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[AggieAir] Updated airframe config

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This commit is contained in:
Michal Podhradsky
2018-04-05 12:14:42 -07:00
parent 5d4b23bfb8
commit 8e04ae066e
5 changed files with 109 additions and 11 deletions
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conf/airframes/AGGIEAIR/aggieair_atomic_lia.xml
+4 -6
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@@ -4,8 +4,7 @@
AggieAir Atomic Tangerine
-->
<airframe name="Atomic Tangerine">
<airframe name="AggieAir Atomic Tangerine">
<firmware name="fixedwing">
<target name="ap" board="lisa_mx_2.1">
<module name="radio_control" type="sbus">
@@ -91,7 +90,7 @@ AggieAir Atomic Tangerine
<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="1900" neutral="1500" max="900"/>
<servo name="FLAP" no="0" min="990" neutral="1945" max="1945"/>
</servos>
<!-- Servo Command Structure -->
@@ -100,14 +99,14 @@ AggieAir Atomic Tangerine
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="FLAP" 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="PITCH" value="@PITCH"/>
<set command="YAW" value="@YAW"/>
<set command="FLAP" value="@FLAP"/>
</rc_commands>
@@ -115,7 +114,6 @@ AggieAir Atomic Tangerine
<!-- Define RC commands to Servo in Auto Mode -->
<auto_rc_commands>
<set command="YAW" value="@YAW"/>
<set command="FLAP" value="@FLAP"/>
</auto_rc_commands>
<!-- Define Mixing Parameters -->
conf/airframes/AGGIEAIR/aggieair_conf.xml
+1 -1
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@@ -27,7 +27,7 @@
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_Launcher.xml"
flight_plan="flight_plans/AGGIEAIR/BasicTuning_BlueRoom2.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"
gui_color="#ffff42870000"
conf/airframes/AGGIEAIR/aggieair_iris_indi.xml
+2 -2
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@@ -22,9 +22,9 @@
<define name="BAT_CHECKER_DELAY" value="80" /><!-- in seconds-->
<define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="80" /><!-- in seconds-->
<module name="telemetry" type="transparent">
<module name="telemetry" type="transparent_gec">
<configure name="MODEM_PORT" value="UART2"/>
<configure name="MODEM_BAUD" value="B115200"/>
<configure name="MODEM_BAUD" value="B57600"/>
</module>
<module name="imu" type="px4fmu_v2.4"/>
conf/flight_plans/AGGIEAIR/BasicTuning_BlueRoom2.xml
+100
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@@ -0,0 +1,100 @@
<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
<flight_plan alt="1550" ground_alt="1350" lat0="41.742897" lon0="-111.806986" max_dist_from_home="1600" name="BasicTuning" security_height="25" home_mode_height="200" qfu="90" geofence_sector="FlightArea" geofence_max_alt="2000" geofence_max_height="500">
<header>
#include "subsystems/datalink/datalink.h"
</header>
<waypoints>
<waypoint alt="1545.0" name="HOME" x="1006.3" y="-116.4"/>
<waypoint alt="1346.0" name="Bungee" x="1010.2" y="-266.0"/>
<waypoint alt="1545.0" name="STDBY" x="791.0" y="-215.8"/>
<waypoint alt="1547.0" name="1" x="1000.0" y="308.8"/>
<waypoint alt="1544.0" name="2" x="996.1" y="-541.7"/>
<waypoint alt="1793.0" name="S1" x="877.1" y="1093.2"/>
<waypoint alt="1793.0" name="_S2" x="2124.9" y="1115.0"/>
<waypoint alt="1793.0" name="_S3" x="2124.9" y="-668.0"/>
<waypoint alt="1793.0" name="_S4" x="877.1" y="-660.8"/>
<waypoint name="_P1" x="-1013.7" y="-2188.7"/>
<waypoint name="_P2" x="-999.8" y="1849.7"/>
<waypoint name="_P3" x="3104.1" y="1776.1"/>
<waypoint name="_P4" x="2772.9" y="-2236.1"/>
<waypoint alt="1404.0" name="AF" x="656.6" y="-321.0"/>
<waypoint alt="1347.0" name="TD" x="1155.4" y="-354.1"/>
