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This commit is contained in:
Antoine Drouin
2006-04-20 16:57:30 +00:00
parent ecb46384a7
commit 910de39460
8 changed files with 29 additions and 269 deletions
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conf/airframes/flyingtux.xml
+5 -2
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@@ -121,15 +121,18 @@ fbw.srcs += $(SRC_ARCH)/servos_4017.c
fbw.CFLAGS += -DRADIO_CONTROL
fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
fbw.CFLAGS += -DDOWNLINK -DUART0
fbw.CFLAGS += -DDOWNLINK -DUART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=uart0
fbw.srcs += fbw_downlink.c $(SRC_ARCH)/uart_hw.c
fbw.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK
fbw.srcs += inter_mcu.c $(SRC_ARCH)/spi_hw.c
ap.CFLAGS += -DDOWNLINK -DUSE_UART0
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=uart0
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c
ap.CFLAGS += -DMCU_SPI_LINK
ap.srcs += inter_mcu.c link_mcu.c $(SRC_ARCH)/link_mcu_ap.c $(SRC_ARCH)/spi_hw.c
ap.CFLAGS += -DINFRARED -DGPS -DUBX -DRADIO_CONTROL
# -DRADIO_CONTROL_CALIB
# ap.EXTRA_SRCS += if_calib.c
conf/airframes/gorrazoptere_esc_3DMG_test.xml
-97
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@@ -1,97 +0,0 @@
<airframe name="Gorrazoptere_esc_3dmg">
<servos>
<servo name="MOTOR_FRONT" no="0" min="0" neutral="0" max="0x3ff"/>
<servo name="MOTOR_BACK" no="1" min="0" neutral="0" max="0x3ff"/>
<servo name="MOTOR_LEFT" no="2" min="0" neutral="0" max="0x3ff"/>
<servo name="MOTOR_RIGHT" no="3" min="0" neutral="0" max="0x3ff"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL_DOT" failsafe_value="0"/>
<axis name="PITCH_DOT" failsafe_value="0"/>
<axis name="YAW_DOT" failsafe_value="0"/>
</commands>
<section name="MIXER">
<define name="ROLL_PART" value="0.15"/>
<define name="PITCH_PART" value="0.15"/>
<define name="YAW_PART" value="0.2"/>
</section>
<command_laws>
<let var="roll" value="ROLL_PART * @ROLL_DOT"/>
<let var="pitch" value="PITCH_PART * @PITCH_DOT"/>
<let var="yaw" value="YAW_PART * @YAW_DOT"/>
<let var="throttle" value="@THROTTLE"/>
<set servo="MOTOR_FRONT" value="$throttle + $pitch + $yaw"/>
<set servo="MOTOR_BACK" value="$throttle - $pitch + $yaw"/>
<set servo="MOTOR_RIGHT" value="$throttle + $roll - $yaw"/>
<set servo="MOTOR_LEFT" value="$throttle - $roll - $yaw"/>
</command_laws>
<control>
<level name="rate">
<loop name="rolldot" loop_type="P" pgain="100" saturation = "MAX_PPRZ"
data_type = "int16_t"
measure="estimator_rolldot" setpoint="control_rolldot_setpoint" output="control_commands[COMMAND_ROLL_DOT]"/>
<loop name="pitchdot" loop_type="P" pgain="100" saturation = "MAX_PPRZ"
data_type = "int16_t"
measure="estimator_pitchdot" setpoint="control_pitchdot_setpoint" output="control_commands[COMMAND_PITCH_DOT]"/>
<loop name="yawdot" loop_type="P" pgain="100" saturation = "MAX_PPRZ"
data_type = "int16_t"
measure="estimator_yawdot" setpoint="control_yawdot_setpoint" output="control_commands[COMMAND_YAW_DOT]"/>
</level>
<level name="attitude">
<loop name="roll" loop_type="P" pgain="100" saturation = "444"
data_type = "int16_t"
measure="estimator_roll" setpoint="control_roll_setpoint" output="control_rolldot_setpoint"/>
<loop name="pitch" loop_type="PID" pgain="100" dgain="200" igain="300" saturation = "444" integral_saturation = "777"
data_type = "int16_t"
measure="estimator_pitch" setpoint="control_pitch_setpoint" output="control_pitchdot_setpoint"/>
</level>
<mode name="MANUAL">
