From b8d19305cc55dd9db2913fa6d16b86e4e254d1b1 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Mon, 30 Aug 2010 16:33:41 +0000
Subject: [PATCH] update airframe files with subsystems

---
 conf/airframes/ENAC/fixed-wing/merlin.xml   | 200 ++++++++++++++++++++
 conf/airframes/ENAC/fixed-wing/twinjet2.xml |  90 +++++----
 conf/airframes/ENAC/quadrotor/mini.xml      |  55 +++---
 3 files changed, 268 insertions(+), 77 deletions(-)
 create mode 100644 conf/airframes/ENAC/fixed-wing/merlin.xml

diff --git a/conf/airframes/ENAC/fixed-wing/merlin.xml b/conf/airframes/ENAC/fixed-wing/merlin.xml
new file mode 100644
index 0000000000..b26c936250
--- /dev/null
+++ b/conf/airframes/ENAC/fixed-wing/merlin.xml
@@ -0,0 +1,200 @@
+<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+
+<!-- Merlin
+     Tiny 2.11
+     Tilted infrared sensor
+     XBee modem
+     LEA 5H
+-->
+
+<airframe name="Merlin">
+
+  <firmware name="fixedwing">
+    <target name="ap" 			board="tiny_2.11">
+      <define name="PITCH_TRIM"/>
+      <define name="ALT_KALMAN"/>
+    </target>
+
+    <target name="sim" 			board="pc">
+      <define name="PITCH_TRIM"/>
+      <define name="ALT_KALMAN"/>
+    </target>
+
+    <subsystem name="radio_control" type="ppm"/>
+    <subsystem name="telemetry"     type="transparent"/>
+    <subsystem name="control_new"/>
+    <subsystem name="attitude"      type="infrared"/>
+    <subsystem name="gps"           type="ublox_lea5h"/>
+    <subsystem name="navigation"/>
+  </firmware>
+
+  <firmware name="setup">
+    <target name="tunnel" 		board="tiny_2.11" />
+    <target name="setup_actuators" 	board="tiny_2.11" />
+  </firmware>
+
+<!-- commands section -->
+  <servos>
+    <servo name="AILERON_RIGHT" no="0" min="1900" neutral="1500" max="1100"/>
+    <servo name="AILERON_LEFT"  no="2" min="1900" neutral="1500" max="1100"/>
+    <servo name="ELEVATOR"      no="6" min="1100" neutral="1500" max="1900"/>
+    <servo name="RUDDER"        no="7" min="1100" neutral="1500" max="1900"/>
+    <servo name="MOTOR"         no="3" min="1000" neutral="1000" max="2000"/>
+  </servos>
+
+  <commands>
+    <axis name="THROTTLE" failsafe_value="0"/>
+    <axis name="ROLL"     failsafe_value="0"/>
+    <axis name="PITCH"    failsafe_value="0"/>
+    <axis name="YAW"      failsafe_value="0"/>
+  </commands>
+
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL"     value="@ROLL"/>
+    <set command="PITCH"    value="@PITCH"/>
+    <set command="YAW"      value="@YAW"/>
+  </rc_commands>
+
+  <section name="MIXER">
+    <define name="AILERON_DIFF" value="0.8"/>
+  </section>
+
+  <command_laws>
+    <set servo="MOTOR" value="@THROTTLE"/>
+    <set servo="ELEVATOR" value="@PITCH"/>
+    <set servo="RUDDER" value="@YAW"/>
+    <let var="roll" value="@ROLL"/>
+    <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
+    <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
+  </command_laws>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="0.85"/>
+    <define name="MAX_PITCH" value="0.6"/>
+  </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="LATERAL_CORRECTION" value="1"/>
+    <define name="LONGITUDINAL_CORRECTION" value="1"/>
+    <define name="VERTICAL_CORRECTION" value="1"/>
+
+    <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="20000"/>
+    <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="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
+    <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
+    <define name="MAXIMUM_AIRSPEED" value="18." 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="&quot;ATPL2\rATRN1\rATTT80\r&quot;"/> -->
+<!--    <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"/>
+    <!-- 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="0.25"/>
+    <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"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
+
+    <!-- auto pitch inner loop -->
+    <define name="AUTO_PITCH_PGAIN" value="-0.06"/>
+    <define name="AUTO_PITCH_IGAIN" value="-0.0"/>
+    <define name="AUTO_PITCH_DGAIN" value="-0.0"/>
+    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
+    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
+
+    <!-- pitch trim -->
+    <define name="PITCH_LOITER_TRIM" value="RadOfDeg(5.)"/>
+    <define name="PITCH_DASH_TRIM" value="RadOfDeg(-5.)"/>
+
+    <define name="THROTTLE_SLEW" value="0.1"/>
+
+  </section>
+
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="-1.0"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.60" unit="radians"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+
+    <define name="ROLL_ATTITUDE_GAIN" value="-5900"/>
+    <define name="ROLL_RATE_GAIN" value="-2900"/>
+    <define name="ROLL_IGAIN" value="-500"/>
+    <define name="ROLL_KFFA" value="-500"/>
+    <define name="ROLL_KFFD" value="-500"/>
+
+    <define name="PITCH_PGAIN" value="-9000."/>
+    <define name="PITCH_DGAIN" value="1.5"/>
+    <define name="PITCH_IGAIN" value="-500"/>
+    <define name="PITCH_KFFA" value="0."/>
+    <define name="PITCH_KFFD" value="0."/>
+
+    <define name="PITCH_OF_ROLL" value="RadOfDeg(0.2)"/>
+ </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="0.17" unit="rad"/>
+    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
+    <define name="HOME_RADIUS" value="100" unit="m"/>
+  </section>
+
+</airframe>
+
diff --git a/conf/airframes/ENAC/fixed-wing/twinjet2.xml b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
index 05984db9e0..bc4a67a767 100644
--- a/conf/airframes/ENAC/fixed-wing/twinjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
@@ -12,8 +12,42 @@
     <!--load name="ins_vn100.xml"/-->
     <!--load name="ets_module_sensors.xml"/-->
     <!--load name="infrared_i2c.xml"/-->
+    <!--load name="max3100.xml"/>
+    <load name="gsm.xml"/-->
+    <load name="sys_mon.xml">
+      <param name="TEST" value="1"/>
+    </load>
+    <!--load name="enose.xml"/-->
+    <load name="light.xml"/>
   </modules>
 
