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Update AggieAir config (#2352)

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* Update AggieAir config

* Moved  nodes into  section
This commit is contained in:
Michal Podhradsky
2018-11-26 23:55:52 -08:00
committed by Gautier Hattenberger
parent 4673d710f8
commit 8d7c8a501e
15 changed files with 1165 additions and 107 deletions
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conf/airframes/AGGIEAIR/El_Captain.xml
+2 -3
View File
@@ -296,10 +296,8 @@
<define name="TUNE_AGRESSIVE_CLIMB"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
</firmware>
<!-- Modules -->
<modules>
<module name="nav" type="line"/>
<module name="nav" type="flower"/>
<module name="nav" type="survey_poly_osam"/>
@@ -337,6 +335,7 @@
<!-- System Monitor -->
<module name="sys_mon"/>
</modules>
</firmware>
</airframe>
conf/airframes/AGGIEAIR/aggieair_ark_hexa_1-8.xml
+1 -3
View File
@@ -53,9 +53,7 @@ Aggie Air ARK
<configure name="VN_PORT" value="UART2"/>
<configure name="VN_BAUD" value="B921600"/>
</module>
</firmware>
<modules>
<module name="sys_mon"/>
<module name="copilot"/>
<module name="extra_dl">
@@ -71,7 +69,7 @@ Aggie Air ARK
<define name="BATMON_TEMP_OFFSET" value="250"/>
<define name="BATMON_TEMP_SENSITIVITY" value="10"/>
</module>
</modules>
</firmware>
<!--These values are set for the Castle Creations HV Lite 60A ESCs-->
<servos driver="Pwm">
conf/airframes/AGGIEAIR/aggieair_ark_quad_lisa_mx.xml
+1 -5
View File
@@ -47,10 +47,6 @@
</module>
<define name="GEOFENCE_DATALINK_LOST_TIME" value="45"/>
</firmware>
<modules>
<module name="sys_mon"/>
<module name="extra_dl">
<!-- in order to use uart1 without chibios we need to remap the peripheral-->
@@ -67,7 +63,7 @@
<define name="BATMON_TEMP_OFFSET" value="250"/>
<define name="BATMON_TEMP_SENSITIVITY" value="10"/>
</module>
</modules>
</firmware>
<servos driver="Pwm">
<servo name="FL" no="0" min="1000" neutral="1100" max="1900"/>
conf/airframes/AGGIEAIR/aggieair_atomic_lia.xml
+25 -20
View File
@@ -12,7 +12,7 @@ AggieAir Atomic Tangerine
</module>
<configure name="HAS_LUFTBOOT" value="1"/>
<configure name="FLASH_MODE" value="DFU"/>
<module name="telemetry" type="transparent_gec">
<module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="UART3"/>
<configure name="MODEM_BAUD" value="B57600"/>
<define name="GEC_STATUS_LED" value="5"/>
@@ -29,14 +29,14 @@ AggieAir Atomic Tangerine
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="spektrum"/>
<module name="telemetry" type="transparent_gec"/>
<module name="telemetry" type="transparent"/>
</target>
<target name="hitl" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="spektrum"/>
<configure name="INS_DEV" value="/dev/ttyUSB1"/>
<configure name="INS_BAUD" value="B921600"/>
<configure name="INS_BAUD" value="B230400"/>
<configure name="AP_DEV" value="/dev/ttyUSB2"/>
<configure name="AP_BAUD" value="B921600"/>
<module name="telemetry" type="transparent"/>
@@ -47,21 +47,19 @@ AggieAir Atomic Tangerine
<module name="ins" type="vectornav">
<configure name="VN_PORT" value="UART2"/>
<configure name="VN_BAUD" value="B921600"/>
<configure name="VN_BAUD" value="B230400"/>
</module>
<define name="AGR_CLIMB" />
<define name="POLY_OSAM_HALF_SWEEP_ENABLED" value="FALSE"/>
<define name="GEOFENCE_DATALINK_LOST_TIME" value="45"/>
</firmware>
<modules>
<module name="nav" type="line"/>
<module name="nav" type="flower"/>
<module name="nav" type="survey_poly_osam"/>
<module name="nav" type="launcher"/>
<module name="nav" type="skid_landing"/>
<module name="nav" type="line_osam"/>
<module name="sys_mon"/>
<module name="copilot">
<define name="FORWARD_PAYLOAD" value="TRUE"/>
@@ -82,7 +80,9 @@ AggieAir Atomic Tangerine
<define name="BATMON_TEMP_OFFSET" value="250"/>
<define name="BATMON_TEMP_SENSITIVITY" value="10"/>
</module>
</modules>
<module name="air_data"/>
</firmware>
<!-- commands section -->
<!-- Servo Configuration -->
@@ -90,12 +90,12 @@ AggieAir Atomic Tangerine
<servo name="THROTTLE" no="5" min="1100" neutral="1100" max="1900"/>
<servo name="AILERON_RIGHT" no="1" min="900" neutral="1500" max="2100"/>
<servo name="AILERON_LEFT" no="2" min="2100" neutral="1500" max="900"/>
<servo name="ELEVATOR" no="3" min="975" neutral="1500" max="2100"/>
<servo name="ELEVATOR" no="3" min="1900" neutral="1500" max="1100"/>
<servo name="RUDDER" no="4" min="2100" neutral="1500" max="900"/>
<servo name="FLAP" no="0" min="990" neutral="1945" max="1945"/>
</servos>
<!-- Servo Command Structure -->
<!-- Servo Command Structure -->
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
@@ -161,24 +161,25 @@ AggieAir Atomic Tangerine
</section>
<!-- Define current estimator and Battery Level Warnings -->
<!-- Define current estimator and Battery Level Warnings -->
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="50000"/>
<define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.3"/>
<!-- Flight values -->
<!--
<define name="MAX_BAT_LEVEL" value="16.5" unit="V" />
<define name="LOW_BAT_LEVEL" value="14.1" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="13.8" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="13.5" unit="V"/>
-->
<define name="MAX_BAT_LEVEL" value="16.8" unit="V" />
<define name="LOW_BAT_LEVEL" value="14.5" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="14.3" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="14.1" unit="V"/>
<!-- Simulator values -->
<!--
<define name="MAX_BAT_LEVEL" value="5.0" unit="V" />
<define name="LOW_BAT_LEVEL" value="4.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="3.5" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
-->
</section>
<section name="MISC">
@@ -197,7 +198,7 @@ AggieAir Atomic Tangerine
<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_NOMINAL_CRUISE_THROTTLE" value="0.42"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.20"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.70"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
@@ -230,7 +231,7 @@ AggieAir Atomic Tangerine
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="1.135"/>
<define name="COURSE_DGAIN" value="0.35"/>
<define name="ROLL_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.35" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.2" unit="rad"/>
<define name="PITCH_PGAIN" value="12900."/>
@@ -249,7 +250,7 @@ AggieAir Atomic Tangerine
<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="0.75"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_THROTTLE" value="0.85"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.13"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.1"/><!-- Pitch for Aggressive Decent -->
@@ -269,9 +270,13 @@ AggieAir Atomic Tangerine
