mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-25 14:35:51 +08:00
Real test flight with live optic flow improved.
This commit is contained in:
hrvoje
@@ -5,9 +5,9 @@
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airframe="airframes/HB/hb_ardrone2_opticflowtest.xml"
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radio="radios/dummy.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/rotorcraft_basic.xml"
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flight_plan="flight_plans/HB/hb_cyberzoo.xml"
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settings="settings/rotorcraft_basic.xml"
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settings_modules="modules/air_data.xml modules/cv_opticflow.xml"
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gui_color="#f073ef8fb0bb"
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gui_color="#ffffe945aacd"
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/>
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</conf>
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+24
-4
@@ -19,11 +19,31 @@
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# <http://www.gnu.org/licenses/>.
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#
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#
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# This Makefile uses the generic Makefile.arm-linux and adds upload rules for the ARDrone2
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#
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include $(PAPARAZZI_SRC)/conf/Makefile.arm-linux-toolchain
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include $(PAPARAZZI_SRC)/conf/Makefile.arm-linux
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# Define OMAP A8 ARDrone2 specifc flags
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FLOAT_ABI ?= -mfloat-abi=softfp
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#FLOAT_ABI ?= -mfloat-abi=hard
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# ARCH_CFLAGS ?= -O3 -marm -funsafe-math-optimizations -mcpu=cortex-a8 -mtune=cortex-a8 -march=armv7-a -mfpu=neon -ftree-vectorize -ftree-vectorizer-verbose=1 -ffast-math -fomit-frame-pointer -funroll-loops
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ARCH_CFLAGS ?= -O3 -marm -mstructure-size-boundary=32 -funsafe-math-optimizations -mcpu=cortex-a8 -mtune=cortex-a8 -march=armv7-a -mfpu=neon -ftree-vectorize -ftree-vectorizer-verbose=1 -funroll-loops -ffast-math
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# When -pg is used this cannot -fomit-frame-pointer
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# -ffast-math is added in generic Makefile.linux later on..
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# TODO: arm{?}strip -R .comment -R .note -R .note.ABI-tag ap.elf
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# with armv7, unaligned data can still be read
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CFLAGS += -DPPRZLINK_UNALIGNED_ACCESS=1
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# add ARM specifc flags to CFLAGS, LDFLAGS
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CFLAGS += $(FLOAT_ABI) $(ARCH_CFLAGS) -pg
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LDFLAGS += $(FLOAT_ABI) -pg
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CXXFLAGS += $(FLOAT_ABI) $(ARCH_CFLAGS) -pg
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# include the common linux Makefile (common CFLAGS, actual targets)
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include $(PAPARAZZI_SRC)/conf/Makefile.linux
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DRONE = $(PAPARAZZI_SRC)/sw/tools/parrot/ardrone2.py
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@@ -18,9 +18,12 @@
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<subsystem name="actuators" type="ardrone2"/>
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<subsystem name="imu" type="ardrone2"/>
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<!-- gps: "ublox" or change to "sirf" for usage with parrot flight recorder -->
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<subsystem name="gps" type="ublox"/>
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<subsystem name="gps" type="datalink"/>
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<subsystem name="stabilization" type="int_quat"/>
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<subsystem name="ahrs" type="int_cmpl_quat"/>
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<subsystem name="ahrs" type="int_cmpl_quat">
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<configure name="USE_MAGNETOMETER" value="FALSE"/> <!-- Heading is from Optitrack, in reguler outside flight case one would use and Magnetometer-->
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<define name="AHRS_USE_GPS_HEADING" value="TRUE"/>
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</subsystem>
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<subsystem name="ins" type="extended"/>
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</firmware>
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@@ -98,19 +101,17 @@
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<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
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<section name="AHRS" prefix="AHRS_">
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<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
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<!-- Toulouse -->
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<define name="H_X" value="0.513081"/>
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<define name="H_Y" value="-0.00242783"/>
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<define name="H_Z" value="0.858336"/>
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<!-- Delft -->
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<!--define name="H_X" value="0.3892503"/>
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<define name="H_X" value="0.3892503"/>
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<define name="H_Y" value="0.0017972"/>
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<define name="H_Z" value="0.9211303"/ -->
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<define name="H_Z" value="0.9211303"/>
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</section>
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<section name="INS" prefix="INS_">
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<section name="INS" prefix="INS_">
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<define name="SONAR_MAX_RANGE" value="2.2"/>
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<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
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<define name="USE_GPS_ALT" value="TRUE"/>
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<define name="VFF_R_GPS" value="0.01"/>
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</section>
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<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
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@@ -186,7 +187,7 @@
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<!-- Good weather -->
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<define name="MAX_BANK" value="20" unit="deg"/>
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<define name="MAX_BANK" value="12" unit="deg"/>
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<!-- Bad weather -->
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<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
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<define name="PGAIN" value="79"/>
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@@ -210,8 +211,8 @@
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="9.8" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="10.4" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
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</section>
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</airframe>
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@@ -0,0 +1,123 @@
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<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
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<flight_plan alt="2.8" ground_alt="0" lat0="51.990634" lon0="4.376789" max_dist_from_home="8" name="hb_cyberzoo" security_height="2.7">
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<header>
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#include "autopilot.h"
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#include "subsystems/ahrs.h"
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#include "subsystems/electrical.h"
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#include "subsystems/datalink/datalink.h"
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</header>
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<waypoints>
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<waypoint height="0" name="HOME" x="0.0" y="0.0"/>
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<waypoint height="5" name="CLIMB" x="1.2" y="-0.6"/>
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<waypoint height="1.342321" name="STDBY" x="-0.7" y="-0.8"/>
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<waypoint name="TD" x="0.8" y="-1.7"/>
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<waypoint name="p1" x="3.1" y="-1.9"/>