<waypoint name="CLIMB" x="1142.0" y="-97.9"/>
<waypoint name="_BASELEG" x="168.8" y="-13.8"/>
<waypoint name="PAYLOAD" x="100" y="50"/>
</waypoints>
<sectors>
<sector name="Section1">
<corner name="S1"/>
<corner name="_S2"/>
<corner name="_S3"/>
<corner name="_S4"/>
</sector>
<sector name="FlightArea" color="red">
<corner name="_P1"/>
<corner name="_P2"/>
<corner name="_P3"/>
<corner name="_P4"/>
</sector>
</sectors>
<includes>
<include name="L" procedure="AGGIEAIR/aggieair_landing.xml"/>
</includes>
<exceptions>
<exception cond="InsideFlightArea(GetPosX(), GetPosY()) == FALSE" deroute="Go Home"/>
</exceptions>
<blocks>
<block name="Wait GPS">
<set value="1" var="autopilot.kill_throttle"/>
<while cond="!GpsFixValid()"/>
</block>
<block name="Geo init">
<call_once fun="NavSetGroundReferenceHere()"/>
</block>
<block name="Setup Wait">
<set value="1" var="autopilot.kill_throttle"/>
<while cond="TRUE"/>
</block>
<block name="Launch" strip_button="TakeOff (wp CLIMB)" strip_icon="takeoff.png">
<set value="0" var="autopilot.kill_throttle"/>
<call_once fun="nav_launcher_setup()"/>
<call fun="nav_launcher_run()"/>
<deroute block="Standby"/>
</block>
<block name="CircleUpTo1000">
<circle alt="2350" radius="500" wp="STDBY"/>
</block>
<block name="Standby" strip_button="Standby" strip_icon="home.png">
<circle radius="200" wp="STDBY"/>
</block>
<block name="StandbyLeft">
<circle radius="-200" wp="STDBY"/>
</block>
<block name="Figure 8 around Standby" strip_button="Figure 8 (wp 1-2)" strip_icon="eight.png">
<eight center="STDBY" radius="nav_radius" turn_around="1"/>
</block>
<block name="Small Figure 8 around Standby" strip_button="Figure 8 (wp 1-2)" strip_icon="eight.png">
<eight center="STDBY" radius="25" turn_around="1"/>
</block>
<block name="Oval 1-2" strip_button="Oval (wp 1-2)" strip_icon="oval.png">
<oval p1="1" p2="2" radius="nav_radius"/>
</block>
<block name="Poly Survey">
<call_once fun="nav_survey_poly_osam_setup(WP_S1, 4, 200, 90)"/>
<exception cond="PolySurveySweepBackNum >=1" deroute="Standby"/>
<call fun="nav_survey_poly_osam_run()"/>
</block>
<block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
<call_once fun="nav_line_setup()"/>
<call fun="nav_line_run(WP_1, WP_2, nav_radius)"/>
</block>
<block name="Flower">
<call_once fun="nav_flower_setup(WP_1,WP_2)"/>
<call fun="nav_flower_run()"/>
</block>
<block name="Go Home">
<circle radius="nav_radius" wp="HOME"/>
</block>
</blocks>
</flight_plan>
conf/radios/AGGIEAIR/aggieair_taranis.xml
+2 -2
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@@ -24,10 +24,10 @@ Note: a command may be reversed by exchanging min and max values
<radio name="Taranis" data_min="987" data_max="2012" sync_min ="5000" sync_max ="15000" pulse_type="POSITIVE">
<channel ctl="1" function="THROTTLE" min="990" neutral="990" max="2012" average="0"/>
<channel ctl="2" function="ROLL" min="990" neutral="1500" max="2012" average="0"/>
<channel ctl="3" function="PITCH" min="990" neutral="1500" max="2012" average="0"/>
<channel ctl="3" function="PITCH" min="2012" neutral="1500" max="990" average="0"/>
<channel ctl="4" function="YAW" min="990" neutral="1500" max="2012" average="0"/>
<channel ctl="5" function="SWITCH_A" min="990" neutral="1500" max="2012" average="1"/>
<channel ctl="6" function="FLAP" min="990" neutral="1500" max="2012" average="1"/>
<channel ctl="6" function="FLAP" min="2012" neutral="1500" max="990" average="1"/>
<channel ctl="7" function="SWITCH_C" min="990" neutral="1500" max="2012" average="1"/>
<channel ctl="8" function="MODE" min="2012" neutral="1500" max="990" average="1"/>
<channel ctl="9" function="SWITCH_E" min="990" neutral="1500" max="2012" average="1"/>