<section name="LAUNCHER" prefix="LAUNCHER_TAKEOFF_">
<define name="PITCH" value="0.23" unit="rad"/>
<define name="HEIGHT" value="70" unit="m"/>
<define name="HEIGHT_THRESHOLD" value="10" unit="m"/>
<define name="MIN_SPEED_CIRCLE" value="8" unit="m/s"/>
<define name="DISTANCE" value="30" unit="m"/>
<define name="MIN_SPEED_LINE" value="5" unit="m/s"/>
<define name="CIRCLE_ALT" value="100" unit="m"/>
<define name="CIRCLE_RADIUS" value="200" unit="m"/>
<define name="MAX_CIRCLE_DISTANCE" value="800" unit="m"/>
</section>
<!-- Skid Landing Configuration -->
conf/airframes/AGGIEAIR/aggieair_blujay.xml
+2 -3
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@@ -48,9 +48,7 @@ AggieAir Blujayujay
<define name="AGR_CLIMB" />
<define name="POLY_OSAM_HALF_SWEEP_ENABLED" value="FALSE"/>
<define name="GEOFENCE_DATALINK_LOST_TIME" value="45"/>
</firmware>
<modules>
<module name="nav" type="line"/>
<module name="nav" type="flower"/>
<module name="nav" type="survey_poly_osam"/>
@@ -74,7 +72,8 @@ AggieAir Blujayujay
<define name="BATMON_TEMP_OFFSET" value="250"/>
<define name="BATMON_TEMP_SENSITIVITY" value="10"/>
</module>
</modules>
</firmware>
<!-- commands section -->
<!-- Servo Configuration -->
conf/airframes/AGGIEAIR/aggieair_blujay_goose.xml
+9 -10
View File
@@ -11,7 +11,7 @@ AggieAir Blujayujay
<module name="radio_control" type="sbus">
<configure name="SBUS_PORT" value="UART5"/>
</module>
<configure name="HAS_LUFTBOOT" value="0"/>
<configure name="HAS_LUFTBOOT" value="1"/>
<configure name="FLASH_MODE" value="DFU"/>
</target>
@@ -42,20 +42,18 @@ AggieAir Blujayujay
<module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="UART3"/>
<configure name="MODEM_BAUD" value="B115200"/>
<configure name="MODEM_BAUD" value="B57600"/>
</module>
<module name="ins" type="vectornav">
<configure name="VN_PORT" value="UART2"/>
<configure name="VN_BAUD" value="B921600"/>
<configure name="VN_BAUD" value="B230400"/>
</module>
<define name="AGR_CLIMB" />
<define name="POLY_OSAM_HALF_SWEEP_ENABLED" value="FALSE"/>
<define name="GEOFENCE_DATALINK_LOST_TIME" value="45"/>
</firmware>
<modules>
<module name="nav" type="line"/>
<module name="nav" type="flower"/>
<module name="nav" type="survey_poly_osam"/>
@@ -79,16 +77,17 @@ AggieAir Blujayujay
<define name="BATMON_TEMP_OFFSET" value="250"/>
<define name="BATMON_TEMP_SENSITIVITY" value="10"/>
</module>
</modules>
</firmware>
<!-- commands section -->
<!-- Servo Configuration -->
<servos>
<servo name="FLAP" no="0" min="900" neutral="1500" max="2100"/>
<servo name="FLAP" no="0" min="2000" neutral="900" max="900"/>
<servo name="AILERON_RIGHT" no="1" min="900" neutral="1500" max="2100"/>
<servo name="AILERON_LEFT" no="2" min="2100" neutral="1500" max="900"/>
<servo name="ELEVATOR" no="3" min="2100" neutral="1500" max="900"/>
<servo name="RUDDER" no="4" min="2100" neutral="1500" max="900"/>
<servo name="RUDDER" no="4" min="900" neutral="1500" max="2100"/>
<servo name="THROTTLE" no="5" min="1100" neutral="1100" max="1900"/>
</servos>
@@ -162,7 +161,7 @@ AggieAir Blujayujay
<define name="NOMINAL_AIRSPEED" value="16." unit="m/s"/> <!-- GCS only -->
<define name="CARROT" value="5." unit="s"/> <!-- GCS only -->
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="200."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
@@ -241,7 +240,7 @@ AggieAir Blujayujay
<define name="DEFAULT_THROTTLE" value="0" 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"/>
<define name="HOME_RADIUS" value="200" unit="m"/>
</section>
<!-- Launcher Takeoff Configuration -->
conf/airframes/AGGIEAIR/aggieair_conf.xml
+30 -8
View File
@@ -1,4 +1,15 @@
<conf>
<aircraft
name="AAMinionSim"
ac_id="11"
airframe="airframes/AGGIEAIR/aggieair_minionsim_lia.xml"
radio="radios/AGGIEAIR/aggieair_taranis.xml"
telemetry="telemetry/AGGIEAIR/aggieair_fixedwing.xml"
flight_plan="flight_plans/AGGIEAIR/CachJct_Gallo_temp_rect_survey.xml"
settings="settings/fixedwing_basic.xml [settings/nps.xml]"
settings_modules="modules/air_data.xml modules/battery_monitor.xml modules/lidar_sf11.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
gui_color="#0000c5caffff"
/>
<aircraft
name="Ark_Hexa_1.8"
ac_id="4"
@@ -27,9 +38,9 @@
airframe="airframes/AGGIEAIR/aggieair_atomic_lia.xml"
radio="radios/AGGIEAIR/aggieair_taranis.xml"
telemetry="telemetry/AGGIEAIR/aggieair_fixedwing.xml"
flight_plan="flight_plans/AGGIEAIR/BasicTuning_BlueRoom2.xml"
flight_plan="flight_plans/AGGIEAIR/BasicTuning_Launcher.xml"
settings="settings/fixedwing_basic.xml settings/nps.xml"
settings_modules="modules/battery_monitor.xml modules/lidar_sf11.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
settings_modules="modules/air_data.xml modules/battery_monitor.xml modules/lidar_sf11.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
gui_color="#ffff42870000"
/>
<aircraft
@@ -68,13 +79,13 @@
<aircraft
name="El_Captain"
ac_id="8"
airframe="airframes/AGGIEAIR/El_Captain.xml"
radio="radios/AGGIEAIR/AggieAir_Specktrum_PPM_MeekPE.xml"
airframe="airframes/AGGIEAIR/aggieair_el_captitan_lia.xml"
radio="radios/AGGIEAIR/aggieair_taranis.xml"
telemetry="telemetry/AGGIEAIR/aggieair_fixedwing.xml"
flight_plan="flight_plans/AGGIEAIR/CachJct_Gallo_temp_rect_survey.xml"
settings="settings/fixedwing_basic.xml settings/control/tune_agr_climb.xml settings/control/ctl_basic.xml settings/nps.xml"
settings_modules="modules/AOA_adc.xml modules/airspeed_adc.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
gui_color="blue"
flight_plan="flight_plans/AGGIEAIR/BasicTuning_BlueRoom2.xml"
settings="settings/fixedwing_basic.xml settings/nps.xml"
settings_modules="modules/air_data.xml modules/battery_monitor.xml modules/lidar_sf11.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
gui_color="#d37d000004fc"
/>
<aircraft
name="Iris"
@@ -98,4 +109,15 @@
settings_modules="modules/battery_monitor.xml modules/lidar_sf11.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
gui_color="#00009e93ffff"
/>
<aircraft
name="Minty"
ac_id="10"
airframe="airframes/AGGIEAIR/aggieair_minty_lia.xml"
radio="radios/AGGIEAIR/aggieair_taranis.xml"
telemetry="telemetry/AGGIEAIR/aggieair_fixedwing.xml"
flight_plan="flight_plans/AGGIEAIR/CachJct_Gallo_temp_rect_survey.xml"
settings="settings/fixedwing_basic.xml settings/nps.xml"
settings_modules="modules/air_data.xml modules/battery_monitor.xml modules/lidar_sf11.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
gui_color="#0113b8510000"
/>
</conf>
conf/airframes/AGGIEAIR/aggieair_control_panel.xml
+70 -3
View File
@@ -7,6 +7,8 @@
<program name="Altitude Update" command="altitude_update.sh"/>
<program name="uGear Sim" command="start_ugear_sim.sh"/>
<program name="ADS-B" command="start_adsb.sh"/>
