mirror of
https://github.com/paparazzi/paparazzi.git
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Merge branch 'imu_analog_gyro' into dev
This commit is contained in:
Felix Ruess
@@ -71,14 +71,10 @@
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||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="450"/>
|
||||
<define name="DYNAMIC_RANGE" value="150" unit="deg/s"/>
|
||||
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+2.2))"/>
|
||||
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
|
||||
<define name="ROLL_SCALE" value="3.0*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
|
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<define name="ROLL_DIRECTION" value="1."/>
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<define name="GYRO_P_SIGN" value="1"/>
|
||||
<define name="GYRO_P_NEUTRAL" value="500"/>
|
||||
<define name="GYRO_P_SENS" value="0.137518981" integer="16"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
@@ -258,10 +254,10 @@
|
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</subsystem>
|
||||
|
||||
<!-- Sensors -->
|
||||
<!-- <subsystem name="gyro" type="roll">
|
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<configure name="ADC_GYRO_ROLL" value="ADC_3" />
|
||||
<subsystem name="imu" type="analog">
|
||||
<configure name="GYRO_P" value="ADC_3" />
|
||||
</subsystem>
|
||||
--> <subsystem name="ahrs" type="infrared"/>
|
||||
<subsystem name="ahrs" type="infrared"/>
|
||||
<subsystem name="gps" type="ublox_utm"/>
|
||||
<subsystem name="control" />
|
||||
<subsystem name="navigation" type="extra"/>
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||||
|
||||
@@ -1,13 +1,10 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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||||
|
||||
<!--
|
||||
Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
|
||||
Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
|
||||
PerkinElmer TPS334 IR Sensors
|
||||
Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
|
||||
Trip 50cm 150km range
|
||||
Tiny Sense (=tiny2.11 with onboard thermopiles + current)
|
||||
XBee modem
|
||||
Payload: Sensirion humidity/temp, VTI pressure/temp
|
||||
K68, LEA 5
|
||||
LEA 5H
|
||||
-->
|
||||
|
||||
<airframe name="MavLab50cm">
|
||||
@@ -98,17 +95,11 @@
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||||
<define name="MilliAmpereOfAdc(adc)" value="((adc-508)*50)"/>
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</section>
|
||||
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="382"/>
|
||||
<define name="ADC_PITCH_NEUTRAL" value="400"/>
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||||
<define name="ADC_TEMP_NEUTRAL" value="0"/>
|
||||
<define name="ADC_TEMP_SLOPE" value="0"/>
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<define name="GYRO_P_SIGN" value="1"/>
|
||||
<define name="GYRO_P_NEUTRAL" value="382"/>
|
||||
<define name="DYNAMIC_RANGE" value="500" unit="deg/s"/>
|
||||
<define name="ROLL_SCALE" value="-2.0/1024.*GYRO_DYNAMIC_RANGE" unit="deg/s/adc_unit"/>
|
||||
<define name="PITCH_SCALE" value="2.0/1024.*GYRO_DYNAMIC_RANGE" unit="deg/s/adc_unit"/>
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||||
<define name="ROLL_DIRECTION" value="-1."/>
|
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<define name="PITCH_DIRECTION" value="1."/>
|
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<define name="GYRO_P_SENS" value="-2.0/1024.*GYRO_DYNAMIC_RANGE" unit="deg/s/adc_unit" integer="16"/>
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</section>
|
||||
|
||||
<section name="MISC">
|
||||
|
||||
@@ -1,313 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
|
||||
<!--
|
||||
Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
|
||||
Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
|
||||
PerkinElmer TPS334 IR Sensors
|
||||
Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
|
||||
XBee modem
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||||
Payload: Sensirion humidity/temp, VTI pressure/temp
|
||||
K68, LEA 5
|
||||
-->
|
||||
|
||||
<airframe name="MavLab50cm">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<!-- Left: 2ms is up -->
|
||||
<servo name="AILEVON_LEFT" no="1" min="1100" neutral="1500" max="2900"/>
|
||||
<!-- Right: 2ms is donw -->
|
||||
<servo name="AILEVON_RIGHT" no="5" min="300" neutral="1200" max="1900"/>
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||||
<servo name="CAM_TILT" no="3" min="1500" neutral="2050" max="2050"/>
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||||
</servos>
