="6" min="1000" neutral="1385" max="1833"/>
|
||||
<servo name="ELEVATOR" no="7" min="1816" neutral="1586" max="1220"/>
|
||||
<servo name="RUDDER" no="3" min="1270" neutral="1546" max="1850"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="YAW" value="@YAW"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILERON_DIFF" value="0.66"/>
|
||||
<define name="COMBI_SWITCH" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="GAZ" value="@THROTTLE"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
<let var="roll" value="@ROLL"/>
|
||||
<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
|
||||
<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
|
||||
<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="1"/>
|
||||
<define name="IR2" value="2"/>
|
||||
<define name="VSUPPLY" value="3"/>
|
||||
</section>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.6"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</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="ADC_ROLL_NEUTRAL" value="-1005"/>
|
||||
<define name="ADC_PITCH_NEUTRAL" value="75"/>
|
||||
<define name="DEFAULT_CONTRAST" value="200"/>
|
||||
<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
|
||||
<linear name="RollOfIrs" arity="2" coeff1="-1" coeff2="-1"/>
|
||||
<linear name="PitchOfIrs" arity="2" coeff1="-1" coeff2="1"/>
|
||||
</section>
|
||||
|
||||
<section name="PID">
|
||||
<define name="ROLL_PGAIN" value="10000."/>
|
||||
<define name="PITCH_OF_ROLL" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="15000."/>
|
||||
<define name="MAX_ROLL" value="0.55"/>
|
||||
<define name="MAX_PITCH" value="0.35"/>
|
||||
<define name="MIN_PITCH" value="-0.35"/>
|
||||
<define name="AILERON_OF_GAZ" value="0"/>
|
||||
<define name="CRUISE_THROTTLE" value="0.45"/>
|
||||
</section>
|
||||
|
||||
<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="IGAIN" value="0.1"/>
|
||||
<define name="MAX" value="1."/>
|
||||
<define name="GAZ_OF_CLIMB" value="0.2" unit="%/(m/s)"/>
|
||||
<define name="PITCH_OF_VZ_PGAIN" value="0.00"/>
|
||||
</section>
|
||||
|
||||
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-0.4"/>
|
||||
<define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.73" 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="10000."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="-6000."/>
|
||||
<define name="PITCH_DGAIN" value="0."/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="0"/>
|
||||
|
||||
<!-- roll rate loop -->
|
||||
<define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
|
||||
<define name="ROLL_RATE_SETPOINT_PGAIN" value="-5.5"/>
|
||||
<define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
|
||||
<define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="1500."/>
|
||||
<define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="900."/>
|
||||
<define name="ROLL_RATE_IGAIN" value="0."/>
|
||||
<define name="ROLL_RATE_DGAIN" value="0."/>
|
||||
<define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
|
||||
|
||||
</section>
|
||||
|
||||
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.025"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.60"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".45"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="2000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1500"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.008"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.14"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.1"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.025"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.5"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.5"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.05"/>
|
||||
|
||||
</section>
|
||||
|
||||
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="100"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="2.16"/>
|
||||
<define name="VOLTAGE_ADC_A" value="0.0175"/>
|
||||
<define name="VOLTAGE_ADC_B" value="0.088"/>
|
||||
<define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
|
||||
<define name="LOW_BATTERY" value="9.3" unit="V"/>
|
||||
</section>
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
</section>
|
||||
<section name="SIMU">
|
||||
<define name="WEIGHT" value="1.3"/>
|
||||
</section>
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="CRUISE_THROTTLE+0.05" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="50" unit="m"/>
|
||||
</section>
|
||||
<section name="CAM" prefix="CAM_">
|
||||
<define name="THETA0" value="0" unit="deg"/>
|
||||
<define name="PHI0" value="30" unit="deg"/>