<program name="Payload Config" command="../AggieAir-Sidekick/payloadMonitor.py" />
<program name="AggieCap3 Sidekick" command="../AggieAir-Sidekick/payloadMonitor.py"/>
<!-- default programs -->
<program name="Server" command="sw/ground_segment/tmtc/server"/>
@@ -105,16 +107,45 @@
<arg flag="-layout" constant="AGGIEAIR/vertical.xml"/>
</program>
<program name="Messages"/>
<program name="Real-time Plotter"/>
<program name="Real-time Plotter">
<arg flag="-c" constant="*:telemetry:CAMERA_SNAPSHOT:array_temp"/>
<arg flag="-t" constant="Thermal FPA temperature"/>
</program>
<program name="AggieCap3 Sidekick"/>
</session>
<session name="Secure Flight USB-serial@57600">
<session name="Secure Flight v1.0 USB-serial@57600">
<program name="Secure Link">
<arg flag="-d" constant="/dev/ttyUSB0"/>
<arg flag="-s" constant="57600"/>
<arg flag="-a" constant="@AC_ID"/>
<arg flag="-n" constant="@AIRCRAFT"/>
<arg flag="-c" />
<arg flag="-v" constant="1.0"/>
<arg flag="--ping_period" constant="1000"/>
</program>
<program name="Server"/>
<program name="GCS">
<arg flag="-layout" constant="AGGIEAIR/vertical.xml"/>
</program>
<program name="Messages">
<arg flag="-c" constant="telemetry:*"/>
</program>
<program name="Real-time Plotter">
<arg flag="-c" constant="*:telemetry:CAMERA_SNAPSHOT:array_temp"/>
<arg flag="-t" constant="Thermal FPA temperature"/>
</program>
<program name="AggieCap3 Sidekick"/>
</session>
<session name="Secure Flight v2.0 USB-serial@57600">
<program name="Secure Link">
<arg flag="-d" constant="/dev/ttyUSB0"/>
<arg flag="-s" constant="57600"/>
<arg flag="-a" constant="@AC_ID"/>
<arg flag="-n" constant="@AIRCRAFT"/>
<arg flag="-c" />
<arg flag="-v" constant="2.0"/>
</program>
<program name="Server"/>
<program name="GCS">
@@ -122,6 +153,7 @@
</program>
<program name="Messages"/>
<program name="Real-time Plotter"/>
<program name="AggieCap3 Sidekick"/>
</session>
<session name="Secure Simulation">
@@ -149,6 +181,10 @@
<program name="Environment Simulator"/>
</session>
<session name="AggieCap3 Configuration">
<program name="Payload Config" />
</session>
<session name="Flight USB-serial@115200">
<program name="Data Link">
<arg flag="-d" constant="/dev/ttyUSB0"/>
@@ -177,9 +213,10 @@
<arg flag="--fg_fdm" constant=""/>
<arg flag="-t" constant="hitl"/>
</program>
<program name="AggieCap3 Sidekick"/>
</session>
<session name="Secure HITL USB-serial@57600">
<session name="Secure HITL v2.0 USB-serial@57600">
<program name="Secure Link">
<arg flag="-d" constant="/dev/ttyUSB0"/>
<arg flag="-s" constant="57600"/>
@@ -203,6 +240,34 @@
<arg flag="-t" constant="hitl"/>
<arg flag="--nodisplay"/>
</program>
<program name="AggieCap3 Sidekick"/>
</session>
<session name="Secure HITL v1.0 USB-serial@57600">
<program name="Secure Link">
<arg flag="-d" constant="/dev/ttyUSB0"/>
<arg flag="-s" constant="57600"/>
<arg flag="-a" constant="@AC_ID"/>
<arg flag="-n" constant="@AIRCRAFT"/>
<arg flag="-c" />
<arg flag="-v" constant="1.0"/>
</program>
<program name="Server">
<arg flag="" constant="-no_md5_check"/>
</program>
<program name="GCS">
<arg flag="-layout" constant="AGGIEAIR/vertical.xml"/>
</program>
<program name="Messages"/>
<program name="Simulator">
<arg flag="-a" constant="@AIRCRAFT"/>
<arg flag="-f" constant="127.0.0.1"/>
<arg flag="-b" constant="127.255.255.255"/>
<arg flag="--fg_fdm"/>
<arg flag="-t" constant="hitl"/>
<arg flag="--nodisplay"/>
</program>
<program name="AggieCap3 Sidekick"/>
</session>
<session name="HITL USB-serial@115200">
@@ -243,6 +308,7 @@
</program>
<program name="Messages"/>
<program name="Environment Simulator"/>
<program name="AggieCap3 Sidekick"/>
</session>
<session name="HITL+SBUS USB-serial@57600">
@@ -372,6 +438,7 @@
</program>
<program name="Real-time Plotter"/>
<program name="Environment Simulator"/>
<program name="AggieCap3 Sidekick"/>
</session>
conf/airframes/AGGIEAIR/aggieair_ecu_example.xml
+2 -3
View File
@@ -29,12 +29,11 @@ Viking Motorsports ECU example
<module name="ins"/>
<module name="control"/>
<module name="navigation"/>
</firmware>
<modules>
<module name="sys_mon"/>
<module name="vms_ecu_demo"/>
</modules>
</firmware>
<!-- commands section -->
<!-- Servo Configuration -->
conf/airframes/AGGIEAIR/aggieair_el_captitan_lia.xml
+311
View File
@@ -0,0 +1,311 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
AggieAir El Capitan
-->
<airframe name="AggieAir El Capitan">
<firmware name="fixedwing">
<target name="ap" board="lisa_mx_2.1">
<module name="radio_control" type="sbus">
<configure name="SBUS_PORT" value="UART5"/>
</module>
<configure name="HAS_LUFTBOOT" value="1"/>
<configure name="FLASH_MODE" value="DFU"/>
<module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="UART3"/>
<configure name="MODEM_BAUD" value="B57600"/>
<define name="GEC_STATUS_LED" value="5"/>
</module>
</target>
<!-- NOTE: if you want to use extra_dl module for HITL
you have to set TELEMETRY_FREQUENCY to CONTROL_FREQUENCY -->
<configure name="PERIODIC_FREQUENCY" value="100"/>
<define name="CONTROL_FREQUENCY" value="100"/>
<configure name="TELEMETRY_FREQUENCY" value="100"/>
<define name="SERVO_HZ" value="100"/>
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="spektrum"/>
<module name="telemetry" type="transparent"/>
</target>
<target name="hitl" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="spektrum"/>
<configure name="INS_DEV" value="/dev/ttyUSB1"/>
<configure name="INS_BAUD" value="B230400"/>
<configure name="AP_DEV" value="/dev/ttyUSB2"/>
<configure name="AP_BAUD" value="B921600"/>
<module name="telemetry" type="transparent"/>
</target>
<module name="control"/>
<module name="navigation"/>
<module name="ins" type="vectornav">
<configure name="VN_PORT" value="UART2"/>
<configure name="VN_BAUD" value="B230400"/>
</module>
<define name="AGR_CLIMB" />
<define name="POLY_OSAM_HALF_SWEEP_ENABLED" value="FALSE"/>
<define name="GEOFENCE_DATALINK_LOST_TIME" value="45"/>
<module name="nav" type="line"/>
<module name="nav" type="flower"/>
<module name="nav" type="survey_poly_osam"/>
<module name="nav" type="launcher"/>
<module name="nav" type="skid_landing"/>
<module name="nav" type="line_osam"/>
<module name="sys_mon"/>
<module name="copilot"/>
<module name="extra_dl">
<!-- in order to use uart1 without chibios we need to remap the peripheral-->
<define name="REMAP_UART1" value="TRUE"/>
<configure name="EXTRA_DL_PORT" value="UART1"/>
<configure name="EXTRA_DL_BAUD" value="B921600"/>
</module>
<module name="lidar_sf11">
<configure name="LIDAR_SF11_I2C_DEV" value="i2c2"/>
</module>
<module name="battery_monitor.xml">
<define name="BATMON_REV4" value="1"/>
<define name="BATMON_CURRENT_OFFSET" value="-120"/>
<define name="BATMON_CURRENT_SENSITIVITY" value="25.6"/>
