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Pascal Brisset
2010-05-10 12:36:52 +00:00
parent d862f62843
commit a47c2d78dc
1 changed files with 39 additions and 31 deletions
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conf/airframes/ENAC/fixed-wing/funjet1.xml
+39 -31
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@@ -10,14 +10,16 @@
<airframe name="Funjet 1 Tiny 2.1">
<modules>
<load name="poles.xml"/>
<!-- <load name="poles.xml"/> -->
<!-- <load name="infrared_i2c.xml"/> -->
</modules>
<!-- commands section -->
<servos>
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILEVON_LEFT" no="2" min="1130" neutral="1530" max="1880"/>
<servo name="AILEVON_RIGHT" no="6" min="1980" neutral="1470" max="1170"/>
<servo name="AILEVON_LEFT" no="2" min="1130" neutral="1570" max="1880"/>
<servo name="AILEVON_RIGHT" no="6" min="1980" neutral="1450" max="1170"/>
</servos>
<commands>
@@ -82,6 +84,8 @@
<define name="CORRECTION_DOWN" value="1."/>
<define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/>
<define name="I2C_DEFAULT_CONF" value="0x1"/>
</section>
<section name="GYRO" prefix="GYRO_">
@@ -123,24 +127,25 @@
<!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.04"/>
<define name="ALTITUDE_PGAIN" value="-0.104000002146"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.305000007153"/>
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.3"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<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="-1000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.0149999996647"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.0460000000894"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
<define name="AUTO_PITCH_PGAIN" value="-0.0209999997169"/>
<define name="AUTO_PITCH_IGAIN" value="0.203999996185"/>
<define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.148000001907"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -155,13 +160,13 @@
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="PITCH_PGAIN" value="-7627.11914062"/>
<define name="PITCH_PGAIN" value="-14814.8154297"/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="-6101.69482422"/>
<define name="ROLL_RATE_GAIN" value="-1144.06799316"/>
<define name="ROLL_ATTITUDE_GAIN" value="-8055.55615234"/>
<define name="ROLL_RATE_GAIN" value="-1527.7779541"/>
<define name="ROLL_KFF" value="-500"/>
<define name="ROLL_IGAIN" value="-500"/>
@@ -176,7 +181,7 @@
<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="0.6"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_THROTTLE" value="0.75"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.20"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.15"/><!-- Pitch for Aggressive Decent -->
@@ -201,28 +206,26 @@
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
<!--
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
-->
<section name="SIMU">
<define name="ROLL_RESPONSE_FACTOR" value="15"/>
<define name="MAX_ROLL_DOT" value="10" unit="rad/s"/>
</section>
<!--
<section name="Digital camera telecommand">
<!-- IOs are seen as LEDs -->
<!-- IOs are seen as LEDs --
<define name="LED_6_BANK" value="0"/>
<define name="LED_6_PIN" value="2"/> <!-- I2C SCL -->
<define name="LED_6_PIN" value="2"/> <!-- I2C SCL --
<!-- ADC 5 -->
<!-- ADC 5 --
<define name="LED_7_BANK" value="0"/>
<define name="LED_7_PIN" value="3"/> <!-- I2C SDA -->
<define name="LED_7_PIN" value="3"/> <!-- I2C SDA --
<define name="DC_SHUTTER_LED" value="6"/> <!-- Grey wire -->
<define name="DC_SHUTTER_LED" value="6"/> <!-- Grey wire --
<define name="DC_ZOOM_LED" value="7"/>
</section>
-->
<makefile>
CONFIG = \"tiny_2_1.h\"
@@ -282,12 +285,17 @@ ap.srcs += nav_survey_rectangle.c
# Digital camera
# Shutter: I2C SCL
# Zoom: I2C SDA
ap.CFLAGS += -DDIGITAL_CAM
ap.srcs += dc.c
# ap.CFLAGS += -DDIGITAL_CAM
# ap.srcs += dc.c
ap.CFLAGS += -DUSE_MODULES
sim.CFLAGS += -DUSE_MODULES
# for infrared
ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150
# Config for SITL simulation
#include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.ARCHDIR = $(ARCHI)
@@ -305,8 +313,8 @@ sim.srcs += nav_line.c nav_survey_rectangle.c
#sim.CFLAGS += -DUSE_I2C -DUSE_I2C0
# chemotaxis.c anemotaxis.c discsurvey.c $(SRC_ARCH)/sim_enose.c chemo_detect.c
sim.CFLAGS += -DDIGITAL_CAM -DPOWER_SWITCH_LED=4
sim.srcs += dc.c
#sim.CFLAGS += -DDIGITAL_CAM -DPOWER_SWITCH_LED=4
#sim.srcs += dc.c