|
||||
</section>
|
||||
<makefile>
|
||||
|
||||
# Virtual AC
|
||||
|
||||
# Config for HITL simulation on a V1_2_1 bi-AVR board
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/v1_2_1.makefile
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/twin_mcu_avr.makefile
|
||||
|
||||
# Harware In The Loop
|
||||
ap.CFLAGS += -DHITL
|
||||
|
||||
# Downlink on uart0
|
||||
ap.CFLAGS += -DUSE_UART0 -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=Uart0 -DUART0_BAUD=B38400
|
||||
ap.EXTRA_SRCS += pprz_transport.c downlink.c
|
||||
|
||||
# Datalink (on uart0) used to emulate sensors (infrared and gps)
|
||||
ap.EXTRA_SRCS += traffic_info.c datalink.c
|
||||
ap.CFLAGS += -DDATALINK -DPPRZ_INPUT -DPPRZ_UART=Uart0
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.srcs += nav_survey_rectangle.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,252 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<!-- Twinstar II Multiplex (http://www.multiplex-rc.de/)
|
||||
Classix board (http://paparazzi.enac.fr/wiki/index.php/Classix)
|
||||
Aligned infrared sensor
|
||||
Digital still camera
|
||||
-->
|
||||
|
||||
<airframe name="Twinstar 6">
|
||||
|
||||
<servos>
|
||||
<!-- Splitted power supplies for servos 0,1,2,3 and 4,5,6,7 from motor controller's +5V -->
|
||||
|
||||
<!-- Servo aileron gauche = rouge -->
|
||||
<servo name="AILERON_LEFT" no="0" min="1000" neutral="1530" max="2000"/>
|
||||
<servo name="MOTOR_LEFT" no="1" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="ELEVATOR" no="2" min="1000" neutral="1500" max="2100"/>
|
||||
|
||||
<!-- Servo aileron droit = bleu -->
|
||||
<servo name="AILERON_RIGHT" no="4" min="1000" neutral="1520" max="2000"/>
|
||||
<servo name="MOTOR_RIGHT" no="5" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="RUDDER" no="6" min="2100" neutral="1470" max="900"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="HATCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="YAW" value="@YAW"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="HATCH" value="@GAIN1"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILERON_DIFF" value="0.66"/>
|
||||
<define name="COMBI_SWITCH" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="MOTOR_RIGHT" value="@THROTTLE"/>
|
||||
<set servo="MOTOR_LEFT" value="@THROTTLE"/>
|
||||
<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
|
||||
|
||||
<let var="roll" value="@ROLL"/>
|
||||
<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
|
||||
<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.6"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="AdcBank1(7)"/>
|
||||
<define name="IR2" value="AdcBank1(6)"/>
|
||||
<define name="IR_TOP" value="AdcBank1(5)"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
<define name="VSUPPLY" value="AdcBank0(6)"/>
|
||||
</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_ALIGNED" value="1"/>
|
||||
<define name="IR1_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="-5.5" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="9.5" unit="deg"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-0.9"/>
|
||||
<define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
|
||||
|
||||
<define name="ROLL_PGAIN" value="6000."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="-6000."/>
|
||||
<define name="PITCH_DGAIN" value="0."/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="Digital camera telecommand">
|
||||
<!-- IOs are seen as LEDs -->
|
||||
|
||||
<define name="LED_4_BANK" value="0"/>
|
||||
<define name="LED_4_PIN" value="16"/>
|
||||
|
||||
<!-- ADC 5 -->
|
||||
<define name="LED_5_BANK" value="1"/>
|
||||
<define name="LED_5_PIN" value="20"/>
|
||||
|
||||
<define name="DC_SHUTTER_LED" value="4"/>
|
||||
<define name="DC_ZOOM_LED" value="5"/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.05"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".35"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.8"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="2000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1500"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.008"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.14"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.05"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
||||
<define name="VOLTAGE_ADC_A" value="0.0156"/>
|
||||
<define name="VOLTAGE_ADC_B" value="-0.029"/>
|
||||
<define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)" unit="s"/>
|
||||
</section>