<define name="BATMON_TEMP_OFFSET" value="250"/>
<define name="BATMON_TEMP_SENSITIVITY" value="10"/>
</module>
<module name="air_data"/>
</firmware>
<!-- commands section -->
<!-- Servo Configuration -->
<servos>
<servo name="THROTTLE" no="5" min="1100" neutral="1100" max="1900"/>
<servo name="AILERON_RIGHT" no="1" min="1900" neutral="1500" max="1100"/>
<servo name="AILERON_LEFT" no="2" min="1100" neutral="1500" max="1900"/>
<servo name="ELEVATOR" no="3" min="1100" neutral="1500" max="1900"/>
<servo name="RUDDER" no="4" min="1900" neutral="1500" max="1100"/>
<servo name="FLAP" no="0" min="1880" neutral="1100" max="1100"/>
</servos>
<!-- Servo Command Structure -->
<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="FLAP" failsafe_value="9600"/>
</commands>
<!-- RC Command Structure -->
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="YAW" value="@YAW"/>
<set command="FLAP" value="@FLAP"/>
</rc_commands>
<!-- Define RC commands to Servo in Auto Mode -->
<auto_rc_commands>
<set command="YAW" value="@YAW"/>
</auto_rc_commands>
<!-- Define Mixing Parameters -->
<section name="MIXER">
<define name="AILERON_AILERON_RATE" value="0.9"/>
<define name="ELEV_ELEV_RATE" value="0.8"/>
</section>
<!-- Define RC commands to Servos in Manual -->
<command_laws>
<let var="aileron" value="@ROLL * AILERON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * ELEV_ELEV_RATE"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="AILERON_RIGHT" value="$aileron"/> <!--flip signs if necessary -->
<set servo="AILERON_LEFT" value=" - $aileron"/>
<set servo="ELEVATOR" value="$elevator"/>
<set servo="RUDDER" value="@YAW"/>
<set servo="FLAP" value="@FLAP"/>
</command_laws>
<!-- Define Max Roll and Pitch setpoints in Auto1 -->
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.7"/>
<define name="MAX_PITCH" value="0.6"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
<!-- Dummy Mag values for NPS -
replace with your own calibration -->
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
</section>
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
</section>
<!-- Define current estimator and Battery Level Warnings -->
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="50000"/>
<define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.3"/>
<!-- Flight values -->
<define name="MAX_BAT_LEVEL" value="16.8" unit="V" />
<define name="LOW_BAT_LEVEL" value="14.5" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="14.3" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="14.1" unit="V"/>
<!-- Simulator values -->
<!--
<define name="MAX_BAT_LEVEL" value="5.0" unit="V" />
<define name="LOW_BAT_LEVEL" value="4.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="3.5" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
-->
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="16." unit="m/s"/> <!-- GCS only -->
<define name="CARROT" value="5." unit="s"/> <!-- GCS only -->
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- TODO: double check the power controls settings, this value seems to be outdated -->
<!--define name="POWER_CTL_BAT_NOMINAL" value="23.2" unit="volt"/-->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="0.136"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.42"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.20"/>
<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="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.05" 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="0.142"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
<!-- 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="0.31415" unit="rad"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.31415" unit="rad"/>
<!-- landing control loop -->
<define name="LANDING_THROTTLE_PGAIN" value="600.0"/>
<define name="LANDING_THROTTLE_IGAIN" value="10.0"/>
<define name="LANDING_THROTTLE_MAX" value="0.65"/>
<define name="LANDING_DESIRED_SPEED" value="18" unit="m/s"/>
<define name="LANDING_PITCH_PGAIN" value="0.1"/>
<define name="LANDING_PITCH_IGAIN" value="0.1"/>
<define name="LANDING_PITCH_LIMITS" value="0.2" unit="rad"/>
<define name="LANDING_PITCH_FLARE" value="0.06"/>
<define name="LANDING_ALT_THROTTLE_KILL" value="15" unit="m"/>
<define name="LANDING_ALT_FLARE" value="5" unit="m"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="1.135"/>
<define name="COURSE_DGAIN" value="0.35"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.35" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.2" unit="rad"/>
<define name="PITCH_PGAIN" value="12900."/>
<!-- ORIGINAL GAIN -->
<define name="PITCH_DGAIN" value="1.5"/>
<!-- SIMULATOR GAIN-->
<!--define name="PITCH_DGAIN" value="151.5"/-->
<define name="ELEVATOR_OF_ROLL" value="1250"/>
<define name="ROLL_ATTITUDE_GAIN" value="9000"/>
<define name="ROLL_RATE_GAIN" value="1600"/>
<define name="ROLL_SLEW" value="0.1"/>
</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="0.85"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.13"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.1"/><!-- 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="5" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0" 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>
<!-- Launcher Takeoff Configuration -->
<section name="LAUNCHER" prefix="LAUNCHER_TAKEOFF_">
<define name="PITCH" value="0.23" unit="rad"/>
<define name="HEIGHT" value="70" unit="m"/>
<define name="HEIGHT_THRESHOLD" value="10" unit="m"/>
<define name="MIN_SPEED_CIRCLE" value="8" unit="m/s"/>
<define name="DISTANCE" value="30" unit="m"/>
<define name="MIN_SPEED_LINE" value="5" unit="m/s"/>
<define name="CIRCLE_ALT" value="100" unit="m"/>
<define name="CIRCLE_RADIUS" value="200" unit="m"/>
<define name="MAX_CIRCLE_DISTANCE" value="800" unit="m"/>
</section>
<!-- Skid Landing Configuration -->
<section name="LANDING" prefix="SKID_LANDING_">
<define name="AF_HEIGHT" value="50" unit="m"/>
<define name="FINAL_HEIGHT" value="50" unit="m"/>
<define name="FINAL_STAGE_TIME" value="10" unit="s"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="JSBSIM_LAUNCHSPEED" value="25"/>
<define name="JSBSIM_MODEL" value="AGGIEAIR/minion" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_invariant.h" type="string"/>
<define name="JS_AXIS_THROTTLE" value="0"/>
<define name="JS_AXIS_THROTTLE_REVERSED" value="1"/>
<define name="JS_AXIS_ROLL" value="1"/>
<define name="JS_AXIS_PITCH" value="2"/>
<define name="JS_AXIS_PITCH_REVERSED" value="1"/>
<define name="JS_AXIS_YAW" value="3"/>
<define name="JS_AXIS_YAW_REVERSED" value="1"/>
<define name="JS_AXIS_FLAPS" value="5"/>
<define name="JS_AXIS_MODE" value="7"/>
<define name="JSBSIM_ROLL_TRIM" value="0.008"/>