|
||||
|
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<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
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||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="CAM_TILT" failsafe_value="0"/>
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</commands>
|
||||
|
||||
<ap_only_commands>
|
||||
<copy command="CAM_TILT"/>
|
||||
</ap_only_commands>
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||||
|
||||
<rc_commands>
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<set command="THROTTLE" value="@THROTTLE"/>
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<set command="ROLL" value="@ROLL"/>
|
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<set command="PITCH" value="@PITCH"/>
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</rc_commands>
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|
||||
<command_laws>
|
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<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="(@ROLL*0.8f) + (@PITCH)"/>
|
||||
<set servo="AILEVON_RIGHT" value="(@ROLL*0.8f) - (@PITCH)"/>
|
||||
<set servo="CAM_TILT" value="@CAM_TILT"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="CAMERA" prefix="CAM_">
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<define name="TILT0" value="0" unit="deg"/>
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<define name="TILT_MIN" value="-30" unit="deg"/>
|
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<define name="TILT_NEUTRAL" value="0" unit="deg"/>
|
||||
<define name="TILT_MAX" value="30" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR_TOP" value="ADC_0"/>
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_2"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
<define name="GYRO_ROLL" value="ADC_4"/>
|
||||
<define name="GYRO_PITCH" value="ADC_5"/>
|
||||
<define name="GYRO_NB_SAMPLES" value="16"/>
|
||||
<define name="AIRSPEED" value="ADC_3"/>
|
||||
<define name="AIRSPEED_NB_SAMPLES" value="32"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ADC_IR1_NEUTRAL" value="500"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="500"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="490"/>
|
||||
|
||||
<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="LATERAL_CORRECTION" value="1."/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="-1."/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.5"/>
|
||||
|
||||
<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="18.9649028778" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="14000"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="6.0" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="6.8" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="7.3" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
|
||||
|
||||
<define name="MilliAmpereOfAdc(adc)" value="((adc-508)*50)"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="382"/>
|
||||
<define name="ADC_PITCH_NEUTRAL" value="400"/>
|
||||
<define name="ADC_TEMP_NEUTRAL" value="0"/>
|
||||
<define name="ADC_TEMP_SLOPE" value="0"/>
|
||||
<define name="DYNAMIC_RANGE" value="500" unit="deg/s"/>
|
||||
<define name="ROLL_SCALE" value="-2.0/1024.*GYRO_DYNAMIC_RANGE" unit="deg/s/adc_unit"/>
|
||||
<define name="PITCH_SCALE" value="2.0/1024.*GYRO_DYNAMIC_RANGE" unit="deg/s/adc_unit"/>
|
||||
<define name="ROLL_DIRECTION" value="-1."/>
|
||||
<define name="PITCH_DIRECTION" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="10." unit="m/s"/>
|
||||
<define name="CARROT" value="10." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<!--uncommant API protocol in makefile-->
|
||||
<define name="XBEE_INIT" value="\"ATCHC\rATID3332\rATPL4\rATRN1\rATTT80\rATBD3\rATWR\r\""/>
|
||||
<define name="NO_XBEE_API_INIT" value="TRUE"/> <!-- uncommant after programed-->
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="70."/>
|
||||
<define name="GLIDE_AIRSPEED" value="10"/>
|
||||
<define name="GLIDE_VSPEED" value="3."/>
|
||||
<define name="GLIDE_PITCH" value="5" unit="deg"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="7.6" unit="volt"/>
|
||||
|
||||
<!-- Vertical Outerloop
|
||||
v_ctl_climb_setpoint = ALTITUDE_PGAIN * altitude_error + altitude_pre_climb;
|
||||
BoundAbs(v_ctl_climb_setpoint, V_CTL_ALTITUDE_MAX_CLIMB);
|
||||
-->
|
||||
|
||||
<!-- outer loop proportional gain: alt error 5 climb m/s -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.0750000029802"/>
|
||||
<!-- outer loop saturation: m/s-->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="5.0"/>
|
||||
|