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE+0.05" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="75" unit="m"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="CLIMB_PITCH" value="0.25"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
|
||||
<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_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
|
||||
<define name="DESCENT_NAV_RATIO" value="1.0"/>
|
||||
</section>
|
||||
<makefile>
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/classix.makefile
|
||||
|
||||
# FLASH_MODE=ISP
|
||||
FLASH_MODE=IAP
|
||||
|
||||
fbw.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DLED -DTIME_LED=1
|
||||
fbw.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main.c
|
||||
|
||||
fbw.srcs += commands.c
|
||||
|
||||
fbw.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK_FALLING
|
||||
fbw.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
|
||||
|
||||
fbw.CFLAGS += -DRADIO_CONTROL
|
||||
fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DUART0_BAUD=B9600
|
||||
fbw.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/uart_hw.c
|
||||
|
||||
fbw.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_SLAVE
|
||||
fbw.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c
|
||||
|
||||
fbw.CFLAGS += -DADC -DUSE_AD0
|
||||
fbw.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DAP -DRADIO_CONTROL_AUTO1 -DBOARD_CONFIG=\"classix.h\" -DLED -DTIME_LED=2
|
||||
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_ap.c main.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c traffic_info.c pprz_transport.c
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_MASTER
|
||||
ap.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c
|
||||
|
||||
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
# ADCs for infrared
|
||||
ap.CFLAGS += -DADC -DUSE_AD1 -DUSE_AD1_5 -DUSE_AD1_6 -DUSE_AD1_7
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
ap.srcs += nav_line.c
|
||||
|
||||
ap.srcs += nav_survey_rectangle.c
|
||||
|
||||
ap.CFLAGS += -DUSE_GPIO
|
||||
ap.srcs += $(SRC_ARCH)/gpio.c
|
||||
|
||||
# Digital camera
|
||||
# Shutter: SPI0_SS1
|
||||
# Zoom: SPI0_IT
|
||||
ap.CFLAGS += -DDIGITAL_CAM
|
||||
ap.srcs += dc.c
|
||||
|
||||
|
||||
test.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK_FALLING -DUSE_UART0 -DDATALINK -DPPRZ_INPUT -DPPRZ_UART=Uart0 -DUART0_BAUD=B9600
|
||||
test.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_4017_hw.c main.c
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"classix.h\" -DAGR_CLIMB -DLOITER_TRIM
|
||||
#sim.srcs += traffic_info.c
|
||||
sim.srcs += nav_line.c nav_survey_rectangle.c dc.c
|
||||
# chemotaxis.c anemotaxis.c discsurvey.c bomb.c nav_survey_rectangle.c
|
||||
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,263 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<!-- Twinstar II, 2x Jeti 18 advance plus, AXI 2212/26
|
||||
Graupner C19 receiver
|
||||
TWOG V1 board
|
||||
PerkinElmer TPS334 IR Sensors
|
||||
Tilted infrared sensor
|
||||
Radiotronix modem
|
||||
K66, LEA 4P (set to POSLLH)
|
||||
-->
|
||||
|
||||
<airframe name="Twinstar K66">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILERON_LEFT" no="1" min="1900" neutral="1480" max="1050"/>
|
||||
<servo name="ELEVATOR" no="2" min="1750" neutral="1530" max="1250"/>
|
||||
<servo name="RUDDER" no="3" min="1100" neutral="1500" max="1900"/>
|
||||
<servo name="AILERON_RIGHT" no="4" min="2000" neutral="1610" max="1200"/>
|
||||
<servo name="FWHEEL" no="5" min="1900" neutral="1470" max="1100"/>
|
||||
<servo name="HATCH" no="6" min="1000" neutral="1500" max="2000"/>
|
||||
<servo name="CAM_ROLL" no="7" min="1000" neutral="1500" max="2000"/>
|
||||
<servo name="CAM_PITCH" no="8" min="1000" neutral="1500" max="2000"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="HATCH" failsafe_value="0"/>
|
||||
<axis name="CAM_ROLL" failsafe_value="0"/>
|
||||
<axis name="CAM_PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="YAW" value="@YAW"/>
|
||||
<set command="HATCH" value="@CALIB"/>
|
||||
</rc_commands>
|
||||
|
||||
<auto_rc_commands>
|
||||
<set command="YAW" value="@YAW"/>
|
||||
</auto_rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILERON_DIFF" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
<let var="roll" value="@ROLL"/>
|
||||
<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
|
||||
<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
|
||||
<set servo="RUDDER" value="@YAW"/>
|
||||
<set servo="FWHEEL" value="@YAW"/>
|
||||
<set servo="HATCH" value="@HATCH"/>
|
||||
<set servo="CAM_ROLL" value="@CAM_ROLL"/>
|
||||