<define name="JSBSIM_PITCH_TRIM" value="0.0375"/>
<define name="JSBSIM_YAW_TRIM" value="0.001"/>
</section>
</airframe>
conf/airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml
+1 -3
View File
@@ -52,9 +52,7 @@ AggieAir RP3 Minion
<define name="AGR_CLIMB" />
<define name="POLY_OSAM_HALF_SWEEP_ENABLED" value="FALSE"/>
<define name="GEOFENCE_DATALINK_LOST_TIME" value="45"/>
</firmware>
<modules>
<module name="nav" type="line"/>
<module name="nav" type="flower"/>
<module name="nav" type="survey_poly_osam"/>
@@ -79,7 +77,7 @@ AggieAir RP3 Minion
<define name="BATMON_TEMP_OFFSET" value="250"/>
<define name="BATMON_TEMP_SENSITIVITY" value="10"/>
</module>
</modules>
</firmware>
<!-- commands section -->
<!-- Servo Configuration -->
conf/airframes/AGGIEAIR/aggieair_minionsim_lia.xml
+311
View File
@@ -0,0 +1,311 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
AggieAir Minion Sim
-->
<airframe name="AggieAir Minion Sim">
<firmware name="fixedwing">
<target name="ap" board="lisa_mx_2.1_chibios">
<module name="radio_control" type="sbus">
<configure name="SBUS_PORT" value="UART5"/>
</module>
<configure name="HAS_LUFTBOOT" value="1"/>
<configure name="FLASH_MODE" value="DFU"/>
<module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="UART3"/>
<configure name="MODEM_BAUD" value="B57600"/>
<define name="GEC_STATUS_LED" value="5"/>
</module>
</target>
<!-- NOTE: if you want to use extra_dl module for HITL
you have to set TELEMETRY_FREQUENCY to CONTROL_FREQUENCY -->
<configure name="PERIODIC_FREQUENCY" value="100"/>
<define name="CONTROL_FREQUENCY" value="100"/>
<configure name="TELEMETRY_FREQUENCY" value="100"/>
<define name="SERVO_HZ" value="100"/>
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="spektrum"/>
<module name="telemetry" type="transparent"/>
</target>
<target name="hitl" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="spektrum"/>
<configure name="INS_DEV" value="/dev/ttyUSB1"/>
<configure name="INS_BAUD" value="B230400"/>
<configure name="AP_DEV" value="/dev/ttyUSB2"/>
<configure name="AP_BAUD" value="B921600"/>
<module name="telemetry" type="transparent"/>
</target>
<module name="control"/>
<module name="navigation"/>
<module name="ins" type="vectornav">
<configure name="VN_PORT" value="UART2"/>
<configure name="VN_BAUD" value="B230400"/>
</module>
<define name="AGR_CLIMB" />
<define name="POLY_OSAM_HALF_SWEEP_ENABLED" value="FALSE"/>
<define name="GEOFENCE_DATALINK_LOST_TIME" value="45"/>
<module name="nav" type="line"/>
<module name="nav" type="line_osam"/>
<module name="nav" type="flower"/>
<module name="nav" type="survey_poly_osam"/>
<module name="nav" type="launcher"/>
<module name="nav" type="skid_landing"/>
<module name="sys_mon"/>
<module name="copilot"/>
<module name="extra_dl">
<!-- in order to use uart1 without chibios we need to remap the peripheral-->
<define name="REMAP_UART1" value="TRUE"/>
<configure name="EXTRA_DL_PORT" value="UART1"/>
<configure name="EXTRA_DL_BAUD" value="B921600"/>
</module>
<module name="lidar_sf11">
<configure name="LIDAR_SF11_I2C_DEV" value="i2c2"/>
</module>
<module name="battery_monitor.xml">
<define name="BATMON_REV4" value="1"/>
<define name="BATMON_CURRENT_OFFSET" value="-120"/>
<define name="BATMON_CURRENT_SENSITIVITY" value="25.6"/>
<define name="BATMON_TEMP_OFFSET" value="250"/>
<define name="BATMON_TEMP_SENSITIVITY" value="10"/>
</module>
<module name="air_data"/>
</firmware>
<!-- commands section -->
<!-- Servo Configuration -->
<servos>
<servo name="THROTTLE" no="5" min="1100" neutral="1100" max="1900"/>
<servo name="AILERON_RIGHT" no="1" min="900" neutral="1500" max="2100"/>
<servo name="AILERON_LEFT" no="2" min="2100" neutral="1500" max="900"/>
<servo name="ELEVATOR" no="3" min="975" neutral="1500" max="2100"/>
<servo name="RUDDER" no="4" min="2100" neutral="1500" max="900"/>
<servo name="FLAP" no="0" min="990" neutral="1945" max="1945"/>
</servos>
<!-- Servo Command Structure -->
<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="FLAP" failsafe_value="9600"/>
</commands>
<!-- RC Command Structure -->
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="YAW" value="@YAW"/>
<set command="FLAP" value="@FLAP"/>
</rc_commands>
<!-- Define RC commands to Servo in Auto Mode -->
<auto_rc_commands>
<set command="YAW" value="@YAW"/>
</auto_rc_commands>
<!-- Define Mixing Parameters -->
<section name="MIXER">
<define name="AILERON_AILERON_RATE" value="0.9"/>
<define name="ELEV_ELEV_RATE" value="0.8"/>
</section>
<!-- Define RC commands to Servos in Manual -->
<command_laws>
<let var="aileron" value="@ROLL * AILERON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * ELEV_ELEV_RATE"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="AILERON_RIGHT" value="$aileron"/> <!--flip signs if necessary -->
<set servo="AILERON_LEFT" value=" - $aileron"/>
<set servo="ELEVATOR" value="$elevator"/>
<set servo="RUDDER" value="@YAW"/>
<set servo="FLAP" value="@FLAP"/>
</command_laws>
<!-- Define Max Roll and Pitch setpoints in Auto1 -->
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.7"/>
<define name="MAX_PITCH" value="0.6"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
<!-- Dummy Mag values for NPS -
replace with your own calibration -->
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
</section>
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
</section>
<!-- Define current estimator and Battery Level Warnings -->
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="50000"/>
<define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.3"/>
<!-- Flight values -->
<define name="MAX_BAT_LEVEL" value="16.8" unit="V" />
<define name="LOW_BAT_LEVEL" value="14.5" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="14.3" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="14.1" unit="V"/>
<!-- Simulator values -->
<!--
<define name="MAX_BAT_LEVEL" value="5.0" unit="V" />
<define name="LOW_BAT_LEVEL" value="4.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="3.5" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
-->
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="16." unit="m/s"/> <!-- GCS only -->
<define name="CARROT" value="5." unit="s"/> <!-- GCS only -->
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- TODO: double check the power controls settings, this value seems to be outdated -->
<!--define name="POWER_CTL_BAT_NOMINAL" value="23.2" unit="volt"/-->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="0.136"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.42"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.20"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.70"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.05" 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="0.142"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
