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Attempt 1: aspirin on Tiny

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This commit is contained in:
Christophe De Wagter
2011-04-28 13:10:17 +02:00
parent f160cf4062
commit c25f1bccc1
3 changed files with 291 additions and 0 deletions
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conf/airframes/CDW/PPZIMUTinyFw.xml
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
YAPA + XSens + XBee
-->
<airframe name="Yapa v1">
<servos>
<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILERON_LEFT" no="1" min="1000" neutral="1500" max="2000"/>
<servo name="AILERON_RIGHT" no="2" min="2000" neutral="1500" max="1000"/>
<servo name="ELEVATOR" no="3" min="2000" neutral="1500" max="1000"/>
<servo name="RUDDER" no="4" min="1100" neutral="1500" max="1900"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="BRAKE" failsafe_value="0"/> <!-- both elerons up as butterfly brake ? -->
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="BRAKE" value="@YAW"/>
</rc_commands>
<section name="SERVO_MIXER_GAINS">
<define name="AILERON_RATE_UP" value="0.50f"/>
<define name="AILERON_RATE_DOWN" value="0.25f"/>
<define name="AILERON_RATE_UP_BRAKE" value="0.5f"/>
<define name="AILERON_RATE_DOWN_BRAKE" value="0.9f"/>
<define name="PITCH_GAIN" value="0.9f"/>
<define name="YAW_THRUST" value="0.0f"/>
<define name="BRAKE_AILEVON" value="-0.68f"/>
<define name="BRAKE_PITCH" value="0.0f"/>
<define name="MAX_BRAKE_RATE" value="150"/>
<define name="LIMIT(X,XL,XH)" value="( ((X)>(XH)) ? (XH) : ( ((X)>(XL)) ? (X) : (XL) ) )"/>
</section>
<command_laws>
<!-- Differential Aileron Depending on Brake Value -->
<set servo="AILERON_LEFT" value="@ROLL"/>
<set servo="AILERON_RIGHT" value="@ROLL"/>
<!-- Differential Thurst -->
<set servo="THROTTLE" value="@THROTTLE"/>
<!-- Pitch with Brake-Trim Function -->
<set servo="ELEVATOR" value="@PITCH"/>
</command_laws>
<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="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.7"/>
<define name="MAX_PITCH" value="0.7"/>
</section>
<section name="BAT">
<define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/>
<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
<!-- <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="-1.20000004768"/>
<define name="COURSE_DGAIN" value="0.3"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
<define name="ROLL_MAX_SETPOINT" value="0.9" 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="-12000."/>
<define name="PITCH_DGAIN" value="0"/>
<define name="ELEVATOR_OF_ROLL" value="1000."/>
<define name="ROLL_ATTITUDE_GAIN" value="-11500"/>
<define name="ROLL_RATE_GAIN" value="-600."/>
</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="DEFAULT_THROTTLE" value="0.35" unit="%"/>
<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
</section>
<section name="DIGITAL_CAMERA" prefix="DC_">
<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
<define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
</section>
<modules>
<load name="baro_bmp.xml" >
<define name="SENSOR_SYNC_SEND" />
<define name="BMP_I2C_DEV" value="i2c0" />
</load>
</modules>
<firmware name="fixedwing">
<target name="ap" board="tiny_2.11">
<define name="STRONG_WIND"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="NB_CHANNELS" value="5" />
</target>
<target name="sim" board="pc"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="gps" type="ublox_lea5h" />
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B57600"/>
</subsystem>
<!-- Actuators -->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="navigation"/>
<!-- <subsystem name="gps" type="ublox_lea5h"/> -->
<subsystem name="i2c"/>
<subsystem name="imu" type="aspirin" />
</firmware>
</airframe>
sw/airborne/arch/lpc21/subsystems/imu/imu_aspirin_arch.c
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#include "subsystems/imu.h"
#include "mcu_periph/i2c.h"
void imu_aspirin_arch_int_enable(void)
{
}
void imu_aspirin_arch_int_disable(void)
{
}
void imu_aspirin_arch_init(void)
{
}
void adxl345_write_to_reg(uint8_t addr, uint8_t val) {
// Adxl345Select();
// SPI_I2S_SendData(SPI2, addr);
// while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
// SPI_I2S_SendData(SPI2, val);
// while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
// while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET);
// Adxl345Unselect();
}
void adxl345_clear_rx_buf(void) {
}
//void adxl345_start_reading_data(void) {
//}
/*
*
* Gyro data ready
*
*/
void exti15_10_irq_handler(void) {
/* clear EXTI */
// if(EXTI_GetITStatus(EXTI_Line14) != RESET)
// EXTI_ClearITPendingBit(EXTI_Line14);
imu_aspirin.gyro_eoc = TRUE;
imu_aspirin.status = AspirinStatusReadingGyro;
}
/*
*
* Accel data ready
*
*/
void exti2_irq_handler(void) {
/* clear EXTI */
// if(EXTI_GetITStatus(EXTI_Line2) != RESET)
// EXTI_ClearITPendingBit(EXTI_Line2);
// adxl345_start_reading_data();
}
/*
*
* Accel end of DMA transfert
*
*/
void dma1_c4_irq_handler(void) {
imu_aspirin.accel_available = TRUE;
}
sw/airborne/arch/lpc21/subsystems/imu/imu_aspirin_arch.h
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#ifndef IMU_ASPIRIN_ARCH_H
#define IMU_ASPIRIN_ARCH_H
#include "subsystems/imu.h"
#include "led.h"
extern void imu_aspirin_arch_init(void);
extern void imu_aspirin_arch_int_enable(void);
extern void imu_aspirin_arch_int_disable(void);
extern void adxl345_write_to_reg(uint8_t addr, uint8_t val);
extern void adxl345_clear_rx_buf(void);
extern void adxl345_start_reading_data(void);
#endif /* IMU_ASPIRIN_ARCH_H */