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[separate FBW-AP] Transfer RC-channels from radio.h, send COMMANDS and FBW_STATUS from the ap side.

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closes #726
This commit is contained in:
dewagter
2014-05-22 11:58:39 +02:00
committed by Felix Ruess
parent 53c70ea042
commit 8e43f28001
6 changed files with 325 additions and 0 deletions
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conf/airframes/CDW/TwoSeas.xml
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
Use settings/tuning_ins.xml
Use telemetry/default_fixedwing_imu.xml
3x parallel redundant FBW-boards with DUAL-SBUS
1x Lisa-L with XSens Mtig700
-->
<airframe name="TwoSeasTwenty">
<!-- ************************* FIRMWARE ************************* -->
<firmware name="fixedwing">
<target name="ap" board="lisa_l_1.0">
<configure name="SEPARATE_FBW" value="1"/>
<configure name="AHRS_ALIGNER_LED" value="1"/>
<configure name="CPU_LED" value="1"/>
<define name="LINK_MCU_LED" value="4"/>
<!-- FBW -->
<subsystem name="actuators" type="dummy"/>
<subsystem name="intermcu" type="uart">
<configure name="INTERMCU_PORT_NR" value="2"/>
</subsystem>
<!-- AP -->
<subsystem name="control"/>
<subsystem name="navigation"/>
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B9600"/>
<configure name="MODEM_PORT" value="UART3"/>
</subsystem>
<subsystem name="ins" type="xsens700">
<configure name="XSENS_UART_NR" value="1"/>
<configure name="XSENS_UART_BAUD" value="B230400"/>
</subsystem>
</target>
<target name="fbw" board="lisa_m_2.0">
<define name="OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP" value="1"/>
<define name="LINK_MCU_LED" value="1"/>
<configure name="HAS_LUFTBOOT" value="0"/>
<!-- no usb -->
<!-- RC -->
<subsystem name="radio_control" type="sbus_dual">
<configure name="SBUS1_PORT" value="UART3"/>
<configure name="SBUS2_PORT" value="UART5"/>
</subsystem>
<!-- FBW <-> AP -->
<subsystem name="intermcu" type="uart">
<configure name="INTERMCU_PORT_NR" value="1"/>
</subsystem>
<!-- SERVO'S -->
<subsystem name="actuators" type="pwm"/>
<define name="USE_SERVOS_7AND8"/>
</target>
<target name="sim" board="pc">
<subsystem name="radio_control" type="ppm"/>
<!-- AP -->
<subsystem name="control"/>
<subsystem name="navigation"/>
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B9600"/>
<configure name="MODEM_PORT" value="UART3"/>
</subsystem>
<subsystem name="ins" type="xsens700">
<configure name="XSENS_UART_NR" value="1"/>
<configure name="XSENS_UART_BAUD" value="B230400"/>
</subsystem>
</target>
<define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/>
<define name="TUNE_AGRESSIVE_CLIMB"/>
<define name="STRONG_WIND"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<define name="RADIO_CONTROL_AUTO1"/>
</firmware>
<!-- ************************* MODULES ************************* -->
<modules>
<load name="light.xml">
<define name="LIGHT_LED_STROBE" value="6"/>
<!-- <define name="LIGHT_LED_NAV" value="2"/> -->
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
</load>
<load name="nav_line.xml"/>
<!--load name="gas_engine_idle.xml"/-->
</modules>
<!-- ************************* ACTUATORS ************************* -->
<servos>
<servo name="THROTTLE_LEFT" no="3" min="1950" neutral="1850" max="900"/>
<servo name="THROTTLE_RIGHT" no="2" min="1950" neutral="1850" max="900"/>
<servo name="AILERONS" no="1" min="1800" neutral="1500" max="1120"/>
<servo name="ELEVATORS" no="0" max="1000" neutral="1455" min="1900"/>
<servo name="RUDDER" no="4" max="1875" neutral="1555" min="1200"/>
<servo name="FLAPS" no="5" max="1020" neutral="1335" min="1650"/>
</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="-9600"/>
<axis name="IDLE1" failsafe_value="0"/>
<axis name="IDLE2" 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"/>
<set command="IDLE1" value="@GAIN1"/>
<set command="IDLE2" value="@GAIN2"/>
</rc_commands>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="70" unit="deg"/>
<define name="MAX_PITCH" value="50" unit="deg"/>
</section>
<section name="SERVO_MIXER_GAINS">
<define name="MAX_BRAKE_RATE" value="80"/>
</section>
<command_laws>
<ratelimit var="slow_flaps" value="@FLAPS" rate_min="-MAX_BRAKE_RATE" rate_max="MAX_BRAKE_RATE"/>
<set servo="THROTTLE_LEFT" value="((@THROTTLE)*0.9f) - ((@IDLE1)*0.1f)"/>
<set servo="THROTTLE_RIGHT" value="((@THROTTLE)*0.9f) - ((@IDLE2)*0.1f)"/>
<set servo="AILERONS" value="@ROLL"/>
<set servo="ELEVATORS" value="@PITCH"/>
<set servo="RUDDER" value="@YAW"/>
<set servo="FLAPS" value="$slow_flaps"/>
</command_laws>
<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="0.0" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.0" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
<!-- ************************* SENSORS ************************* -->
<!--
<section name="XSENS">