+  <firmware name="fixedwing">
+    <target name="ap" 			board="tiny_2.11">
+      <define name="PITCH_TRIM"/>
+      <define name="ALT_KALMAN"/>
+      <define name="USE_I2C0"/>
+    </target>
+
+    <target name="sim" 			board="pc">
+      <define name="PITCH_TRIM"/>
+      <define name="ALT_KALMAN"/>
+      <define name="USE_I2C0"/>
+    </target>
+
+    <subsystem name="radio_control" type="ppm"/>
+    <subsystem name="telemetry"     type="xbee_api"/>
+    <subsystem name="control_new"/>
+    <subsystem name="attitude"      type="infrared"/>
+    <subsystem name="gps"           type="ublox_lea5h"/>
+    <subsystem name="navigation"/>
+    <subsystem name="i2c"/>
+  </firmware>
+
+  <firmware name="setup">
+    <target name="tunnel" 		board="tiny_2.11" />
+    <target name="setup_actuators" 	board="tiny_2.11" />
+  </firmware>
+
   <!-- commands section -->
   <servos>
     <servo name="MOTOR_LEFT" no="3" min="1000" neutral="1000" max="2000"/>
@@ -39,7 +73,7 @@
   <section name="MIXER">
     <define name="AILEVON_AILERON_RATE" value="0.75"/>
     <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
-    <define name="MOTOR_YAW_RATE" value="0.05"/>
+    <define name="MOTOR_YAW_RATE" value="0.0"/>
   </section>
 
   <command_laws>
@@ -57,17 +91,6 @@
     <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="ADC_IR1_NEUTRAL" value="512"/>
     <define name="ADC_IR2_NEUTRAL" value="512"/>
@@ -85,27 +108,9 @@
     <define name="ROLL_NEUTRAL_DEFAULT" value="-1.146" unit="deg"/>
     <define name="PITCH_NEUTRAL_DEFAULT" value="0.15" unit="deg"/>
 
-    <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="I2C_DEFAULT_CONF" value="1"/>
   </section>
 
-  <!--
-  <section name="GYRO" prefix="GYRO_">
-    <define name="ADC_ROLL_NEUTRAL" value="520"/>
-    <define name="ADC_TEMP_NEUTRAL" value="476"/>   
-    <define name="ADC_TEMP_SLOPE" value="0"/>  
-    <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_AT_FULL_THROTTLE" value="8600"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
@@ -205,17 +210,6 @@
     <define name="DESCENT_NAV_RATIO" value="1.0"/>
     </section>
 
