mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-07 17:49:49 +08:00
*** empty log message ***
This commit is contained in:
Pascal Brisset
@@ -54,9 +54,8 @@
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</section>
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<section name="INFRARED" prefix="IR_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="3.6" unit="deg"/>
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<define name="ROLL_NEUTRAL_DEFAULT" value="4." unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="2" unit="deg"/>
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<define name="DEFAULT_CONTRAST" value="200"/>
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<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
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<linear name="RollOfIrs" arity="2" coeff1="0.66" coeff2="-0.66"/>
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<linear name="PitchOfIrs" arity="2" coeff1="-0.66" coeff2="-0.66"/>
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@@ -69,8 +68,8 @@
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<define name="CORRECTION_UP" value="1.0"/>
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<define name="CORRECTION_DOWN" value="1.0"/>
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<define name="CORRECTION_LEFT" value="1.0"/>
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<define name="CORRECTION_RIGHT" value="1.0"/>
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<define name="CORRECTION_LEFT" value="1.4"/>
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<define name="CORRECTION_RIGHT" value="1.4"/>
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<define name="360_LATERAL_CORRECTION" value="1."/>
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<define name="360_LONGITUDINAL_CORRECTION" value="1."/>
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@@ -95,7 +94,7 @@
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<define name="CARROT" value="5." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="CONTROL_RATE" value="60" unit="Hz"/>
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<define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
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<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
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<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
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<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
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@@ -159,6 +158,9 @@
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<define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
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<define name="ROLL_SLEW" value="0.1"/>
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<define name="SIMPLE_ROLL_PGAIN" value="-15000"/>
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<define name="SIMPLE_ROLL_DGAIN" value="-3000"/>
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</section>
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<section name="NAV">
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@@ -179,16 +181,6 @@
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<define name="DESCENT_NAV_RATIO" value="1.0"/>
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</section>
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<section name="GYRO_GAINS">
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<define name="GYRO_MAX_RATE" value="200."/>
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<define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
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<define name="ALT_ROLL__PGAIN" value="1.0"/>
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<define name="ROLL_RATE_PGAIN" value="1000.0"/>
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<define name="ROLL_RATE_IGAIN" value="0.0"/>
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<define name="ROLL_RATE_DGAIN" value="0.0"/>
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</section>
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
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@@ -197,10 +189,12 @@
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<define name="HOME_RADIUS" value="100" unit="m"/>
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</section>
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<!--
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<section name="DATALINK" prefix="DATALINK_">
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<define name="DEVICE_TYPE" value="XBEE"/>
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<define name="DEVICE_ADDRESS" value="...."/>
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</section>
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-->
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<section name="SIMU">
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<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
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@@ -222,12 +216,13 @@ ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
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ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
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ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
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ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
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ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
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# API mode
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# ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600
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# ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
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# transparent
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#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
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#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
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ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
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ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
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ap.CFLAGS += -DINTER_MCU
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@@ -256,6 +251,8 @@ ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
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ap.srcs += nav_line.c
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ap.CFLAGS += -DSIMPLE_ROLL_CONTROL
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# Harware In The Loop
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@@ -264,7 +261,8 @@ ap.srcs += nav_line.c
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# Config for SITL simulation
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include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
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sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360 -DUSE_BARO_MS5534A
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sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DIR_360 -DUSE_BARO_MS5534A -DSIMPLE_ROLL_CONTROL
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# -DH_CTL_RATE_LOOP
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sim.srcs += nav_survey_rectangle.c $(SRC_ARCH)/sim_baro.c bomb.c nav_line.c
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</makefile>
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@@ -5,8 +5,8 @@
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<!-- commands section -->
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<servos>
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<servo name="THROTTLE" no="0" min="1290" neutral="1290" max="1810"/>
