new ac/radio

2026-05-23 04:45:37 +08:00 · 2009-12-14 23:49:59 +00:00
parent 899e04b2b7
commit a8acd6b719
2 changed files with 304 additions and 0 deletions
@@ -0,0 +1,247 @@
+<!DOCTYPE airframe SYSTEM "airframe.dtd">
+
+<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
+     Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
+     PerkinElmer TPS334 IR Sensors
+     Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
+     XBee modem
+     Payload: Sensirion humidity/temp, VTI pressure/temp
+     K66, LEA 4P
+-->
+
+<airframe name="Funjet FMI 1 K66">
+
+<!-- commands section -->
+  <servos>
+    <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
+    <servo name="AILEVON_LEFT"  no="2" min="1900" neutral="1521" max="1100"/>
+    <servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1510" max="1900"/>
+  </servos>
+
+  <commands>
+    <axis name="THROTTLE" failsafe_value="0"/>
+    <axis name="ROLL"     failsafe_value="0"/>
+    <axis name="PITCH"    failsafe_value="0"/>
+  </commands>
+
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL"     value="@ROLL"/>
+    <set command="PITCH"    value="@PITCH"/>
+  </rc_commands>
+
+  <section name="MIXER">
+    <define name="AILEVON_AILERON_RATE" value="0.45"/>
+    <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
+  </section>
+
+  <command_laws>
+    <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <set servo="MOTOR"           value="@THROTTLE"/>
+    <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
+    <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+  </command_laws>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="0.85"/>
+    <define name="MAX_PITCH" value="0.6"/>
+  </section>
+
+  <section name="adc" prefix="ADC_CHANNEL_">
+    <define name="IR1" value="ADC_1"/>
+    <define name="IR2" value="ADC_2"/>
+    <define name="IR_TOP" value="ADC_0"/>
+    <define name="IR_NB_SAMPLES" value="16"/>
+  </section>
+
+  <section name="INFRARED" prefix="IR_">
+    <define name="ADC_IR1_NEUTRAL" value="512"/>
+    <define name="ADC_IR2_NEUTRAL" value="512"/>
+    <define name="ADC_TOP_NEUTRAL" value="512"/>
+
+    <define name="CORRECTION_UP" value="1."/>
+    <define name="CORRECTION_DOWN" value="1."/>
+    <define name="CORRECTION_LEFT" value="1."/>
+    <define name="CORRECTION_RIGHT" value="1."/>
+
+    <define name="LATERAL_CORRECTION" value="-1"/>
+    <define name="LONGITUDINAL_CORRECTION" value="1"/>
+    <define name="VERTICAL_CORRECTION" value="1.5"/>
+
+    <define name="HORIZ_SENSOR_TILTED" value="1"/>
+    <define name="IR1_SIGN" value="1"/>
+    <define name="IR2_SIGN" value="-1"/>
+    <define name="TOP_SIGN" value="-1"/>
+
+    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+  </section>
+
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+                                        <!-- 0.0247311828 -->
+                                        <!-- 0.02432905 -->
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
+  </section>
+ 
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
+    <define name="CARROT" value="5." unit="s"/>
+    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
+    <define name="CONTROL_RATE" value="60" unit="Hz"/>
+<!--    <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
+<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
+    <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
+
+    <define name="TRIGGER_DELAY" value="1."/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
+    <define name="MIN_CIRCLE_RADIUS" value="50."/>
+  </section>
+ 
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+
+    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
+    <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
+
+    <!-- auto pitch inner loop -->
+    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
+    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
+    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
+
+   <define name="THROTTLE_SLEW" value="0.1"/>
+
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="-0.9"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+
+    <define name="ROLL_PGAIN" value="6600."/>
+    <define name="AILERON_OF_THROTTLE" value="0.0"/>
+    <define name="PITCH_PGAIN" value="-5500."/>
+    <define name="PITCH_DGAIN" value="0.4"/>
+
+    <define name="ELEVATOR_OF_ROLL" value="2400"/>
+
+    <!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_RATE_GAIN" value="-1500"/-->
+
+  </section>
+
+  <section name="NAV">
+    <define name="NAV_PITCH" value="0."/>
+    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+  </section>
+