||||
<!-- auto throttle inner loop
|
||||
float controlled_throttle = v_ctl_auto_throttle_cruise_throttle
|
||||
+ v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint
|
||||
+ v_ctl_auto_throttle_pgain *
|
||||
(err + v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err
|
||||
+ v_ctl_auto_throttle_dgain * d_err);
|
||||
|
||||
/* pitch pre-command */
|
||||
float v_ctl_pitch_of_vz = (v_ctl_climb_setpoint + d_err * v_ctl_auto_throttle_pitch_of_vz_dgain)
|
||||
* v_ctl_auto_throttle_pitch_of_vz_pgain;
|
||||
-->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.40000000596"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.20"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.90"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500."/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0." unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.035000000149"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0."/>
|
||||
<define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0."/>
|
||||
<define name="THROTTLE_SLEW_LIMITER" value="1" unit="s"/>
|
||||
|
||||
<define name="AUTO_AIRSPEED_SETPOINT" value="10" unit="m/s"/>
|
||||
<define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0" unit="degree/(m/s)"/>
|
||||
<define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0" unit="%/(m/s)"/>
|
||||
<define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0"/>
|
||||
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="0."/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0."/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-1.5"/> <!-- Heading outerloop: only P-gain -->
|
||||
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.75" unit="radians"/> <!-- Max Angles -->
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.4" unit="radians"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.4" unit="radians"/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="-7110.09179688"/> <!-- Pitch Angle PD control -->
|
||||
<define name="PITCH_DGAIN" value="2."/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="1500."/> <!-- Feed forward ABS(roll) to elevator -->
|
||||
|
||||
<define name="ROLL_SLEW" value="0.30"/> <!-- Maximal roll angle change per 1/60 of second -->
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="-7000."/> <!-- Roll Angle PD control -->
|
||||
<define name="ROLL_RATE_GAIN" value="-2752.29394531"/>
|
||||
|
||||
<!--
|
||||
#ifdef H_CTL_ROLL_ATTITUDE_GAIN
|
||||
inline static void h_ctl_roll_loop( void ) {
|
||||
float err = estimator_phi - h_ctl_roll_setpoint;
|
||||
float cmd = - h_ctl_roll_attitude_gain * err
|
||||
- h_ctl_roll_rate_gain * estimator_p
|
||||
+ v_ctl_throttle_setpoint * h_ctl_aileron_of_throttle;
|
||||
|
||||
h_ctl_aileron_setpoint = TRIM_PPRZ(cmd);
|
||||
}
|
||||
-->
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0."/>
|
||||
<!-- <define name="NAV_GROUND_SPEED_PGAIN" value="0"/> -->
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="40"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="25"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="1.0"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.40"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.0"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.3"/><!-- 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="0.0" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
CONFIG = \"tiny_sense.h\"
|
||||
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=2
|
||||
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
|
||||
|
||||
ap.srcs += commands.c
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
|
||||
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
|
||||
#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
|
||||
|
||||
#TRANSPARENT
|
||||
#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -#DDATALINK=PPRZ -DUART1_BAUD=B9600
|
||||
#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
|
||||
|
||||
# Maxstream API protocol
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B9600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
ap.srcs += inter_mcu.c
|
||||
|
||||
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_GYRO -DIDG300
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET -DSTRONG_WIND
|
||||
ap.srcs += infrared.c estimator.c gyro.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
|
||||
|
||||
ap.srcs += baro_bmp.c $(SRC_ARCH)/i2c_hw.c i2c.c
|
||||
ap.CFLAGS += -DUSE_I2C0 -DUSE_BARO_BMP -DBARO_BMP_ACCEL
|
||||
|
||||
# camera control
|
||||
ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
