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gorazoptere merging

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This commit is contained in:
Antoine Drouin
2005-08-22 15:00:51 +00:00
parent de663fb524
commit 925d04fb01
6 changed files with 197 additions and 2 deletions
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conf/Makefile.avr
+1 -1
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@@ -115,7 +115,7 @@ $(OBJDIR)/%.hex: $(OBJDIR)/%.elf
%.install: $(OBJDIR)/%.hex check_arch
# stk200 needs to be erased first
$(UISP) $(UISP_FLAGS) --erase
$(UISP) $(UISP_FLAGS) --upload --verify if=$<
$(UISP) $(UISP_FLAGS) --upload if=$<
erase: check_arch
$(UISP) $(ISP_FLAGS) --erase
conf/airframes/gorazoptere_brushless_3DMG.xml
+83
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@@ -0,0 +1,83 @@
<airframe name="Gorazoptere_brushless_3DMG" ctl_board="V1_2_1" gps="SAM_LS">
<section name="imu" prefix="IMU_">
<define name="TYPE_3DMG" value="1"/>
</section>
<section name="rate_loop">
<define name="ROLL_DOT_PGAIN" value="-192."/>
<define name="ROLL_DOT_IGAIN" value="0."/>
<define name="ROLL_DOT_DGAIN" value="0."/>
<define name="PITCH_DOT_PGAIN" value="-192."/>
<define name="PITCH_DOT_IGAIN" value="0."/>
<define name="PITCH_DOT_DGAIN" value="0."/>
<define name="YAW_DOT_PGAIN" value="-100."/>
<define name="YAW_DOT_IGAIN" value="0."/>
<define name="YAW_DOT_DGAIN" value="0."/>
</section>
<section name="DESIRED_OF_RADIO" prefix="DESIRED_OF_RADIO_">
<define name="ROLL_DOT" value="0.015"/>
<define name="PITCH_DOT" value="0.015"/>
<define name="YAW_DOT" value="0.015"/>
</section>
<section name="adc" prefix="ADC_CHANNEL_">
<define name="IR1" value="0"/>
<define name="IR2" value="1"/>
</section>
<servos min="1000" neutral="1500" max="2000">
<servo name="MOTOR_FRONT" no="1" min="1250" neutral="1250" max="1850"/>
<servo name="MOTOR_BACK" no="2" min="1250" neutral="1250" max="1850"/>
<servo name="MOTOR_LEFT" no="3" min="1250" neutral="1250" max="1850"/>
<servo name="MOTOR_RIGHT" no="4" min="1250" neutral="1250" max="1850"/>
</servos>
<command>
<let var="roll" value="0.3 * @ROLL"/>
<let var="pitch" value="0.3 * @PITCH"/>
<let var="yaw" value="0.4 * @YAW"/>
<let var="throttle" value="2.0 * @THROTTLE"/>
<set servo="MOTOR_FRONT" value="$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>
<section name="INFRARED" prefix="IR_">
<define name="ROLL_NEUTRAL_DEFAULT" value="-1024"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0"/>
<define name="DEFAULT_CONTRAST" value="200"/>
<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
<linear name="RollOfIrs" arity="2" coeff1="-1" coeff2="-1"/>
<linear name="PitchOfIrs" arity="2" coeff1="-1" coeff2="1"/>
</section>
<section name="PID">
<define name="ROLL_PGAIN" value="15000."/>
<define name="PITCH_OF_ROLL" value="0.0"/>
<define name="PITCH_PGAIN" value="15000."/>
<define name="MAX_ROLL" value="0.35"/>
<define name="MAX_PITCH" value="0.35"/>
<define name="MIN_PITCH" value="-0.35"/>
</section>
<section name="ALT" prefix="CLIMB_">
<define name="PITCH_PGAIN" value="-0.1"/>
<define name="PITCH_IGAIN" value="0.025"/>
<define name="PGAIN" value="-0.03"/>
<define name="IGAIN" value="0.1"/>
<define name="MAX" value="1."/>
<define name="LEVEL_GAZ" value="0.31"/>
<define name="PITCH_OF_VZ_PGAIN" value="0.05"/>
<define name="GAZ_OF_CLIMB" value="0.2" unit="%/(m/s)"/>
</section>
<section name="NAV">
<define name="COURSE_PGAIN" value="-0.2"/>
<define name="ALTITUDE_PGAIN" value="-0.025"/>
<define name="NAV_PITCH" value="0."/>
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="2.16"/>
<define name="VOLTAGE_ADC_A" value="0.0175"/>
<define name="VOLTAGE_ADC_B" value="0.088"/>
<define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
<define name="LOW_BATTERY" value="93" unit="1e-1V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="10." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
</section>
</airframe>
conf/airframes/gorazoptere_brushless_ANALOG.xml
+86
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@@ -0,0 +1,86 @@
<airframe name="Gorazoptere_brushless_ANALOG" ctl_board="V1_2_1" gps="SAM_LS">
<section name="imu" prefix="IMU_">
<define name="TYPE_ANALOG" value="1"/>
<define name="ADC_ROLL_DOT" value="1"/>
<define name="ADC_PITCH_DOT" value="2"/>
<define name="ADC_YAW_DOT" value="3"/>
</section>
<section name="rate_loop">
<define name="ROLL_DOT_PGAIN" value="-192."/>
