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This commit is contained in:
Pascal Brisset
2008-03-03 13:30:56 +00:00
parent 238f3f0aa2
commit b15697d767
8 changed files with 83 additions and 29 deletions
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conf/airframes/funjet1.xml
+1 -1
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@@ -235,7 +235,7 @@ ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
ap.CFLAGS += -DGYRO -DADXRS150
ap.srcs += gyro.c nav_line.c chemotaxis.c anemotaxis.c discsurvey.c
ap.srcs += traffic_info.c nav_survey_rectangle.c
ap.srcs += nav_survey_rectangle.c
########## Barometer (SPI)
ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
conf/airframes/swb1.xml
+22 -21
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@@ -4,27 +4,27 @@
<!-- commands section -->
<servos>
<servo name="AILEVON_RIGHT" no="0" min="1000" neutral="1620" max="2000"/>
<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1400" max="1000"/>
<servo name="THROTTLE" no="2" min="1270" neutral="1270" max="1810"/>
<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1500" max="1000"/>
<servo name="AILEVON_RIGHT" no="0" min="1000" neutral="1500" max="2000"/>
<servo name="CAM_ROLL" no="3" min="2000" neutral="1550" max="1000"/>
<servo name="CAM_PITCH" no="6" min="950" neutral="1550" max="2200"/>
<servo name="CAM_TILT" no="3" min="1000" neutral="1550" max="2000"/>
<servo name="CAM_PAN" no="5" min="2000" neutral="1550" max="1000"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="CAM_ROLL" failsafe_value="0"/>
<axis name="CAM_PITCH" failsafe_value="0"/>
<axis name="CAM_TILT" failsafe_value="0"/>
<axis name="CAM_PAN" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="CAM_ROLL" value="@YAW"/>
<set command="CAM_PITCH" value="@GAIN1"/>
<set command="CAM_PAN" value="@YAW"/>
<set command="CAM_TILT" value="@GAIN1"/>
</rc_commands>
<section name="MIXER">
@@ -39,12 +39,12 @@
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
<set servo="CAM_ROLL" value="@CAM_ROLL"/>
<set servo="CAM_PITCH" value="@CAM_PITCH"/>
<set servo="CAM_PAN" value="@CAM_PAN"/>
<set servo="CAM_TILT" value="@CAM_TILT"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.7"/>
<define name="MAX_ROLL" value="1"/>
<define name="MAX_PITCH" value="0.6"/>
</section>
@@ -69,10 +69,10 @@
<define name="LATERAL_CORRECTION" value="1."/>
<define name="LONGITUDINAL_CORRECTION" value="1."/>
<define name="VERTICAL_CORRECTION" value=".7"/>
<define name="VERTICAL_CORRECTION" value="1.0"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="5" unit="deg"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="-4" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="6" unit="deg"/>
<define name="CORRECTION_UP" value="1.0"/>
<define name="CORRECTION_DOWN" value="1.0"/>
@@ -91,11 +91,11 @@
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="LOW_BATTERY" value="9.3" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="19." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="11." 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"/>
@@ -116,7 +116,7 @@
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.50"/>
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.40"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
@@ -130,7 +130,7 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1."/>
<define name="COURSE_PGAIN" value="-1.3"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
@@ -148,7 +148,7 @@
<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="1.00"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_THROTTLE" value="0.90"/><!-- 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 -->
@@ -223,8 +223,9 @@ ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
ap.srcs += nav_line.c nav_survey_rectangle.c
% ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
% ap.srcs += cam.c point.c traffic_info.c
ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
ap.srcs += cam.c point.c
# traffic_info.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
conf/airframes/ugv.xml
+3 -3
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@@ -17,7 +17,7 @@