<input input="rc_values[RADIO_THROTTLE]" output="control_commands[COMMAND_THROTTLE]" range="1"/>
<input input="rc_values[RADIO_ROLL]" output="control_rolldot_setpoint" range="(1. * 32768000. / 8500. / 9600.)"/>
<input input="rc_values[RADIO_PITCH]" output="control_pitchdot_setpoint" range="(1. * 32768000. / 8500. / 9600.)"/>
<input input="rc_values[RADIO_YAW]" output="control_yawdot_setpoint" range="(1. * 32768000. / 8500. / 9600.)"/>
<run name="rate"/>
</mode>
<mode name="AUTO1">
<input input="rc_values[RADIO_THROTTLE]" output="control_commands[COMMAND_THROTTLE]" range="1"/>
<input input="rc_values[RADIO_ROLL]" output="control_roll_setpoint" range="1"/>
<input input="rc_values[RADIO_PITCH]" output="control_pitch_setpoint" range="1"/>
<input input="rc_values[RADIO_YAW]" output="control_yawdot_setpoint" range="1"/>
<run name="rate"/>
<run name="attitude"/>
</mode>
<!--
<mode name="AUTO2">
<input input="rc_values[RADIO_THROTTLE]" output="control_commands[COMMAND_THROTTLE]" range="1"/>
<input input="rc_values[RADIO_ROLL]" output="control_setpoint_roll" range="1"/>
<input input="rc_values[RADIO_PITCH]" output="control_setpoint_pitch" range="1"/>
<input input="rc_values[RADIO_YAW]" output="control_setpoint_yawdot" range="1"/>
</mode>
-->
</control>
<makefile>
include $(PAPARAZZI_SRC)/conf/autopilot/disc_board.makefile
ap.CFLAGS += -DRADIO_CONTROL
ap.EXTRA_SRCS += radio_control.c $(SRC_ARCH)/ppm_hw.c
ap.CFLAGS += -DACTUATORS=\"servos_esc_hw.h\"
ap.EXTRA_SRCS += $(SRC_ARCH)/servos_esc_hw.c
ap.CFLAGS += -DESTIMATOR=\"estimator_3dmg.h\"
ap.EXTRA_SRCS += estimator_3dmg.c
ap.CFLAGS += -D_3DMG
ap.EXTRA_SRCS += 3dmg.c
</makefile>
</airframe>
conf/airframes/ladybug.xml
-98
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@@ -1,98 +0,0 @@
<!-- hacker A20-34S / apc 7*5 / 2 lipos 950 mah / 8a au sol -->
<airframe name="Ladybug">
<section name="adc" prefix="ADC_CHANNEL_">
<define name="IR1" value="1"/>
<define name="IR2" value="0"/>
<define name="IR_NB_SAMPLES" value="16"/>
</section>
<servos min="1000" neutral="1500" max="2000">
<servo name="GAZ" no="0" min="1250" neutral="1250" max="1850"/>
<servo name="AILEVON_RIGHT" no="2" min="1200" neutral="1495" max="2000"/>
<servo name="AILEVON_LEFT" no="4" min="1200" neutral="1540" max="2000"/>
</servos>
<command>
<set servo="GAZ" value="2 * @THROTTLE"/>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="AILEVON_LEFT" value="$aileron + $elevator"/>
<set servo="AILEVON_RIGHT" value="$aileron - $elevator"/>
</command>
<section name="MIXER">
<define name="AILEVON_AILERON_RATE" value="0.55"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
</section>
<section name="INFRARED" prefix="IR_">
<define name="ROLL_NEUTRAL_DEFAULT" value="-5" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="9" unit="deg"/>
<define name="DEFAULT_CONTRAST" value="400"/>
<define name="RAD_OF_IR_CONTRAST" value="0.6"/>
<define name="RAD_OF_IR_MIN_VALUE" value="0.0008"/>
<define name="RAD_OF_IR_MAX_VALUE" value="0.004"/>
<linear name="RollOfIrs" arity="2" coeff1="1" coeff2="-1"/>
<linear name="PitchOfIrs" arity="2" coeff1="1" coeff2="1"/>
<define name="ADC_ROLL_NEUTRAL" value="0"/>
<define name="ADC_PITCH_NEUTRAL" value="1020"/>
</section>
<section name="PID">
<define name="ROLL_PGAIN" value="6000."/>
<define name="PITCH_OF_ROLL" value="0.2"/>
<define name="PITCH_PGAIN" value="11000."/>
<define name="MAX_ROLL" value="0.4"/>
<define name="AUTO1_MAX_ROLL" value="0.8"/>
<define name="MAX_PITCH" value="0.25"/>
<define name="MIN_PITCH" value="-0.35"/>