<!-- 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="0.31415" unit="rad"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.31415" unit="rad"/>
<!-- landing control loop -->
<define name="LANDING_THROTTLE_PGAIN" value="600.0"/>
<define name="LANDING_THROTTLE_IGAIN" value="10.0"/>
<define name="LANDING_THROTTLE_MAX" value="0.65"/>
<define name="LANDING_DESIRED_SPEED" value="18" unit="m/s"/>
<define name="LANDING_PITCH_PGAIN" value="0.1"/>
<define name="LANDING_PITCH_IGAIN" value="0.1"/>
<define name="LANDING_PITCH_LIMITS" value="0.2" unit="rad"/>
<define name="LANDING_PITCH_FLARE" value="0.06"/>
<define name="LANDING_ALT_THROTTLE_KILL" value="15" unit="m"/>
<define name="LANDING_ALT_FLARE" value="5" unit="m"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="1.135"/>
<define name="COURSE_DGAIN" value="0.35"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.35" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.2" unit="rad"/>
<define name="PITCH_PGAIN" value="12900."/>
<!-- ORIGINAL GAIN -->
<!--define name="PITCH_DGAIN" value="1.5"/-->
<!-- SIMULATOR GAIN-->
<define name="PITCH_DGAIN" value="151.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
<define name="ROLL_ATTITUDE_GAIN" value="9000"/>
<define name="ROLL_RATE_GAIN" value="1600"/>
<define name="ROLL_SLEW" value="0.1"/>
</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="0.85"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.13"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.1"/><!-- 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="5" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0" 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>
<!-- Launcher Takeoff Configuration -->
<section name="LAUNCHER" prefix="LAUNCHER_TAKEOFF_">
<define name="PITCH" value="0.23" unit="rad"/>
<define name="HEIGHT" value="70" unit="m"/>
<define name="HEIGHT_THRESHOLD" value="10" unit="m"/>
<define name="MIN_SPEED_CIRCLE" value="8" unit="m/s"/>
<define name="DISTANCE" value="30" unit="m"/>
<define name="MIN_SPEED_LINE" value="5" unit="m/s"/>
<define name="CIRCLE_ALT" value="100" unit="m"/>
<define name="CIRCLE_RADIUS" value="200" unit="m"/>
<define name="MAX_CIRCLE_DISTANCE" value="800" unit="m"/>
</section>
<!-- Skid Landing Configuration -->
<section name="LANDING" prefix="SKID_LANDING_">
<define name="AF_HEIGHT" value="50" unit="m"/>
<define name="FINAL_HEIGHT" value="50" unit="m"/>
<define name="FINAL_STAGE_TIME" value="10" unit="s"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="JSBSIM_LAUNCHSPEED" value="25"/>
<define name="JSBSIM_MODEL" value="AGGIEAIR/minion" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_invariant.h" type="string"/>
<define name="JS_AXIS_THROTTLE" value="0"/>
<define name="JS_AXIS_THROTTLE_REVERSED" value="1"/>
<define name="JS_AXIS_ROLL" value="1"/>
<define name="JS_AXIS_PITCH" value="2"/>
<define name="JS_AXIS_PITCH_REVERSED" value="1"/>
<define name="JS_AXIS_YAW" value="3"/>
<define name="JS_AXIS_YAW_REVERSED" value="1"/>
<define name="JS_AXIS_FLAPS" value="5"/>
<define name="JS_AXIS_MODE" value="7"/>
<define name="JSBSIM_ROLL_TRIM" value="0.008"/>
<define name="JSBSIM_PITCH_TRIM" value="0.0375"/>
<define name="JSBSIM_YAW_TRIM" value="0.001"/>
</section>
</airframe>
conf/airframes/AGGIEAIR/aggieair_minty_lia.xml
+311
View File
@@ -0,0 +1,311 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
AggieAir Minty Fresh
-->
<airframe name="AggieAir Minty Fresh">
<firmware name="fixedwing">
<target name="ap" board="lisa_mx_2.1">
<module name="radio_control" type="sbus">
<configure name="SBUS_PORT" value="UART5"/>
</module>
<configure name="HAS_LUFTBOOT" value="1"/>
<configure name="FLASH_MODE" value="DFU"/>
<module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="UART3"/>
<configure name="MODEM_BAUD" value="B57600"/>
<define name="GEC_STATUS_LED" value="5"/>
</module>
</target>
<!-- NOTE: if you want to use extra_dl module for HITL
you have to set TELEMETRY_FREQUENCY to CONTROL_FREQUENCY -->
<configure name="PERIODIC_FREQUENCY" value="100"/>
<define name="CONTROL_FREQUENCY" value="100"/>
<configure name="TELEMETRY_FREQUENCY" value="100"/>
<define name="SERVO_HZ" value="100"/>
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="spektrum"/>
<module name="telemetry" type="transparent"/>
</target>
<target name="hitl" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="spektrum"/>
<configure name="INS_DEV" value="/dev/ttyUSB1"/>
<configure name="INS_BAUD" value="B230400"/>
<configure name="AP_DEV" value="/dev/ttyUSB2"/>
<configure name="AP_BAUD" value="B921600"/>
<module name="telemetry" type="transparent"/>
</target>
<module name="control"/>
<module name="navigation"/>
<module name="ins" type="vectornav">
<configure name="VN_PORT" value="UART2"/>
<configure name="VN_BAUD" value="B230400"/>
</module>
<define name="AGR_CLIMB" />
<define name="POLY_OSAM_HALF_SWEEP_ENABLED" value="FALSE"/>
<define name="GEOFENCE_DATALINK_LOST_TIME" value="45"/>
<module name="nav" type="line"/>
<module name="nav" type="flower"/>
<module name="nav" type="survey_poly_osam"/>
<module name="nav" type="launcher"/>
<module name="nav" type="skid_landing"/>
<module name="nav" type="line_osam"/>
<module name="sys_mon"/>
<module name="copilot"/>
<module name="extra_dl">
<!-- in order to use uart1 without chibios we need to remap the peripheral-->
<define name="REMAP_UART1" value="TRUE"/>
<configure name="EXTRA_DL_PORT" value="UART1"/>
<configure name="EXTRA_DL_BAUD" value="B921600"/>
</module>
<module name="lidar_sf11">
<configure name="LIDAR_SF11_I2C_DEV" value="i2c2"/>
</module>
<module name="battery_monitor.xml">
<define name="BATMON_REV4" value="1"/>
<define name="BATMON_CURRENT_OFFSET" value="-120"/>
<define name="BATMON_CURRENT_SENSITIVITY" value="25.6"/>
<define name="BATMON_TEMP_OFFSET" value="250"/>
<define name="BATMON_TEMP_SENSITIVITY" value="10"/>
</module>
<module name="air_data"/>
</firmware>
<!-- commands section -->
<!-- Servo Configuration -->
<servos>
<servo name="THROTTLE" no="5" min="1100" neutral="1100" max="1900"/>
<servo name="AILERON_RIGHT" no="1" min="1900" neutral="1500" max="1100"/>
<servo name="AILERON_LEFT" no="2" min="1100" neutral="1500" max="1900"/>
<servo name="ELEVATOR" no="3" min="1100" neutral="1500" max="1900"/>
<servo name="RUDDER" no="4" min="1100" neutral="1500" max="1900"/>
<servo name="FLAP" no="0" min="1900" neutral="1100" max="1100"/>
</servos>
<!-- Servo Command Structure -->
<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="FLAP" failsafe_value="9600"/>
</commands>