<set servo="CAM_PITCH" value="@CAM_PITCH"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_2"/>
|
||||
<define name="IR_TOP" value="ADC_0"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
</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="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="-1"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.7"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR1_SIGN" value="1"/>
|
||||
<define name="IR2_SIGN" value="-1"/>
|
||||
<define name="TOP_SIGN" value="1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<!-- 0.0247311828 -->
|
||||
<!-- 0.02432905 -->
|
||||
<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
|
||||
<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
|
||||
<define name="MAXIMUM_AIRSPEED" value="18." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<!-- <define name="XBEE_INIT" value=""ATPL2\rATRN1\rATTT80\r""/> -->
|
||||
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<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"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.06"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.06"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.1"/>
|
||||
|
||||
</section>
|
||||
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-1.0"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.60" 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="6000."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="-9000."/>
|
||||
<define name="PITCH_DGAIN" value="-1700."/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="1500"/>
|
||||
|
||||
<!--define name="ROLL_ATTITUDE_GAIN" value="-5900"/>
|
||||
<define name="ROLL_RATE_GAIN" value="-2900"/-->
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.35"/><!-- 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_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<!--section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section-->
|
||||
<makefile>
|
||||
CONFIG = \"tiny_2_1.h\"
|
||||
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
|
||||
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_AUTO1
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
#XBEE
|
||||
#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
|
||||
#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
#TRANSPARENT
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
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 -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
ap.srcs += nav_line.c
|
||||
ap.srcs += nav_survey_rectangle.c
|
||||
|
||||
ap.srcs += bomb.c
|
||||
|
||||
ap.srcs += snav.c
|
||||
|
||||
# Config for SITL simulation
|
||||
# include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.ARCHDIR = $(ARCHI)
|
||||
sim.ARCH = sitl
|
||||
sim.TARGET = autopilot
|
||||
sim.TARGETDIR = autopilot
|
||||
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO
|
||||
sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
|
||||
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
sim.srcs += nav_line.c nav_survey_rectangle.c
|
||||
|
||||
sim.srcs += bomb.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,68 @@
|
||||
<airframe name="Twisted Logic">
|
||||
<!-- tiny airframe -->
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="AILERON" no="2" min="900" neutral="1500" max="2100"/>
|
||||
<servo name="ELEVATOR" no="1" min="900" neutral="1500" max="2100"/>
|
||||
<servo name="MOTOR_RIGHT" no="6" min="1250" neutral="1250" max="1850"/>
|
||||
<servo name="MOTOR_LEFT" no="3" min="1250" neutral="1250" max="1850"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="YAW" value="@YAW"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.8"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="roll" value="1.0 * @ROLL"/>
|
||||
<let var="yawtoroll" value="0.0001 * @YAW"/>
|
||||
<let var="pitchtoroll" value="0.0001 * @PITCH"/>
|
||||
<let var="pitch" value="1.0 * @PITCH"/>
|
||||
<let var="yaw" value="0.1 * @YAW"/>
|
||||
<let var="throttle" value="1.0 * @THROTTLE"/>
|
||||
<set servo="AILERON" value="$roll"/>
|
||||
<set servo="ELEVATOR" value="$pitch"/>
|
||||
<set servo="MOTOR_LEFT" value="$throttle - $yaw - .06*$throttle"/> <!-- add trim term for Right -->
|
||||
<set servo="MOTOR_RIGHT" value="$throttle + $yaw + .06*$throttle"/> <!-- subtract trim term for Right -->
|
||||
</command_laws>
|
||||
|
||||
<makefile>
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
|
||||
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_coax.c main.c
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c commands.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B19200