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<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1500" max="1000"/>
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<servo name="AILEVON_RIGHT" no="3" min="1000" neutral="1500" max="2000"/>
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<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1490" max="1000"/>
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<servo name="AILEVON_RIGHT" no="3" min="1000" neutral="1540" max="2000"/>
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</servos>
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<commands>
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@@ -36,7 +36,7 @@
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="0.6"/>
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<define name="MAX_ROLL" value="0.9"/>
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<define name="MAX_PITCH" value="0.6"/>
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</section>
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@@ -51,12 +51,12 @@
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</section>
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<section name="INFRARED" prefix="IR_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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<define name="ROLL_NEUTRAL_DEFAULT" value="5" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="5" unit="deg"/>
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<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
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<linear name="RollOfIrs" arity="2" coeff1="1" coeff2="-1"/>
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<linear name="RollOfIrs" arity="2" coeff1="0.7" coeff2="-0.7"/>
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<linear name="PitchOfIrs" arity="2" coeff1="-0.7" coeff2="-0.7"/>
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<linear name="TopOfIr" arity="1" coeff1="1"/>
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@@ -76,7 +76,10 @@
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<section name="GYRO" prefix="GYRO_">
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<define name="ADC_ROLL_NEUTRAL" value="488"/>
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<define name="ROLL_SCALE" value="0.44"/>
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<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
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<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
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<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
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<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
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<define name="ROLL_DIRECTION" value="1."/>
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</section>
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@@ -100,6 +103,19 @@
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<define name="GLIDE_VSPEED" value="3."/>
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<define name="GLIDE_PITCH" value="45" unit="deg"/>
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</section>
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<section name="external leds">
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<!-- ADC 4 -->
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<define name="LED_4_BANK" value="0"/>
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<define name="LED_4_PIN" value="22"/>
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<!-- ADC 5 -->
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<define name="LED_5_BANK" value="0"/>
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<define name="LED_5_PIN" value="12"/>
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<define name="LIGHT_PIN_1" value="4"/>
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<define name="LIGHT_PIN_2" value="5"/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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@@ -120,38 +136,25 @@
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<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
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<!-- auto pitch inner loop -->
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<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
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<define name="AUTO_PITCH_IGAIN" value="0.075"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
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<define name="THROTTLE_SLEW_LIMITER" value="10" unit="s"/>
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<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
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</section>
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="-0.55"/>
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<define name="COURSE_PGAIN" value="-1.4"/>
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<define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
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<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
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<define name="ROLL_PGAIN" value="5000."/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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<define name="PITCH_PGAIN" value="-12500."/>
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<define name="PITCH_DGAIN" value="1.5"/>
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<define name="ELEVATOR_OF_ROLL" value="1250"/>
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<!-- roll rate loop -->
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<define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
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<define name="ROLL_RATE_SETPOINT_PGAIN" value="-10." unit="rad/s/rad"/>
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<define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
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<define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="3000."/>
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<define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="3000."/>
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<define name="ROLL_RATE_IGAIN" value="0."/>
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<define name="ROLL_RATE_DGAIN" value="0."/>
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<define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
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<define name="ROLL_SLEW" value="0.1"/>
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<define name="SIMPLE_ROLL_PGAIN" value="-7500"/>
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<define name="SIMPLE_ROLL_DGAIN" value="-1500"/>
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</section>
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<section name="NAV">
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@@ -172,21 +175,11 @@
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<define name="DESCENT_NAV_RATIO" value="1.0"/>
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</section>
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<section name="GYRO_GAINS">
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<define name="GYRO_MAX_RATE" value="200."/>
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<define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
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<define name="ALT_ROLL__PGAIN" value="1.0"/>
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<define name="ROLL_RATE_PGAIN" value="1000.0"/>
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<define name="ROLL_RATE_IGAIN" value="0.0"/>
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<define name="ROLL_RATE_DGAIN" value="0.0"/>