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<waypoint name="p2" x="2.5" y="-2.2"/>
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<waypoint name="p3" x="1.7" y="-1.6"/>
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<waypoint name="p4" x="1.7" y="-3.0"/>
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<waypoint name="CAM" x="-2" y="-4" height="2."/>
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<waypoint lat="51.9906213" lon="4.3768628" name="_CZ1"/>
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<waypoint lat="51.9905874" lon="4.3767766" name="_CZ2"/>
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<waypoint lat="51.9906409" lon="4.3767226" name="_CZ3"/>
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<waypoint lat="51.990667" lon="4.376806" name="_CZ4"/>
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<waypoint lat="51.990624" lon="4.376845" name="_OZ1"/>
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<waypoint lat="51.990601" lon="4.376782" name="_OZ2"/>
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<waypoint alt="11.5" lat="51.990638" lon="4.376748" name="_OZ3"/>
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<waypoint lat="51.990657" lon="4.376804" name="_OZ4"/>
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</waypoints>
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<sectors>
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<sector color="red" name="CyberZoo">
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<corner name="_CZ1"/>
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<corner name="_CZ2"/>
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<corner name="_CZ3"/>
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<corner name="_CZ4"/>
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</sector>
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<sector color="#FF9922" name="ObstacleZone">
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<corner name="_OZ1"/>
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<corner name="_OZ2"/>
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<corner name="_OZ3"/>
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<corner name="_OZ4"/>
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</sector>
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</sectors>
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<exceptions>
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<exception cond="!InsideCyberZoo(GetPosX(), GetPosY())" deroute="Standby"/>
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<!-- <exception cond="datalink_time > 2" deroute="Land here"/>
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<exception cond="electrical.bat_low && !(nav_block == IndexOfBlock('Land')) && !(nav_block == IndexOfBlock('Flare')) && !(nav_block == IndexOfBlock('Landed'))" deroute="Land"/>
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<exception cond="electrical.bat_critical && !(nav_block == IndexOfBlock('Land')) && !(nav_block == IndexOfBlock('Flare')) && !(nav_block == IndexOfBlock('Landed'))" deroute="Land here"/> -->
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</exceptions>
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<blocks>
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<block name="Wait GPS">
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<call fun="NavKillThrottle()"/>
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<while cond="!GpsFixValid()"/>
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</block>
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<block name="Geo init">
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<while cond="LessThan(NavBlockTime(), 2)"/>
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<!-- <call fun="NavSetAltitudeReferenceHere()"/> -->
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<call fun="NavSetGroundReferenceHere()"/>
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</block>
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<block name="Holding point">
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<call fun="NavKillThrottle()"/>
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<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
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</block>
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<block key="r" name="Start Engine">
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<call fun="NavResurrect()"/>
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<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
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</block>
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<block key="t" name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
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<exception cond="stateGetPositionEnu_f()->z > 2.8" deroute="Standby"/>
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<call fun="NavSetWaypointHere(WP_CLIMB)"/>
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<stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
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</block>
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<block key="s" name="Standby" strip_button="Standby" strip_icon="home.png">
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<call fun="NavSetWaypointHere(WP_STDBY)"/>
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<stay wp="STDBY"/>
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</block>
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<block name="stay_p1">
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<stay wp="p1"/>
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</block>
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<block name="go_p2">
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<call fun="nav_set_heading_deg(90)"/>
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<go wp="p2"/>
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<deroute block="stay_p1"/>
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</block>
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<block name="line_p1_p2">
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<go from="p1" hmode="route" wp="p2"/>
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<stay wp="p2" until="stage_time>10"/>
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<go from="p2" hmode="route" wp="p1"/>
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<deroute block="stay_p1"/>
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</block>
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<block name="route">
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<go from="p1" hmode="route" wp="p3"/>
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<go from="p3" hmode="route" wp="p4"/>
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<go from="p4" hmode="route" wp="p1"/>
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<deroute block="stay_p1"/>
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</block>
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<block name="test yaw">
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<go wp="p1"/>
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<for var="i" from="1" to="16">
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<heading alt="WaypointAlt(WP_p1)" course="90 * $i" until="stage_time > 3"/>
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</for>
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<deroute block="Standby"/>
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</block>
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<block name="circle CAM" pre_call="nav_set_heading_towards_waypoint(WP_CAM)">
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<circle radius="nav_radius" wp="CAM"/>
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</block>
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<block key="l" name="Land here" strip_button="Land Here" strip_icon="land-right.png">
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<call fun="NavSetWaypointHere(WP_TD)"/>
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</block>
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<block name="Land">
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<go wp="TD"/>
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</block>
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<block name="Flare">
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<exception cond="NavDetectGround()" deroute="Holding point"/>
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<exception cond="!nav_is_in_flight()" deroute="Landed"/>
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<call fun="NavStartDetectGround()"/>
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<stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
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</block>
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<block name="Landed">
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<call fun="NavKillThrottle()"/>
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<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
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</block>
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</blocks>
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</flight_plan>
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