|
||||
ap.srcs += cam.c point.c
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
|
||||
|
||||
sim.srcs += joystick.c
|
||||
sim.CFLAGS += -DUSE_JOYSTICK
|
||||
|
||||
sim.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
|
||||
# -DTEST_CAM
|
||||
sim.srcs += cam.c point.c
|
||||
sim.srcs += subsystems/navigation/bomb.c
|
||||
|
||||
|
||||
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -1,313 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
|
||||
<airframe name="Holiday 50 Delft Tiny 1.1">
|
||||
|
||||
<modules>
|
||||
<load name="./TUDelft/opticflow.xml"/>
|
||||
</modules>
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="THROTTLE" no="0" min="1100" neutral="1100" max="1900"/>
|
||||
<servo name="AILERONS" no="2" min="1830" neutral="1480" max="1130"/> <!-- positive = right turn -->
|
||||
<servo name="ELEVATOR" no="1" min="1100" neutral="1400" max="1900"/> <!-- positive = up -->
|
||||
<servo name="CAM_TILT" no="3" min="1150" neutral="1500" max="1850"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="CAM_TILT" failsafe_value="0"/>
|
||||
<axis name="HATCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<ap_only_commands>
|
||||
<copy command="CAM_TILT"/>
|
||||
</ap_only_commands>
|
||||
|
||||
<command_laws>
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="AILERONS" value="@ROLL"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
<set servo="CAM_TILT" value="@CAM_TILT"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="CAMERA" prefix="CAM_">
|
||||
<define name="TILT0" value="0" unit="deg"/>
|
||||
<define name="TILT_MIN" value="-30" unit="deg"/>
|
||||
<define name="TILT_NEUTRAL" value="0" unit="deg"/>
|
||||
<define name="TILT_MAX" value="30" 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="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_0"/>
|
||||
<define name="IR2" value="ADC_1"/>
|
||||
<define name="IR_TOP" value="ADC_2"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
<define name="GYRO_ROLL" value="ADC_3"/>
|
||||
<define name="GYRO_TEMP" value="ADC_4"/>
|
||||
<define name="GYRO_NB_SAMPLES" value="16"/>
|
||||
<define name="OPTICFLOW" value="ADC_5"/>
|
||||
|
||||
<define name="CURRENT" value="ADC_6"/> <!-- Current Measurement -->
|
||||
</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="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR2_SIGN" value="-1"/>
|
||||
<define name="TOP_SIGN" value="1"/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="0.7"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="-0.7"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.3"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1.0"/>
|
||||
<define name="CORRECTION_DOWN" value="1.0"/>
|
||||
<define name="CORRECTION_LEFT" value="1.0"/>
|
||||
<define name="CORRECTION_RIGHT" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<section name="AIRSPEED" prefix="AIRSPEED_">
|
||||
<define name="BIAS" value="(168.0f)"/>
|
||||
<define name="QUADRATIC_SCALE" value="1.2588f"/>
|
||||
<define name="ZERO" value="0"/>
|
||||
<define name="RESISTOR_BRIDGE" value="(3.3/(3.3+2.2))"/>
|
||||
<define name="SCALE" value="1." unit="m/s/adc_unit"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="325"/>
|
||||
<define name="ADC_TEMP_NEUTRAL" value="450"/>
|
||||
<define name="ADC_TEMP_SLOPE" value="0"/>
|
||||
<define name="DYNAMIC_RANGE" value="150" unit="deg/s"/>
|
||||
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+2.2))"/>
|
||||
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
|
||||
<define name="ROLL_SCALE" value="2.0*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="12000"/> <!-- 12Amp Full power on Ground -->
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
|
||||
<define name="MilliAmpereOfAdc(adc)" value="((adc-508)*50)"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="13." 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="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="70."/>
|
||||
<define name="GLIDE_AIRSPEED" value="10"/>
|
||||
<define name="GLIDE_VSPEED" value="3."/>
|
||||
<define name="GLIDE_PITCH" value="5" unit="deg"/>
|
||||
|
||||
<define name="LIGHT_LED_1" value="3"/>
|
||||
<!-- <define name="POWER_SWITCH_LED" value="2"/> -->
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
|
||||
|
||||
<!-- Vertical Outerloop
|
||||
v_ctl_climb_setpoint = ALTITUDE_PGAIN * altitude_error + altitude_pre_climb;
|
||||
BoundAbs(v_ctl_climb_setpoint, V_CTL_ALTITUDE_MAX_CLIMB);
|
||||
-->
|
||||
|
||||
<!-- outer loop proportional gain: alt error 5 climb m/s -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.04"/>