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</section>
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
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<define name="HOME_RADIUS" value="100" unit="m"/>
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<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
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</section>
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<section name="DATALINK" prefix="DATALINK_">
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@@ -229,13 +222,14 @@ ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
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ap.srcs += $(SRC_ARCH)/adc_hw.c
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ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
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#ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
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ap.srcs += gps_ubx.c gps.c latlong.c
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ap.CFLAGS += -DINFRARED -DALT_KALMAN -DIR_360
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ap.CFLAGS += -DINFRARED -DIR_360
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ap.srcs += infrared.c estimator.c
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ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
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ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
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ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
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ap.CFLAGS += -DGYRO -DADXRS150
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@@ -247,14 +241,12 @@ ap.srcs += nav_line.c nav_survey_rectangle.c
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ap.CFLAGS += -DUSE_ADC_6 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_6 -DADC_CHANNEL_GENERIC_NB_SAMPLES=16
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ap.srcs += adc_generic.c
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# Harware In The Loop
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#ap.CFLAGS += -DHITL
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ap.CFLAGS += -DSIMPLE_ROLL_CONTROL
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# Config for SITL simulation
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include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
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sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360 -DUSE_BARO_MS5534A
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sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DIR_360
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sim.CFLAGS += -DSIMPLE_ROLL_CONTROL
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sim.srcs += nav_survey_rectangle.c $(SRC_ARCH)/sim_baro.c bomb.c nav_line.c
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</makefile>
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@@ -0,0 +1,245 @@
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<!DOCTYPE airframe SYSTEM "airframe.dtd">
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<airframe name="Microjet II Tiny 1.1">
|
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|
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<!-- commands section -->
|
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<servos>
|
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<servo name="THROTTLE" no="0" min="1280" neutral="1280" max="1810"/>
|
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<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1500" max="1000"/>
|
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<servo name="AILEVON_RIGHT" no="3" min="1000" neutral="1500" max="2000"/>
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</servos>
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<commands>
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<axis name="THROTTLE" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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</commands>
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<rc_commands>
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<set command="THROTTLE" value="@THROTTLE"/>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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</rc_commands>
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<section name="MIXER">
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<define name="AILEVON_AILERON_RATE" value="0.4"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.7"/>
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</section>
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<command_laws>
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<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
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<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
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<set servo="THROTTLE" value="@THROTTLE"/>
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<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
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<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="0.9"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
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||||
</section>
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||||
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||||
<section name="adc" prefix="ADC_CHANNEL_">
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||||
<define name="IR1" value="ADC_1"/>
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<define name="IR2" value="ADC_2"/>
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||||
<define name="IR_TOP" value="ADC_0"/>
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||||
<define name="IR_NB_SAMPLES" value="16"/>
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||||
<define name="GYRO_ROLL" value="ADC_3"/>
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||||
<define name="GYRO_NB_SAMPLES" value="16"/>
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||||
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||||
</section>
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||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
|
||||
<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
|
||||
|
||||
<linear name="RollOfIrs" arity="2" coeff1="0.7" coeff2="-0.7"/>
|
||||
<linear name="PitchOfIrs" arity="2" coeff1="-0.7" coeff2="-0.7"/>
|
||||
<linear name="TopOfIr" arity="1" coeff1="-1"/>
|
||||
|
||||
<define name="ADC_ROLL_NEUTRAL" value="0"/>
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||||
<define name="ADC_PITCH_NEUTRAL" value="-716"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="512"/>
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||||
|
||||
<define name="CORRECTION_UP" value="1.0"/>
|
||||
<define name="CORRECTION_DOWN" value="1.0"/>
|
||||
<define name="CORRECTION_LEFT" value="1.0"/>
|
||||
<define name="CORRECTION_RIGHT" value="1.0"/>
|
||||
|
||||
<define name="360_LATERAL_CORRECTION" value="1."/>
|
||||
<define name="360_LONGITUDINAL_CORRECTION" value="1."/>
|
||||
<define name="360_VERTICAL_CORRECTION" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="488"/>
|
||||
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
|
||||
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
|
||||
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
|
||||
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
|
||||
<define name="ROLL_DIRECTION" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
||||
<define name="LOW_BATTERY" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="13." 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="TRUE"/>
|
||||
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
||||
|
||||
<define name="GLIDE_AIRSPEED" value="10"/>
|
||||
<define name="GLIDE_VSPEED" value="3."/>