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
|
||||
ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
|
||||
|
||||
ap.CFLAGS += -DALT_KALMAN
|
||||
ap.srcs += estimator.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,253 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<airframe name="tyto1 Tiny 1.1">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="GAZ_LEFT" no="1" min="950" neutral="950" max="1650"/>
|
||||
<servo name="GAZ_RIGHT" no="2" min="950" neutral="950" max="1650"/>
|
||||
<servo name="AILEVON_LEFT" no="0" min="1250" neutral="1630" max="2060"/>
|
||||
<servo name="AILEVON_RIGHT" no="3" min="1900" neutral="1400" max="1000"/>
|
||||
<servo name="CAM_LON" no="6" min="1980" neutral="1515" max="1170"/>
|
||||
<servo name="CAM_LAT" no="5" min="1980" neutral="1515" max="1170"/>
|
||||
<servo name="PAINTBALL" no="4" min="1980" neutral="1515" max="1170"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="CAM_LON_CMD" failsafe_value="0"/>
|
||||
<axis name="CAM_LAT_CMD" failsafe_value="0"/>
|
||||
<axis name="PAINTBALL_CMD" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="PAINTBALL_CMD" value="@GAIN1"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.75"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="-0.75"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="GAZ_LEFT" value="@THROTTLE"/>
|
||||
<set servo="GAZ_RIGHT" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
<set servo="CAM_LON" value="@CAM_LON_CMD"/>
|
||||
<set servo="CAM_LAT" value="@CAM_LAT_CMD"/>
|
||||
<set servo="PAINTBALL" value="@PAINTBALL_CMD"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_0"/>
|
||||
<define name="IR2" value="ADC_1"/>
|
||||
<define name="IR_TOP" value="ADC_2"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
|
||||
<define name="GYRO_ROLL" value="ADC_3"/>
|
||||
<define name="GYRO_TEMP" value="ADC_7"/> <!-- NOT PLUGGED !!! -->
|
||||
<define name="GYRO_NB_SAMPLES" value="16"/>
|
||||
|
||||
</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="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="538"/>
|
||||
<define name="ADC_TEMP_NEUTRAL" value="476"/>
|
||||
<define name="ADC_TEMP_SLOPE" value="0"/>
|
||||
<define name="ROLL_SCALE" value="0.44"/>
|
||||
<define name="ROLL_DIRECTION" value="-1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
||||
|
||||
<define name="ADC_CHANNEL_VSUPPLY" value="AdcBank1(6)"/>
|
||||
<define name="VoltageOfAdc(adc)" value="(0.01787109375*adc)"/>
|
||||
|
||||
<define name="LOW_BATTERY" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
|
||||
<!-- <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="80."/>
|
||||
<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"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.37"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="5."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.08" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.006"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0."/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0."/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.5"/>
|
||||
|
||||
</section>
|
||||
|
||||
<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="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"/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
|
||||
<define name="ROLL_RATE_GAIN" value="-1500"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<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="0.8"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.15"/><!-- 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_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="1" 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"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<!--
|
||||
<section name="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
-->
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
CONFIG=\"tiny_1_1.h\"
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DTELEMETRY_MODE_FBW=1
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
# ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
|
||||
# ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
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=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
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
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
|
||||
ap.srcs += nav_survey_rectangle.c
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
sim.srcs += nav_line.c nav_survey_rectangle.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user