|
||||
<!-- outer loop saturation: m/s-->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="5.0"/>
|
||||
|
||||
<!-- auto throttle inner loop
|
||||
float controlled_throttle = v_ctl_auto_throttle_cruise_throttle
|
||||
+ v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint
|
||||
+ v_ctl_auto_throttle_pgain *
|
||||
(err + v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err
|
||||
+ v_ctl_auto_throttle_dgain * d_err);
|
||||
|
||||
/* pitch pre-command */
|
||||
float v_ctl_pitch_of_vz = (v_ctl_climb_setpoint + d_err * v_ctl_auto_throttle_pitch_of_vz_dgain)
|
||||
* v_ctl_auto_throttle_pitch_of_vz_pgain;
|
||||
-->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.319999992847"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.20"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.45"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.0" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.005"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.0"/>
|
||||
<define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.56"/>
|
||||
<define name="THROTTLE_SLEW_LIMITER" value="1" unit="s"/>
|
||||
|
||||
<define name="AUTO_GROUNDSPEED_SETPOINT" value="16" unit="m/s"/>
|
||||
<define name="AUTO_GROUNDSPEED_PGAIN" value="0" unit="degree/(m/s)"/>
|
||||
<define name="AUTO_GROUNDSPEED_IGAIN" value="0"/>
|
||||
<define name="AUTO_AIRSPEED_SETPOINT" value="0" unit="%/(m/s)"/>
|
||||
<define name="AUTO_AIRSPEED_PGAIN" value="0" unit="degree/(m/s)"/>
|
||||
<define name="AUTO_AIRSPEED_IGAIN" value="0" unit="degree/(m/s)"/>
|
||||
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.4" unit="radians"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.4" unit="radians"/>
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-1.5"/> <!-- Heading outerloop: only P-gain -->
|
||||
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.60" unit="radians"/> <!-- Max Angles -->
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.4" unit="radians"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.4" unit="radians"/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="-5925.65087891"/> <!-- Pitch Angle PD control -->
|
||||
<define name="PITCH_DGAIN" value="2.0"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="2050"/> <!-- Feed forward ABS(roll) to elevator -->
|
||||
|
||||
<define name="ROLL_SLEW" value="0.10"/> <!-- Maximal roll angle change per 1/60 of second -->
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="-6000"/> <!-- Roll Angle PD control -->
|
||||
<define name="ROLL_RATE_GAIN" value="-550"/>
|
||||
|
||||
<!--
|
||||
#ifdef H_CTL_ROLL_ATTITUDE_GAIN
|
||||
inline static void h_ctl_roll_loop( void ) {
|
||||
float err = estimator_phi - h_ctl_roll_setpoint;
|
||||
float cmd = - h_ctl_roll_attitude_gain * err
|
||||
- h_ctl_roll_rate_gain * estimator_p
|
||||
+ v_ctl_throttle_setpoint * h_ctl_aileron_of_throttle;
|
||||
|
||||
h_ctl_aileron_setpoint = TRIM_PPRZ(cmd);
|
||||
}
|
||||
-->
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="-0.0"/>
|
||||
<!-- <define name="NAV_GROUND_SPEED_PGAIN" value="0"/> -->
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="30"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="18"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="0.60"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.40"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.3"/><!-- 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"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
# main files (including the 60Hz timing)
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DUSE_LED -DTIME_LED=1
|
||||
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
|
||||
|
||||
# Command allocation and Radio Mixers
|
||||
ap.srcs += commands.c
|
||||
|
||||
# Actuators: tiny1.1 board has 4015_MAT servos
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
|
||||
|
||||
# 35MHz Radio
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
# Paparazzi protocol on UART0 at 57600
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
|
||||
ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
|
||||
|
||||
# communication from FBW and AP
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
ap.srcs += inter_mcu.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
# USE_GPS on UART1
|
||||
ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
|
||||
#ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DUSE_INFRARED
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
ap.CFLAGS += -DTUNE_AGRESSIVE_CLIMB
|
||||
|
||||