<!-- RC Command Structure -->
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="YAW" value="@YAW"/>
<set command="FLAP" value="@FLAP"/>
</rc_commands>
<!-- Define RC commands to Servo in Auto Mode -->
<auto_rc_commands>
<set command="YAW" value="@YAW"/>
</auto_rc_commands>
<!-- Define Mixing Parameters -->
<section name="MIXER">
<define name="AILERON_AILERON_RATE" value="0.9"/>
<define name="ELEV_ELEV_RATE" value="0.8"/>
</section>
<!-- Define RC commands to Servos in Manual -->
<command_laws>
<let var="aileron" value="@ROLL * AILERON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * ELEV_ELEV_RATE"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="AILERON_RIGHT" value="$aileron"/> <!--flip signs if necessary -->
<set servo="AILERON_LEFT" value=" - $aileron"/>
<set servo="ELEVATOR" value="$elevator"/>
<set servo="RUDDER" value="@YAW"/>
<set servo="FLAP" value="@FLAP"/>
</command_laws>
<!-- Define Max Roll and Pitch setpoints in Auto1 -->
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.7"/>
<define name="MAX_PITCH" value="0.6"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
<!-- Dummy Mag values for NPS -
replace with your own calibration -->
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
</section>
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
</section>
<!-- Define current estimator and Battery Level Warnings -->
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="50000"/>
<define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.3"/>
<!-- Flight values -->
<define name="MAX_BAT_LEVEL" value="16.8" unit="V" />
<define name="LOW_BAT_LEVEL" value="14.5" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="14.3" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="14.1" unit="V"/>
<!-- Simulator values -->
<!--
<define name="MAX_BAT_LEVEL" value="5.0" unit="V" />
<define name="LOW_BAT_LEVEL" value="4.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="3.5" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
-->
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="16." unit="m/s"/> <!-- GCS only -->
<define name="CARROT" value="5." unit="s"/> <!-- GCS only -->
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- TODO: double check the power controls settings, this value seems to be outdated -->
<!--define name="POWER_CTL_BAT_NOMINAL" value="23.2" unit="volt"/-->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="0.136"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.42"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.20"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.70"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.05" 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="0.142"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
<!-- 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="0.31415" unit="rad"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.31415" unit="rad"/>
<!-- landing control loop -->
<define name="LANDING_THROTTLE_PGAIN" value="600.0"/>
<define name="LANDING_THROTTLE_IGAIN" value="10.0"/>
<define name="LANDING_THROTTLE_MAX" value="0.65"/>
<define name="LANDING_DESIRED_SPEED" value="18" unit="m/s"/>
<define name="LANDING_PITCH_PGAIN" value="0.1"/>
<define name="LANDING_PITCH_IGAIN" value="0.1"/>
<define name="LANDING_PITCH_LIMITS" value="0.2" unit="rad"/>
<define name="LANDING_PITCH_FLARE" value="0.06"/>
<define name="LANDING_ALT_THROTTLE_KILL" value="15" unit="m"/>
<define name="LANDING_ALT_FLARE" value="5" unit="m"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="1.135"/>
<define name="COURSE_DGAIN" value="0.35"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.35" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.2" unit="rad"/>
<define name="PITCH_PGAIN" value="12900."/>
<!-- ORIGINAL GAIN -->
<define name="PITCH_DGAIN" value="1.5"/>
<!-- SIMULATOR GAIN-->
<!--define name="PITCH_DGAIN" value="151.5"/-->
<define name="ELEVATOR_OF_ROLL" value="1250"/>
<define name="ROLL_ATTITUDE_GAIN" value="9000"/>
<define name="ROLL_RATE_GAIN" value="1600"/>
<define name="ROLL_SLEW" value="0.1"/>
</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="0.85"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.13"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.1"/><!-- 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="5" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0" 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>
<!-- Launcher Takeoff Configuration -->
<section name="LAUNCHER" prefix="LAUNCHER_TAKEOFF_">
<define name="PITCH" value="0.23" unit="rad"/>
<define name="HEIGHT" value="70" unit="m"/>
<define name="HEIGHT_THRESHOLD" value="10" unit="m"/>
<define name="MIN_SPEED_CIRCLE" value="8" unit="m/s"/>
<define name="DISTANCE" value="30" unit="m"/>
<define name="MIN_SPEED_LINE" value="5" unit="m/s"/>
<define name="CIRCLE_ALT" value="100" unit="m"/>
<define name="CIRCLE_RADIUS" value="200" unit="m"/>
<define name="MAX_CIRCLE_DISTANCE" value="800" unit="m"/>
</section>
<!-- Skid Landing Configuration -->
<section name="LANDING" prefix="SKID_LANDING_">
<define name="AF_HEIGHT" value="50" unit="m"/>
<define name="FINAL_HEIGHT" value="50" unit="m"/>
<define name="FINAL_STAGE_TIME" value="10" unit="s"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="JSBSIM_LAUNCHSPEED" value="25"/>
<define name="JSBSIM_MODEL" value="AGGIEAIR/minion" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_invariant.h" type="string"/>
<define name="JS_AXIS_THROTTLE" value="0"/>
<define name="JS_AXIS_THROTTLE_REVERSED" value="1"/>
<define name="JS_AXIS_ROLL" value="1"/>
<define name="JS_AXIS_PITCH" value="2"/>
<define name="JS_AXIS_PITCH_REVERSED" value="1"/>
<define name="JS_AXIS_YAW" value="3"/>
<define name="JS_AXIS_YAW_REVERSED" value="1"/>
<define name="JS_AXIS_FLAPS" value="5"/>
<define name="JS_AXIS_MODE" value="7"/>
<define name="JSBSIM_ROLL_TRIM" value="0.008"/>
<define name="JSBSIM_PITCH_TRIM" value="0.0375"/>
<define name="JSBSIM_YAW_TRIM" value="0.001"/>
</section>
</airframe>
conf/gcs/AGGIEAIR/vertical.xml
+60 -43
View File
@@ -1,56 +1,21 @@
<!DOCTYPE layout SYSTEM "../layout.dtd">
<layout width="1600" height="939">
<layout width="1855" height="1056">
<columns>
<rows SIZE="600">
<widget NAME="strips" size="225"/>
<widget NAME="aircraft" size="350"/>
<widget NAME="alarms" size="350"/>
<widget NAME="alarms" size="467"/>
</rows>
<rows>
<widget NAME="map2d" size="937">
<papget type="message_field" display="text" x="145" y="11">
<widget NAME="map2d" size="1054">
<papget type="expression" display="gauge" x="66" y="680">
<property name="scale" value="1"/>
<property name="field" value="CAMERA_SNAPSHOT:array_temp"/>
<property name="format" value="FPA Temp: %.2f"/>