|
||||
<define name="GLIDE_PITCH" value="45" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="external leds">
|
||||
<!-- ADC 4 -->
|
||||
<define name="LED_4_BANK" value="0"/>
|
||||
<define name="LED_4_PIN" value="22"/>
|
||||
|
||||
<!-- ADC 5 -->
|
||||
<define name="LED_5_BANK" value="0"/>
|
||||
<define name="LED_5_PIN" value="12"/>
|
||||
|
||||
<define name="LIGHT_PIN_1" value="4"/>
|
||||
<define name="LIGHT_PIN_2" value="5"/>
|
||||
</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="-0.03"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-0.55"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
|
||||
<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="-12500."/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="1250"/>
|
||||
|
||||
<define name="ROLL_SLEW" value="0.1"/>
|
||||
|
||||
<define name="SIMPLE_ROLL_PGAIN" value="-7500"/>
|
||||
<define name="SIMPLE_ROLL_DGAIN" value="-1500"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
<define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/>
|
||||
<define name="NAV_FOLLOW_PGAIN" 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="1.00"/><!-- 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>
|
||||
|
||||
<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"/>
|
||||
</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>
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny_1_1.h\" -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_4015_MAT_hw.h\" -DSERVOS_4015_MAT
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
# transparent
|
||||
#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_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 -DUSE_ADC_3
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
|
||||
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED -DIR_360
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
ap.CFLAGS += -DGYRO -DADXRS150
|
||||
ap.srcs += gyro.c
|
||||
|
||||
ap.srcs += nav_line.c nav_survey_rectangle.c
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DIR_360
|
||||
sim.CFLAGS += -DSIMPLE_ROLL_CONTROL
|
||||
sim.srcs += nav_survey_rectangle.c $(SRC_ARCH)/sim_baro.c bomb.c nav_line.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,240 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<airframe name="Microjet III Tiny 1.1">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="THROTTLE" no="0" min="1290" neutral="1290" max="1810"/>
|
||||
<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1490" max="1000"/>
|
||||
<servo name="AILEVON_RIGHT" no="3" min="1000" neutral="1540" max="2000"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.4"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.7"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.9"/>
|
||||
<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"/>
|
||||
<define name="GYRO_ROLL" value="ADC_3"/>
|
||||
<define name="GYRO_NB_SAMPLES" value="16"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="5" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="5" unit="deg"/>
|
||||
|
||||
<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
|
||||
|
||||
<linear name="RollOfIrs" arity="2" coeff1="0.7" coeff2="-0.7"/>
|
||||
<linear name="PitchOfIrs" arity="2" coeff1="-0.7" coeff2="-0.7"/>
|
||||
<linear name="TopOfIr" arity="1" coeff1="1"/>
|
||||
|
||||
<define name="ADC_ROLL_NEUTRAL" value="0"/>
|
||||
<define name="ADC_PITCH_NEUTRAL" value="-716"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="512"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1.0"/>
|
||||
<define name="CORRECTION_DOWN" value="1.0"/>
|
||||
<define name="CORRECTION_LEFT" value="1.0"/>
|
||||
<define name="CORRECTION_RIGHT" value="1.0"/>
|
||||
|
||||
<define name="360_LATERAL_CORRECTION" value="1."/>
|
||||
<define name="360_LONGITUDINAL_CORRECTION" value="1."/>
|
||||
<define name="360_VERTICAL_CORRECTION" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="488"/>
|
||||
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
|
||||
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
|
||||
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
|
||||
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
|
||||
<define name="ROLL_DIRECTION" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
||||
<define name="LOW_BATTERY" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="13." 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="TRUE"/>
|
||||
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
||||
|
||||
<define name="GLIDE_AIRSPEED" value="10"/>
|
||||
<define name="GLIDE_VSPEED" value="3."/>
|
||||
<define name="GLIDE_PITCH" value="45" unit="deg"/>
|
||||
</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="-0.03"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-1.4"/>
|
||||
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
|
||||
<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="-12500."/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="1250"/>
|
||||
|
||||
<define name="ROLL_SLEW" value="0.1"/>
|
||||
|
||||
<define name="SIMPLE_ROLL_PGAIN" value="-7500"/>
|
||||
<define name="SIMPLE_ROLL_DGAIN" value="-1500"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
<define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/>
|
||||
<define name="NAV_FOLLOW_PGAIN" 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="1.00"/><!-- 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>
|
||||
|
||||
<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"/>
|
||||
</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>
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny_1_1.h\" -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_4015_MAT_hw.h\" -DSERVOS_4015_MAT
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
||||
|
||||
# transparent
|
||||
#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_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 -DUSE_ADC_3
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
|
||||
#ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
|
||||
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DINFRARED -DIR_360
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
ap.CFLAGS += -DGYRO -DADXRS150
|
||||
ap.srcs += gyro.c
|
||||
|
||||
ap.srcs += nav_line.c nav_survey_rectangle.c
|
||||
|
||||
# PID sensor
|
||||
ap.CFLAGS += -DUSE_ADC_6 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_6 -DADC_CHANNEL_GENERIC_NB_SAMPLES=16
|
||||
ap.srcs += adc_generic.c
|
||||
|
||||
ap.CFLAGS += -DSIMPLE_ROLL_CONTROL
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DIR_360
|
||||
sim.CFLAGS += -DSIMPLE_ROLL_CONTROL
|
||||
sim.srcs += nav_survey_rectangle.c $(SRC_ARCH)/sim_baro.c bomb.c nav_line.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -56,13 +56,10 @@
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="10" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="-1" unit="deg"/>
|
||||
<define name="DEFAULT_CONTRAST" value="200"/>
|
||||
<define name="RAD_OF_IR_CONTRAST" value="0.5"/>
|
||||
<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
|
||||
<linear name="RollOfIrs" arity="2" coeff1="0" coeff2="-1"/>
|
||||
<linear name="PitchOfIrs" arity="2" coeff1="-1" coeff2="0"/>
|
||||
<linear name="TopOfIr" arity="1" coeff1="1"/>
|
||||
<define name="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
|
||||
<define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
|
||||
<define name="ADC_ROLL_NEUTRAL" value="-512"/>
|
||||
<define name="ADC_PITCH_NEUTRAL" value="-512"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="512"/>
|
||||
@@ -284,7 +281,7 @@ test.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_tran
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DCONFIG=\"classix.h\" -DAGR_CLIMB -DLOITER_TRIM -DH_CTL_RATE_LOOP
|
||||
sim.CFLAGS += -DCONFIG=\"classix.h\" -DAGR_CLIMB -DLOITER_TRIM -DH_CTL_RATE_LOOP -DIR_360
|
||||
#sim.srcs += traffic_info.c
|
||||
#sim.srcs += nav_line.c chemotaxis.c anemotaxis.c discsurvey.c bomb.c nav_survey_rectangle.c
|
||||
|
||||
|
||||
Reference in New Issue
Block a user