<define name="AILERON_OF_GAZ" value="-0.04"/>
</section>
<section name="ALT" prefix="CLIMB_">
<define name="PITCH_PGAIN" value="-0.1"/>
<define name="PITCH_IGAIN" value="1.0"/>
<define name="PGAIN" value="-0.025"/>
<define name="IGAIN" value="0.01"/>
<define name="MAX" value="1."/>
<define name="LEVEL_GAZ" value="0.5"/>
<define name="GAZ_OF_CLIMB" value="0.15" unit="% / m/s"/>
<define name="PITCH_OF_VZ_PGAIN" value="0.08"/>
</section>
<section name="NAV">
<define name="COURSE_PGAIN" value="-0.3"/>
<define name="ALTITUDE_PGAIN" value="-0.05"/>
<define name="NAV_PITCH" value="0."/>
</section>
<section name="BAT" channel="3">
<define name="MILLIAMP_PER_PERCENT" value="1."/>
<define name="VOLTAGE_ADC_A" value="0.01753"/>
<define name="VOLTAGE_ADC_B" value="0.214462"/>
<define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
<define name="LOW_BATTERY" value="90" unit="1e-1V"/>
</section>
<section name="SERVOS" channel="6">
<define name="SERVOS_VOLTAGE_ADC_A" value="0.005661"/>
<define name="SERVOS_VOLTAGE_ADC_B" value="0.014948"/>
<define name="ServosVoltageOfAdc(adc)" value="(SERVOS_VOLTAGE_ADC_A * adc + SERVOS_VOLTAGE_ADC_B)"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="9."/>
<define name="CARROT" value="5." unit="s"/>
</section>
<section name="SIMU">
<define name="ROLL_RESPONSE_FACTOR" value="5."/>
<define name="YAW_RESPONSE_FACTOR" value="1."/>
<define name="WEIGHT" value="0.45"/>
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
<define name="DEFAULT_GAZ" value="CLIMB_LEVEL_GAZ+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="45" unit="deg"/>
<define name="PHI0" value="-45" unit="deg"/>
</section>
<makefile>
include $(PAPARAZZI_SRC)/conf/autopilot/v1_2.makefile
ap.CFLAGS += -DUBX
</makefile>
</airframe>
conf/airframes/microjet1.xml
+8 -2
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@@ -114,12 +114,18 @@ fbw.srcs += $(SRC_ARCH)/servos_4017.c
fbw.CFLAGS += -DRADIO_CONTROL
fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
fbw.CFLAGS += -DDOWNLINK -DUSE_UART0
fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=uart0
fbw.srcs += downlink.c $(SRC_ARCH)/uart_hw.c
ap.CFLAGS += -DDOWNLINK -DUSE_UART0
fbw.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK
fbw.srcs += inter_mcu.c $(SRC_ARCH)/spi_hw.c
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=uart0
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c
ap.CFLAGS += -DMCU_SPI_LINK
ap.srcs += inter_mcu.c link_mcu.c $(SRC_ARCH)/link_mcu_ap.c $(SRC_ARCH)/spi_hw.c
ap.CFLAGS += -DGPS -DUBX -DINFRARED -DRADIO_CONTROL
</makefile>
conf/airframes/twinstar2.xml
+5 -2
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@@ -123,12 +123,15 @@ fbw.srcs += $(SRC_ARCH)/servos_4017.c
fbw.CFLAGS += -DRADIO_CONTROL
fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
fbw.CFLAGS += -DDOWNLINK -DUART0
fbw.CFLAGS += -DDOWNLINK -DUART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=uart0
fbw.srcs += fbw_downlink.c $(SRC_ARCH)/uart_hw.c
fbw.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK
fbw.srcs += inter_mcu.c $(SRC_ARCH)/spi_hw.c
fbw.CFLAGS += -Werror
ap.CFLAGS += -DDOWNLINK -DUSE_UART0
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=uart0
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c
ap.CFLAGS += -DGPS -DUBX -DINFRARED -DRADIO_CONTROL
conf/airframes/twinstar4.xml
+3 -2
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@@ -126,12 +126,13 @@ fbw.srcs += $(SRC_ARCH)/servos_4017.c
fbw.CFLAGS += -DRADIO_CONTROL
fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
fbw.CFLAGS += -DDOWNLINK -DUART0
fbw.CFLAGS += -DDOWNLINK -DUART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=uart0
fbw.srcs += fbw_downlink.c $(SRC_ARCH)/uart_hw.c
fbw.CFLAGS += -DDEBUG
ap.CFLAGS += -DDOWNLINK -DUSE_UART0
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=uart0
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c
ap.CFLAGS += -DINFRARED -DGPS -DUBX -DRADIO_CONTROL_CALIB
conf/airframes/twinstar5.xml
+8 -5
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@@ -121,19 +121,22 @@ include $(PAPARAZZI_SRC)/conf/autopilot/classix_proto1.makefile
fbw.srcs += commands.c
fbw.CFLAGS += -DDOWNLINK -DUSE_UART0
fbw.srcs += downlink.c $(SRC_ARCH)/uart_hw.c
fbw.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK_FALLING
fbw.srcs += $(SRC_ARCH)/servos_4017_hw.c
fbw.CFLAGS += -DRADIO_CONTROL
fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
fbw.srcs += inter_mcu.c $(SRC_ARCH)/adc_hw.c
fbw.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK
fbw.srcs += inter_mcu.c $(SRC_ARCH)/spi_hw.c
fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=uart0
fbw.srcs += downlink.c $(SRC_ARCH)/uart_hw.c
fbw.srcs += $(SRC_ARCH)/adc_hw.c
ap.CFLAGS += -DDOWNLINK -DUSE_UART0
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=uart0
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c
#ap.CFLAGS += -DGPS -DUBX -DUSE_UART1
conf/airframes/twinstar_test.xml
-61
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@@ -1,61 +0,0 @@
<airframe name="TwinTest">
<servos>
<servo name="GAZ" no="9" min="1000" neutral="1000" max="2000"/>
<servo name="AILERON_LEFT" no="2" min="1100" neutral="1492" max="2000"/>
<servo name="AILERON_RIGHT" no="6" min="1000" neutral="1385" max="1833"/>
<servo name="ELEVATOR" no="7" min="1000" neutral="1500" max="2000"/>
<servo name="RUDDER" no="3" min="1270" neutral="1546" max="1850"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="9600"/>
<axis name="ROLL" failsafe_value="20"/>
<axis name="PITCH" failsafe_value="9600"/>
<axis name="YAW" failsafe_value="0"/>
</commands>
<!--
<control>
<mode name="MANUAL">
<control type="direct" input="RADIO_THROTTLE" output="COMMAND_THROTTLE"/>
<control type="direct" input="RADIO_ROLL" output="COMMAND_ROLL"/>
<control type="direct" input="RADIO_PITCH" output="COMMAND_PITCH"/>
<control type="direct" input="RADIO_YAW" output="COMMAND_YAW"/>
</mode>
<mode name="AUTO1">
<control type="direct" input="RADIO_THROTTLE" output="COMMAND_THROTTLE"/>
<control type="P" setpoint="RADIO_ROLL" measure="estimator_roll" output="COMMAND_ROLL"/>
<control type="P" setpoint="RADIO_PITCH" measure="estimator_pitch" output="COMMAND_PITCH"/>
<control type="direct" input="RADIO_YAW" output="COMMAND_YAW"/>
</mode>
<mode name="AUTO2">
<control type="nav" output="COMMAND_THROTTLE"/>
<control type="nav" output="COMMAND_ROLL"/>
<control type="nav" output="COMMAND_PITCH"/>
<control type="direct" input="RADIO_YAW" output="COMMAND_YAW"/>
</mode>
</control>
-->
<section name="MIXER">
<define name="AILERON_DIFF" value="0.66"/>
<define name="COMBI_SWITCH" value="1.0"/>
</section>
<command_laws>
<set servo="GAZ" value="@THROTTLE"/>
<set servo="ELEVATOR" value="@PITCH"/>
<let var="roll" value="@ROLL"/>
<set servo="AILERON_LEFT" value="($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>
<makefile>
include $(PAPARAZZI_SRC)/conf/autopilot/test_v1_2_1.makefile
fbw.CFLAGS += -DRADIO_CONTROL
fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c control_2.c
</makefile>
</airframe>