<define name="GPS_IMU_LEVER_ARM_X" value="-0.285f"/>
<define name="GPS_IMU_LEVER_ARM_Y" value="0.0f"/>
<define name="GPS_IMU_LEVER_ARM_Z" value="0.0f"/>
</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"/>
</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>
<!-- ************************* GAINS ************************* -->
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="0.85"/>
<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="0."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="0."/>
<define name="PITCH_DGAIN" value="0"/>
<define name="ELEVATOR_OF_ROLL" value="0"/>
-->
<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"/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="7.6" 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="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>
<!-- ************************* MISC ************************* -->
<section name="BAT">
<!-- 2S LiPo with 1000mAh -->
<define name="LOW_BAT_LEVEL" value="7.5" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="7.3" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="7.0" unit="V"/>
<define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
</section>
<section name="SIMU">
<define name="YAW_RESPONSE_FACTOR" value="0.7"/>
</section>
<section name="MISC">
<define name="TELEMETRY_MODE_FBW" value="1"/>
<define name="NOMINAL_AIRSPEED" value="28.0" unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="XBEE_INIT" value="&quot;ATPL4\rATRN5\rATTT80\r&quot;"/>
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
<define name="COMMAND_ROLL_TRIM" value="180"/>
<define name="COMMAND_PITCH_TRIM" value="-194."/>
<define name="VoltageOfAdc(adc)" value="(0.0034912109375*adc)"/>
<!-- 12bit 3.3V over 10k/3k bridge -->
</section>
<section name="NAV">
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
</airframe>
conf/airframes/CDW/conf_two_seas.xml
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<conf>
<aircraft
name="TwoSeas"
ac_id="2"
airframe="airframes/CDW/TwoSeas.xml"
radio="radios/T8FG_SBUS.xml"
telemetry="telemetry/default_fixedwing.xml"
flight_plan="flight_plans/versatile.xml"
settings=" settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/ins_neutrals.xml"
gui_color="blue"
/>
</conf>
conf/telemetry/default_fixedwing.xml
+2
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@@ -28,6 +28,8 @@
<message name="GPS_SOL" period="2.0"/>
<message name="CAM" period="0.5"/>
<message name="CAM_POINT" period="1.0"/>
<message name="COMMANDS" period="5"/>
<message name="FBW_STATUS" period="2"/>
</mode>
<mode name="minimal">
<message name="ALIVE" period="5"/>
conf/telemetry/default_fixedwing_imu.xml
+2
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@@ -30,6 +30,8 @@
<message name="IMU_MAG" period="1.3"/>
<message name="CAM" period="0.5"/>
<message name="CAM_POINT" period="1.0"/>
<message name="COMMANDS" period="5"/>
<message name="FBW_STATUS" period="2"/>
</mode>
<mode name="minimal">
<message name="ALIVE" period="5"/>
conf/telemetry/default_fixedwing_imu_9k6.xml
+2
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@@ -28,6 +28,8 @@
<message name="IMU_ACCEL" period=".8"/>
<message name="IMU_GYRO" period=".9"/>
<message name="IMU_MAG" period="1.9"/>
<message name="COMMANDS" period="5"/>
<message name="FBW_STATUS" period="2"/>
</mode>
<mode name="minimal">
<message name="ALIVE" period="5"/>
sw/airborne/link_mcu_usart.c
+39
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@@ -244,11 +244,50 @@ struct link_mcu_msg link_mcu_from_fbw_msg;
inline void parse_mavpilot_msg( void );
#ifdef AP
#include "subsystems/datalink/telemetry.h"
#define RC_OK 0
#define RC_LOST 1
#define RC_REALLY_LOST 2
static void send_commands(void) {
DOWNLINK_SEND_COMMANDS(DefaultChannel, DefaultDevice, COMMANDS_NB, ap_state->commands);
}
static void send_fbw_status(void) {
uint8_t rc_status = 0;
uint8_t fbw_status = 0;
if (fbw_state->status & _BV(STATUS_MODE_AUTO))
fbw_status = FBW_MODE_AUTO;
if (fbw_state->status & _BV(STATUS_MODE_FAILSAFE))
fbw_status = FBW_MODE_FAILSAFE;
if (fbw_state->status & _BV(STATUS_RADIO_REALLY_LOST))
rc_status = RC_REALLY_LOST;
else if (fbw_state->status & _BV(RC_OK))
rc_status = RC_OK;
else
rc_status = RC_LOST;
DOWNLINK_SEND_FBW_STATUS(DefaultChannel, DefaultDevice,
&(rc_status), &(fbw_state->ppm_cpt), &(fbw_status), &(fbw_state->vsupply), &(fbw_state->current));
}
#endif
void link_mcu_init( void )
{
intermcu_data.status = LINK_MCU_UNINIT;
intermcu_data.msg_available = FALSE;
intermcu_data.error_cnt = 0;
#ifdef AP
#if PERIODIC_TELEMETRY
// If FBW has not telemetry, then AP can send some of the info
register_periodic_telemetry(DefaultPeriodic, "COMMANDS", send_commands);
register_periodic_telemetry(DefaultPeriodic, "FBW_STATUS", send_fbw_status);
#endif
#endif
}
void parse_mavpilot_msg( void )