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="LOW_BATTERY" value="9.3" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="MISC">
@@ -82,8 +82,8 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DDOWNLINK_GPS_1Hz
ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400 -DUSER_GPS_CONFIGURE=\"tl_gps_configure.h\"
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DDOWNLINK_GPS_1Hz
% ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400 -DUSER_GPS_CONFIGURE=\"tl_gps_configure.h\"
ap.srcs += gps_ubx.c gps.c latlong.c
conf/autopilot/tiny.makefile
+1 -1
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@@ -36,7 +36,7 @@ test_adcs.ARCH = arm7tdmi
test_adcs.TARGET = test_adcs
test_adcs.TARGETDIR = test_adcs
test_adcs.CFLAGS += -DCONFIG=\"tiny_0_99.h\" -DLED -DTIME_LED=1 -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6 -DUSE_ADC_7
test_adcs.CFLAGS += -DCONFIG=$(CONFIG) -DLED -DTIME_LED=1 -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6 -DUSE_ADC_7
test_adcs.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
test_adcs.srcs += downlink.c $(SRC_ARCH)/uart_hw.c xbee.c
conf/flight_plans/ugv.xml
+1 -1
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@@ -1,6 +1,6 @@
<!-- DOCTYPE flight_plan SYSTEM "flight_plan.dtd" -->
<flight_plan NAME="Ugv" LON0="1.27289" MAX_DIST_FROM_HOME="1000" GROUND_ALT="0" SECURITY_HEIGHT="0" ALT="0" LAT0="43.46223">
<flight_plan NAME="Ugv" LON0="1.27289" MAX_DIST_FROM_HOME="2000" GROUND_ALT="0" SECURITY_HEIGHT="0" ALT="0" LAT0="43.46223">
<waypoints>
<waypoint name="HOME" x="0.0" y="0"/>
<waypoint name="UGV" x="0.0" y="100.0"/>
conf/gcs/map_only.xml
+7
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@@ -0,0 +1,7 @@
<!DOCTYPE layout SYSTEM "layout.dtd">
<layout width="400" height="400">
<rows>
<widget size="400" name="map2d"/>
</rows>
</layout>
conf/radios/T6EXAP.xml
+2 -2
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@@ -49,6 +49,6 @@
<channel ctl="2" function="PITCH" min="1109" neutral="1521" max="1938" average="0"/>
<channel ctl="3" function="THROTTLE" min="1933" neutral="1933" max="1107" average="0"/>
<channel ctl="4" function="YAW" min="1937" neutral="1524" max="1103" average="0"/>
<channel ctl="5" function="MODE" min="1100" neutral="1500" max="3000" average="1"/>
<channel ctl="6" function="GAIN1" min="1900" neutral="1500" max="1100" average="1"/>
<channel ctl="5" function="GAIN1" min="1100" neutral="1500" max="3000" average="1"/>
<channel ctl="6" function="MODE" min="1900" neutral="1500" max="1100" average="1"/>
</radio>
conf/telemetry/minimal.xml
+46
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@@ -0,0 +1,46 @@
<?xml version="1.0"?>
<!DOCTYPE telemetry SYSTEM "telemetry.dtd">
<telemetry>
<process name="Ap">
<mode name="default">
<message name="ALIVE" period="5"/>
<message name="ATTITUDE" period="1"/>
<message name="ESTIMATOR" period="1"/>
<message name="WP_MOVED" period="1"/>
<message name="CIRCLE" period="1.05"/>
<message name="DESIRED" period="2.05"/>
<message name="BAT" period="1.1"/>
<message name="BARO_MS5534A" period="1.0"/>
<message name="SEGMENT" period="1.2"/>
<message name="CALIBRATION" period="3.1"/>
<message name="NAVIGATION_REF" period="9."/>
<message name="PPRZ_MODE" period="5."/>
<message name="DOWNLINK" period="5.1"/>
<message name="DL_VALUE" period="1.5"/>
<message name="IR_SENSORS" period="1.2"/>
<message name="GYRO_RATES" period="2.1"/>
<message name="SURVEY" period="2.1"/>
<message name="GPS_SOL" period="2.0"/>
</mode>
<mode name="debug">
<message name="ATTITUDE" period="0.5"/>
<message name="TUNE_ROLL" period="0.2"/>
<message name="DEBUG_MCU_LINK" period="5."/>
<message name="ADC" period="0.5"/>
</mode>
</process>
<process name="Fbw">
<mode name="default">
<message name="COMMANDS" period="1"/>
<message name="FBW_STATUS" period="1"/>
<message name="ACTUATORS" period="5"/> <!-- For trimming -->
</mode>
<mode name="debug">
<message name="PPM" period="0.5"/>
<message name="RC" period="0.5"/>
<message name="COMMANDS" period="0.5"/>
<message name="FBW_STATUS" period="1"/>
<message name="ACTUATORS" period="5"/> <!-- For trimming -->
</mode>
</process>
</telemetry>