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airframe to test meteo_stick module

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This commit is contained in:
Gautier Hattenberger
2014-09-22 17:23:56 +02:00
parent 63a8846769
commit b92b21d536
1 changed files with 211 additions and 0 deletions
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conf/airframes/MTO/test_enac_ptu.xml
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
Example airframe
Apogee
Enac PTU
-->
<airframe name="EasyStar">
<modules>
<load name="gps_ubx_ucenter.xml"/>
<load name="pwm_meas.xml"/>
<load name="meteo_stick.xml">
<configure name="MS_SPI_DEV" value="SPI1"/>
<configure name="MS_PRESSURE_SLAVE_IDX" value="0"/>
<configure name="MS_DIFF_PRESSURE_SLAVE_IDX" value="3"/>
<configure name="MS_TEMPERATURE_SLAVE_IDX" value="2"/>
<configure name="MS_HUMIDITY_PWM_INPUT" value="PWM_INPUT1"/>
</load>
</modules>
<firmware name="fixedwing">
<define name="USE_I2C1"/>
<define name="USE_I2C2"/>
<define name="AGR_CLIMB"/>
<!-- <define name="STRONG_WIND"/> -->
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<configure name="PERIODIC_FREQUENCY" value="100"/>
<target name="ap" board="apogee_1.0_chibios">
<subsystem name="radio_control" type="sbus"/>
</target>
<target name="sim" board="pc">
<subsystem name="radio_control" type="ppm"/>
</target>
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="sdlog"/>
<!-- Actuators are automatically chosen according to board-->
<subsystem name="imu" type="apogee"/>
<subsystem name="ahrs" type="float_dcm"/>
<subsystem name="ins" type="alt_float"/>
<subsystem name="control"/>
<subsystem name="navigation"/>
<!-- Sensors -->
<subsystem name="gps" type="ublox"/>
<subsystem name="current_sensor">
<configure name="ADC_CURRENT_SENSOR" value="ADC_1"/>
</subsystem>
<subsystem name="spi_master"/>
</firmware>
<!-- commands section -->
<servos>
<servo name="AILERON_RIGHT" no="0" min="1900" neutral="1500" max="1100"/>
<servo name="AILERON_LEFT" no="1" min="1900" neutral="1500" max="1100"/>
<servo name="MOTOR" no="2" min="1040" neutral="1040" max="2000"/>
<servo name="ELEVATOR" no="3" min="1900" neutral="1500" max="1100"/>
<servo name="RUDDER" no="4" min="1900" neutral="1500" max="1100"/>
</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"/>
<let var="roll" value="@ROLL"/>
<set servo="AILERON_LEFT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
<set servo="AILERON_RIGHT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
<set servo="RUDDER" value="@YAW"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.85"/>
<define name="MAX_PITCH" value="0.6"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_SIGN" value="-1"/>
<define name="GYRO_Q_SIGN" value="1"/>
<define name="GYRO_R_SIGN" value="-1"/>
<define name="ACCEL_X_SIGN" value="-1"/>
<define name="ACCEL_Y_SIGN" value="1"/>
<define name="ACCEL_Z_SIGN" value="-1"/>
<define name="ACCEL_X_NEUTRAL" value="-28"/>
<define name="ACCEL_Y_NEUTRAL" value="33"/>
<define name="ACCEL_Z_NEUTRAL" value="181"/>
<define name="ACCEL_X_SENS" value="2.46436558746" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.43580535077" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.43151686758" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="10" unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="5" unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0" unit="deg"/>
</section>
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="MilliAmpereOfAdc(_adc)" value="(_adc-632)*4.14"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
</section>
<section name="METEO_STICK">
<!--define name="MS_PRESSURE_SCALE" value="1.0"/>
<define name="MS_PRESSURE_OFFSET" value="0"/>
<define name="MS_TEMPERATURE_SCALE" value="1.0"/>
<define name="MS_TEMPERATURE_OFFSET" value="0"/>
<define name="MS_HUMIDITY_SCALE" value="1.0"/>
<define name="MS_HUMIDITY_OFFSET" value="0"/>
<define name="LOG_MS" value="TRUE"/-->
<define name="SEND_MS" value="TRUE"/>
</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="0.348"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.70"/>
<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="0.007"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.053"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.12"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="1.0"/>
<define name="COURSE_DGAIN" value="0.3"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="PITCH_PGAIN" value="12000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="1500"/>
</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"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
</airframe>