-  <!--
-  <section name="GYRO_GAINS">
-    <define name="GYRO_MAX_RATE" value="200."/>
-    <define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
-    <define name="ALT_ROLL__PGAIN" value="1.0"/>
-    <define name="ROLL_RATE_PGAIN" value="1000.0"/>
-    <define name="ROLL_RATE_IGAIN" value="0.0"/>
-    <define name="ROLL_RATE_DGAIN" value="0.0"/>
-  </section>
-  -->
-
   <section name="FAILSAFE" prefix="FAILSAFE_">
     <define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
     <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
@@ -224,16 +218,11 @@
     <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="1."/>
   </section>
 
+  <!--
   <makefile>
 CONFIG = \"tiny_2_1_1.h\"
 
@@ -303,6 +292,11 @@ ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 ap.CFLAGS += -DUSE_LIGHT
 ap.srcs += light.c
 
+########## Max3100
+ap.CFLAGS += -DMAX3100_BAUD_RATE=MAX3100_B9600 
+
+ap.CFLAGS += -DGCS_NUMBER=\"+33640286530\"
+
 ap.CFLAGS += -DUSE_MODULES
 
 # Config for SITL simulation
@@ -328,4 +322,6 @@ sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 sim.CFLAGS += -DUSE_MODULES
 
   </makefile>
+  -->
+
 </airframe>
diff --git a/conf/airframes/ENAC/quadrotor/mini.xml b/conf/airframes/ENAC/quadrotor/mini.xml
index fdfaaaf441..ceb48e07d5 100644
--- a/conf/airframes/ENAC/quadrotor/mini.xml
+++ b/conf/airframes/ENAC/quadrotor/mini.xml
@@ -1,4 +1,4 @@
-<airframe name="NFF">
+<airframe name="Blender">
 
   <modules main_freq="512">
     <load name="booz_drop.xml"/>
@@ -6,6 +6,29 @@
     <!--load name="sonar_maxbotix_booz.xml"/-->
   </modules>
 
+  <firmware name="rotorcraft">
+    <target name="ap" board="booz_1.0">
+      <define name="BOOZ_FAILSAFE_GROUND_DETECT"/>
+      <define name="USE_GPS_ACC4R"/>
+    </target>
+    <target name="sim" board="pc">
+      <subsystem name="fdm"         type="nps"/>
+    </target>
+    <subsystem name="radio_control" type="ppm"/>
+    <subsystem name="actuators"     type="asctec"/>
+    <subsystem name="imu"           type="b2_v1.1"/>
+    <subsystem name="gps"           type="ublox"/>
+    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ins"           type="hff"/>
+  </firmware>
+
+  <firmware name="booz_test_progs">
+    <target name="test_telemetry"   board="booz_1.0"/>
+    <target name="test_baro"        board="booz_1.0"/>
+    <target name="test_rc_spektrum" board="booz_1.0"/>
+    <target name="test_rc_ppm"      board="booz_1.0"/>
+  </firmware>
+
   <servos min="0" neutral="0" max="0xff">
     <servo name="PITCH"  no="0"    min="0" neutral="0" max="255"/>
     <servo name="ROLL"   no="1"    min="0" neutral="0" max="255"/>
@@ -205,32 +228,7 @@
     <define name="ALT_SHIFT_MINUS" value="-1"/>
   </section>
 
-  <makefile>
-ARCH=lpc21
-ARCHI=arm7
-BOARD_CFG = \"boards/booz2_v1_0.h\"
-FLASH_MODE=IAP
-
-# prevents motors from ever starting
-#ap.CFLAGS += -DKILL_MOTORS
-
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
-include $(CFG_BOOZ)/booz2_autopilot.makefile
-include $(CFG_BOOZ)/booz2_test_progs.makefile
-ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
-
-ap.CFLAGS += -DMODEM_BAUD=B57600
-include $(CFG_BOOZ)/subsystems/booz2_actuators_asctec.makefile
-include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
-include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
-include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
-include $(CFG_BOOZ)/subsystems/booz2_analog_bat_baro.makefile
-include $(CFG_BOOZ)/subsystems/booz2_fms_datalink.makefile
-
-include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
-
-include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
-ap.CFLAGS += -DUSE_GPS_ACC4R
+  <makefile location="after">
 
 ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
 
@@ -239,11 +237,8 @@ ap.CFLAGS += -DBOOZ_ACTUATORS_MAX_THRUST=160 -DBOOZ_THRUST_LOWPASS=17
 
 ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
 
-ap.CFLAGS += -DUSE_MODULES
-
 sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
 sim.CFLAGS += -DNPS_NO_SUPERVISION
-include $(CFG_BOOZ)/booz2_simulator_nps.makefile
 
 sim.CFLAGS += -DB2_GUIDANCE_H_USE_REF
 sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3