<define name="ROLL_DOT_IGAIN" value="0."/>
<define name="ROLL_DOT_DGAIN" value="0."/>
<define name="PITCH_DOT_PGAIN" value="-192."/>
<define name="PITCH_DOT_IGAIN" value="0."/>
<define name="PITCH_DOT_DGAIN" value="0."/>
<define name="YAW_DOT_PGAIN" value="-100."/>
<define name="YAW_DOT_IGAIN" value="0."/>
<define name="YAW_DOT_DGAIN" value="0."/>
</section>
<section name="DESIRED_OF_RADIO" prefix="DESIRED_OF_RADIO_">
<define name="ROLL_DOT" value="0.015"/>
<define name="PITCH_DOT" value="0.015"/>
<define name="YAW_DOT" value="0.015"/>
</section>
<section name="adc" prefix="ADC_CHANNEL_">
<define name="IR1" value="0"/>
<define name="IR2" value="1"/>
</section>
<servos min="1000" neutral="1500" max="2000">
<servo name="MOTOR_FRONT" no="1" min="1250" neutral="1250" max="1850"/>
<servo name="MOTOR_BACK" no="2" min="1250" neutral="1250" max="1850"/>
<servo name="MOTOR_LEFT" no="3" min="1250" neutral="1250" max="1850"/>
<servo name="MOTOR_RIGHT" no="4" min="1250" neutral="1250" max="1850"/>
</servos>
<command>
<let var="roll" value="0.3 * @ROLL"/>
<let var="pitch" value="0.3 * @PITCH"/>
<let var="yaw" value="0.4 * @YAW"/>
<let var="throttle" value="2.0 * @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>
<section name="INFRARED" prefix="IR_">
<define name="ROLL_NEUTRAL_DEFAULT" value="-1024"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0"/>
<define name="DEFAULT_CONTRAST" value="200"/>
<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
<linear name="RollOfIrs" arity="2" coeff1="-1" coeff2="-1"/>
<linear name="PitchOfIrs" arity="2" coeff1="-1" coeff2="1"/>
</section>
<section name="PID">
<define name="ROLL_PGAIN" value="15000."/>
<define name="PITCH_OF_ROLL" value="0.0"/>
<define name="PITCH_PGAIN" value="15000."/>
<define name="MAX_ROLL" value="0.35"/>
<define name="MAX_PITCH" value="0.35"/>
<define name="MIN_PITCH" value="-0.35"/>
</section>
<section name="ALT" prefix="CLIMB_">
<define name="PITCH_PGAIN" value="-0.1"/>
<define name="PITCH_IGAIN" value="0.025"/>
<define name="PGAIN" value="-0.03"/>
<define name="IGAIN" value="0.1"/>
<define name="MAX" value="1."/>
<define name="LEVEL_GAZ" value="0.31"/>
<define name="PITCH_OF_VZ_PGAIN" value="0.05"/>
<define name="GAZ_OF_CLIMB" value="0.2" unit="%/(m/s)"/>
</section>
<section name="NAV">
<define name="COURSE_PGAIN" value="-0.2"/>
<define name="ALTITUDE_PGAIN" value="-0.025"/>
<define name="NAV_PITCH" value="0."/>
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="2.16"/>
<define name="VOLTAGE_ADC_A" value="0.0175"/>
<define name="VOLTAGE_ADC_B" value="0.088"/>
<define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
<define name="LOW_BATTERY" value="93" unit="1e-1V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="10." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
</section>
</airframe>
conf/conf.xml
+16
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@@ -39,6 +39,22 @@
radio="radios/mc3030.xml"
flight_plan="flight_plans/muret_mini.xml"
/>
<aircraft
name="Gorazoptere_brushless_3DMG"
ac_id="1"
airframe="airframes/gorazoptere_brushless_3DMG.xml"
radio="radios/mc3030.xml"
flight_plan="flight_plans/muret_mini.xml"
/>
<aircraft
name="Gorazoptere_brushless_ANALOG"
ac_id="1"
airframe="airframes/gorazoptere_brushless_ANALOG.xml"
radio="radios/mc3030.xml"
flight_plan="flight_plans/muret_mini.xml"
/>
<ground name="desktop" ivy_bus="127.255.255.255:2010">
<link name="downlink" port="/dev/ttyS0" protocol="pprz/modem"/>
conf/control_panel.xml
+1 -1
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@@ -121,7 +121,7 @@
</session>
<session name="flight microjet multimon">
<variable name="ivy_bus" value="192.168.1:2001"/>
<variable name="ivy_bus" value="127:2007"/>
<program name="http server"/>
<program name="multimon"><arg flag="-p" constant="/tmp/multimon"/></program>
<program name="modem"><arg flag="-d" constant="/tmp/multimon"/></program>
conf/messages.xml
+10
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@@ -181,6 +181,16 @@
<field name="Elev" type="int8" unit="deg"/>
<field name="Azim" type="int16" unit="deg"/>
</message>
<message name="IMU_3DMG" ID="26">
<field name="roll_dot" type="int16"/>
<field name="pitch_dot" type="int16"/>
<field name="yaw_dot" type="int16"/>
<field name="roll" type="int16"/>
<field name="pitch" type="int16"/>
<field name="yaw" type="int16"/>
</message>
</class>
<class name="telemetry_fbw" ID="0X41">