ap.CFLAGS += -DUSE_GYRO -DADXRS150
|
||||
ap.srcs += gyro.c
|
||||
|
||||
ap.CFLAGS += -DUSE_MODULES
|
||||
|
||||
ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
|
||||
ap.srcs += subsystems/navigation/traffic_info.c
|
||||
|
||||
# camera control
|
||||
ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
|
||||
# -DTEST_CAM
|
||||
ap.srcs += cam.c point.c
|
||||
# subsystems/navigation/traffic_info.c
|
||||
|
||||
ap.CFLAGS += -DWIND_INFO -DSTRONG_WIND
|
||||
ap.srcs += subsystems/navigation/bomb.c
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO -DSTRONG_WIND
|
||||
sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
|
||||
sim.CFLAGS += -DTUNE_AGRESSIVE_CLIMB
|
||||
# subsystems/navigation/traffic_info.c
|
||||
sim.CFLAGS += -DUSE_MODULES
|
||||
|
||||
sim.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
|
||||
# -DTEST_CAM
|
||||
sim.srcs += cam.c point.c
|
||||
sim.srcs += subsystems/navigation/bomb.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -1,226 +0,0 @@
|
||||
<!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="2" min="1000" neutral="1500" max="2000"/>
|
||||
<servo name="AILERON_RIGHT" no="6" 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="RATELIMIT(X,RATE)" value="( _rate_limited_value + Chop( (X) - _rate_limited_value, -(RATE), (RATE) )); \
|
||||
int16_t _rate_limited_value = 0;"/>
|
||||
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<!-- Brake Rate Limiter -->
|
||||
<let var="brake_value" value="Chop(-@BRAKE, 0, MAX_PPRZ)"/>
|
||||
<!--<let var="brake_value" value="RATELIMIT( $brake_value , MAX_BRAKE_RATE )"/>
|
||||
|
||||
<let var="test; \
|
||||
static int16_t _var_brake_value = 0; \
|
||||
_var_brake_value += LIMIT(_var_brake_value_nofilt - _var_brake_value,-MAX_BRAKE_RATE,MAX_BRAKE_RATE); \
|
||||
int verwaarloos_deze_warning_CDW" value="0"/>
|
||||
-->
|
||||
|
||||
<!-- Differential Aileron Depending on Brake Value -->
|
||||
<let var="aileron_up_rate" value="(AILERON_RATE_UP * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_UP_BRAKE * $brake_value)"/>
|
||||
<let var="aileron_down_rate" value="(AILERON_RATE_DOWN * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_DOWN_BRAKE * $brake_value)"/>
|
||||
<let var="aileron_up" value="(@ROLL * (((float)$aileron_up_rate) / ((float)MAX_PPRZ)))"/>
|
||||
<let var="aileron_down" value="(@ROLL * (((float)$aileron_down_rate) / ((float)MAX_PPRZ)))"/>
|
||||
<let var="leftturn" value="(@ROLL >= 0? 1 : 0)"/>
|
||||
<let var="rightturn" value="(1 - $leftturn)"/>
|
||||
<set servo="AILERON_LEFT" value="($aileron_up * $leftturn) + ($aileron_down * $rightturn) - $brake_value*(BRAKE_AILEVON)"/>
|
||||
<set servo="AILERON_RIGHT" value="($aileron_up * $rightturn) + ($aileron_down * $leftturn) + $brake_value*(BRAKE_AILEVON)"/>
|
||||
|
||||
<!-- Differential Thurst -->
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
|
||||
<!-- Pitch with Brake-Trim Function -->
|
||||
<set servo="ELEVATOR" value="-@PITCH * PITCH_GAIN + BRAKE_PITCH * $brake_value"/>
|
||||
</command_laws>
|
||||
|
||||
<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="INS" prefix="INS_">
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
</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=""ATPL2\rATRN5\rATTT80\r""/>
|
||||
<!-- <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="0.75" 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="1.5"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="1000."/>
|
||||
|
||||
<define name="ROLL_SLEW" value="1."/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
|
||||
<define name="ROLL_RATE_GAIN" value="0."/>
|
||||
</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="ins_xsens_MTiG_fixedwing.xml">
|
||||
<configure name="XSENS_UART_NR" value="0"/>
|
||||
</load>
|
||||
|
||||
<load name="light.xml">
|
||||
<define name="LIGHT_LED_STROBE" value="3"/>
|
||||
<define name="LIGHT_LED_NAV" value="2"/>
|
||||
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
|
||||
<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
|
||||
</load>
|
||||
|
||||
<!-- <load name="digital_cam_i2c.xml"/> -->
|
||||
<!-- <load name="ins_ppzuavimu.xml"/> -->
|
||||
<load name="digital_cam.xml" >
|
||||
<define name="DC_SHUTTER_LED" value="2"/>
|
||||
</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"/>
|
||||
</target>
|
||||
<target name="sim" board="pc"/>
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
|
||||
<!-- 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="xsens"/>
|
||||
|
||||
|
||||
</firmware>
|
||||
|
||||
</airframe>
|
||||
Reference in New Issue
Block a user