+  <section name="AGGRESSIVE" prefix="AGR_">
+    <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
+    <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
+    <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
+    <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
+    <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
+    <define name="DESCENT_PITCH" value="-0.35"/><!-- 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>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+	<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
+    	<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+    	<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="YAW_RESPONSE_FACTOR" value="0.5"/>
+ </section>
+
+ <makefile>
+CONFIG = \"tiny_2_1.h\"
+
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+FLASH_MODE=IAP
+
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
+
+ap.srcs += commands.c
+
+ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
+ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
+
+ap.CFLAGS += -DRADIO_CONTROL
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+
+ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+
+#TRANSPARENT
+#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
+#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+
+
+ap.CFLAGS += -DINTER_MCU
+ap.srcs += inter_mcu.c 
+
+ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
+ap.srcs += $(SRC_ARCH)/adc_hw.c
+
+ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
+# -DGPS_LED=2
+ap.srcs += gps_ubx.c gps.c latlong.c
+
+ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
+ap.srcs += infrared.c estimator.c
+
+ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+
+ap.srcs += nav_line.c
+ap.srcs += nav_survey_rectangle.c
+
+ap.srcs += humid_sht.c
+ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3  -DSCK_PIN=2
+
+ap.srcs += baro_scp.c
+ap.CFLAGS += -DUSE_BARO_SCP
+
+ap.srcs += joystick.c
+ap.CFLAGS += -DUSE_JOYSTICK
+
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+sim.srcs += nav_line.c nav_survey_rectangle.c
+
+sim.srcs += joystick.c
+sim.CFLAGS += -DUSE_JOYSTICK
+
+
+  </makefile>
+</airframe>
@@ -0,0 +1,57 @@
+<?xml version="1.0"?>
+<!-- $Id: x412.xml 3610 2009-07-02 16:35:18Z poine $
+--
+-- (c) 2003 Pascal Brisset, Antoine Drouin
+--
+-- This file is part of paparazzi.
+--
+-- paparazzi is free software; you can redistribute it and/or modify
+-- it under the terms of the GNU General Public License as published by
+-- the Free Software Foundation; either version 2, or (at your option)
+-- any later version.
+--
+-- paparazzi is distributed in the hope that it will be useful,
+-- but WITHOUT ANY WARRANTY; without even the implied warranty of
+-- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+-- GNU General Public License for more details.
+--
+-- You should have received a copy of the GNU General Public License
+-- along with paparazzi; see the file COPYING.  If not, write to
+-- the Free Software Foundation, 59 Temple Place - Suite 330,
+-- Boston, MA 02111-1307, USA.  
+-->
+
+<!--
+-- Attributes of root (Radio) tag :
+-- name: name of RC
+-- data_min: min width of a pulse to be considered as a data pulse
+-- data_max: max width of a pulse to be considered as a data pulse
+-- sync_min: min width of a pulse to be considered as a synchro pulse
+-- sync_max: max width of a pulse to be considered as a synchro pulse
+-- min, max and sync are expressed in micro-seconds
+-->
+
+<!-- 
+-- Attributes of channel tag :
+-- ctl: name of the command on the transmitter - only for displaying
+-- no: order in the PPM frame
+-- function: logical command
+-- averaged: channel filtered through several frames (for discrete commands)
+-- min: minimum pulse length (micro-seconds)
+-- max: maximum pulse length (micro-seconds)
+-- neutral: neutral pulse length (micro-seconds)
+-- Note: a command may be reversed by exchanging min and max values
+-->
+
+
+
+<!DOCTYPE radio SYSTEM "radio.dtd">
+<radio name="x412" data_min="800" data_max="2200" sync_min="5000" sync_max="15000" pulse_type="NEGATIVE">
+  <channel ctl="D" function="THROTTLE" min="1096" neutral="1096" max="1900" average="0"/>
+  <channel ctl="A" function="YAW"      min="1096" neutral="1500" max="1900" average="0"/>
+  <channel ctl="B" function="PITCH"    min="1900" neutral="1500" max="1096" average="0"/>
+  <channel ctl="C" function="ROLL"     min="1096" neutral="1500" max="1900" average="0"/>
+  <channel ctl="E" function="SWITCH1"  min="1096" neutral="1500" max="1900" average="1"/>
+  <channel ctl="F" function="MODE"     min="966"  neutral="1500" max="2025" average="1"/>
+</radio>
+