<property name="size" value="15."/>
<property name="color" value="green"/>
</papget>
<papget type="message_field" display="gauge" x="60" y="176">
<property name="scale" value="1"/>
<property name="field" value="CAMERA_PAYLOAD:used_disk"/>
<property name="min" value="0."/>
<property name="max" value="100."/>
<property name="expr" value="(RSSI_COMBINED.remote_rssi-RSSI_COMBINED.remote_noise)"/>
<property name="min" value="100"/>
<property name="max" value="250"/>
<property name="size" value="50."/>
<property name="text" value="Payload disk(%)"/>
</papget>
<papget type="message_field" display="led" x="465" y="22">
<property name="scale" value="1"/>
<property name="field" value="CAMERA_PAYLOAD:error_code"/>
<property name="size" value="15."/>
<property name="text" value="Payload status:"/>
</papget>
<papget type="message_field" display="text" x="144" y="57">
<property name="scale" value="1"/>
<property name="field" value="CAMERA_SNAPSHOT:snapshot_image_number"/>
<property name="format" value="Capture number: %.0f"/>
<property name="size" value="15."/>
<property name="color" value="green"/>
</papget>
<papget type="message_field" display="text" x="478" y="11">
<property name="scale" value="1"/>
<property name="field" value="CAMERA_PAYLOAD:error_code"/>
<property name="format" value="code: %.0f"/>
<property name="size" value="15."/>
<property name="color" value="green"/>
</papget>
<papget type="message_field" display="gauge" x="66" y="464">
<property name="scale" value="1."/>
<property name="field" value="COPILOT_STATUS:used_memory"/>
<property name="min" value="0."/>
<property name="max" value="100."/>
<property name="size" value="50."/>
<property name="text" value="Copilot mem(%)"/>
<property name="text" value="RSSI Remote(dB)"/>
</papget>
<papget type="message_field" display="gauge" x="64" y="367">
<property name="scale" value="1."/>
@@ -65,6 +30,21 @@
<property name="field" value="CAMERA_PAYLOAD:door_status"/>
<property name="size" value="15."/>
<property name="text" value="Door status:"/>
<property name="test_invert" value="true"/>
</papget>
<papget type="message_field" display="text" x="144" y="57">
<property name="scale" value="1"/>
<property name="field" value="CAMERA_SNAPSHOT:snapshot_image_number"/>
<property name="format" value="Capture number: %.0f"/>
<property name="size" value="15."/>
</papget>
<papget type="message_field" display="gauge" x="66" y="464">
<property name="scale" value="1."/>
<property name="field" value="COPILOT_STATUS:used_memory"/>
<property name="min" value="0."/>
<property name="max" value="100."/>
<property name="size" value="50."/>
<property name="text" value="Copilot mem(%)"/>
</papget>
<papget type="message_field" display="gauge" x="64" y="272">
<property name="scale" value="1.0"/>
@@ -74,6 +54,43 @@
<property name="size" value="50."/>
<property name="text" value="Payload mem(%)"/>
</papget>
<papget type="expression" display="gauge" x="187" y="681">
<property name="scale" value="1"/>
<property name="expr" value="(RSSI_COMBINED.local_rssi-RSSI_COMBINED.local_noise)"/>
<property name="min" value="100"/>
<property name="max" value="250"/>
<property name="size" value="50."/>
<property name="text" value="RSSI Local(dB)"/>
</papget>
<papget type="message_field" display="gauge" x="60" y="176">
<property name="scale" value="1"/>
<property name="field" value="CAMERA_PAYLOAD:used_disk"/>
<property name="min" value="0."/>
<property name="max" value="100."/>
<property name="size" value="50."/>
<property name="text" value="Payload disk(%)"/>
</papget>
<papget type="message_field" display="led" x="465" y="22">
<property name="scale" value="1"/>
<property name="field" value="CAMERA_PAYLOAD:error_code"/>
<property name="size" value="15."/>
<property name="text" value="Payload status:"/>
<property name="test_invert" value="true"/>
</papget>
<papget type="message_field" display="text" x="478" y="11">
<property name="scale" value="1"/>
<property name="field" value="CAMERA_PAYLOAD:error_code"/>
<property name="format" value="code: %.0f"/>
<property name="size" value="15."/>
<property name="color" value="green"/>
</papget>
<papget type="message_field" display="text" x="145" y="11">
<property name="scale" value="1"/>
<property name="field" value="CAMERA_SNAPSHOT:array_temp"/>
<property name="format" value="FPA Temp: %.2f"/>
<property name="size" value="15."/>
<property name="color" value="blue"/>
</papget>
</widget>
</rows>
</columns>
conf/telemetry/AGGIEAIR/aggieair_fixedwing.xml
+29 -3
View File
@@ -7,6 +7,7 @@
<message name="AUTOPILOT_VERSION" period="11.1"/>
<message name="ALIVE" period="5.1"/>
<message name="GPS_LLA" period="0.25"/>
<message name="GPS_INT" period="0.25"/>
<message name="NAVIGATION" period="1."/>
<message name="ATTITUDE" period="0.5"/>
<message name="ESTIMATOR" period="0.5"/>
@@ -24,7 +25,9 @@
<message name="SECURE_LINK_STATUS" period="2.1"/>
<message name="COMMANDS" period="1"/>
<message name="FBW_STATUS" period="2"/>
<message name="BATTERY_MONITOR" period="2"/>
<message name="VECTORNAV_INFO" period="1.0"/>
<message name="I2C_ERRORS" period="5.0"/>
</mode>
<mode name="minimal">
<message name="ALIVE" period="5"/>
@@ -108,9 +111,32 @@
</process>
<process name="Extra">
<mode name="default">
<message name="COMMANDS" period="0.01"/>
<message name="GPS_LLA" period="1.25"/>
<message name="ATTITUDE" period="1.1"/>
<message name="ACTUATORS" period="0.01"/> <!-- For trimming & HITL, important! Do not change! The period must match CONTROL_FREQUENCY-->
<message name="AUTOPILOT_VERSION" period="5.0"/>
<message name="ALIVE" period="1.0"/>
<message name="NAVIGATION" period="0.1"/>
<message name="GPS_LLA" period="0.01"/>
<message name="GPS_INT" period="0.01"/>
<message name="ATTITUDE" period="0.01"/>
<message name="ESTIMATOR" period="0.1"/>
<message name="WP_MOVED" period="1.0"/>
<message name="CIRCLE" period="1.0"/>
<message name="IMU_ACCEL" period="0.01"/>
<message name="INS" period="0.1"/>
<message name="INS_REF" period="0.1"/>
<message name="DESIRED" period="0.1"/>
<message name="BAT" period="1.0"/>
<message name="SEGMENT" period="1.0"/>
<message name="NAVIGATION_REF" period="0.5"/>
<message name="PPRZ_MODE" period="1.0"/>
<message name="SETTINGS" period="1.0"/>
<message name="DATALINK_REPORT" period="1.0"/>
<message name="DL_VALUE" period="1.0"/>
<message name="IR_SENSORS" period="1.0"/>
<message name="SECURE_LINK_STATUS" period="1.0"/>
<message name="COMMANDS" period="0.01"/> <!-- For HITL, important! Do not change! The period must match CONTROL_FREQUENCY -->
<message name="FBW_STATUS" period="1.0"/>
<message name="BATTERY_MONITOR" period="2"/>
<message name="VECTORNAV_INFO" period="1.0"/>
</mode>
</process>