mirror of
https://github.com/paparazzi/paparazzi.git
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sdlog
This commit is contained in:
philipan
@@ -0,0 +1,284 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!--
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AULA_Funjet (based on ENAC/fixedwing/apogee.xml) modified
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2016-01-07 a.philipp@geo.uni-augsburg.de sdlog
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-->
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<airframe name="Apogee_SUMO">
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<modules>
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<!--load name="sys_mon.xml"/-->
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<!-- <load name="mcp355x.xml"> -->
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<!-- <define name="USE_SPI1"/> -->
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<!-- </load> -->
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<!--load name="extra_dl.xml">
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<configure name="EXTRA_DL_PORT" value="UART6"/>
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<configure name="EXTRA_DL_BAUD" value="B57600"/>
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</load>
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<load name="meteo_france_DAQ.xml"/-->
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<load name="flight_recorder.xml"/>
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<!-- Sensors -->
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<load name="air_data.xml">
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<define name="AIR_DATA_BARO_ABS_ID" />
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<define name="AIR_DATA_CALC_AMSL_BARO" value="TRUE"/>
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</load>
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<load name="gps_ubx_ucenter.xml"/>
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<load name="humid_sht.xml">
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<define name="SHT_DAT_GPIO" value="GPIOB,GPIO1"/>
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<define name="SHT_SCK_GPIO" value="GPIOC,GPIO5"/>
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<define name="SHT_SDLOG" value="TRUE"/>
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</load>
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<load name="airspeed_ets.xml">
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<define name="AIRSPEED_ETS_SYNC_SEND"/>
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<define name="USE_I2C2"/>
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<configure name="AIRSPEED_ETS_I2C_DEV" value="i2c2"/>
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<define name="AIRSPEED_ETS_SDLOG" value="TRUE"/>
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</load>
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<load name="temp_temod.xml">
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<configure name="TEMOD_I2C_DEV" value="i2c1"/>
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<define name="TEMP_TEMOD_SDLOG" value="TRUE"/>
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</load>
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<load name="nav_line_border.xml"/>
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<load name="nav_line.xml"/>
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<load name="nav_survey_poly_osam.xml">
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<define name="POLY_OSAM_POLYGONSIZE" value="10" />
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<define name="POLY_OSAM_ENTRY_RADIUS" value="0" />
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<define name="POLY_OSAM_DEFAULT_SIZE" value="5" />
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<define name="POLY_OSAM_DEFAULT_SWEEP" value="100" />
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<define name="POLY_OSAM_MIN_RADIUS" value="30" />
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<define name="POLY_OSAM_FIRST_SWEEP_DISTANCE" value="4" />
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</load>
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</modules>
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<firmware name="fixedwing">
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<define name="USE_INS_NAV_INIT" value="TRUE" /> <!-- initialize ground reference with flight plan coordinates, instead of leaving it uninitialized (to be set
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from the GPS fix with NavSetGroundReferenceHere) -->
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<target name="ap" board="apogee_1.0_chibios">
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<subsystem name="radio_control" type="ppm"/>
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<configure name="PERIODIC_FREQUENCY" value="100"/>
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<define name="APOGEE_BARO_SDLOG" value="TRUE"/>
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</target>
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<target name="sim" board="pc">
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<subsystem name="radio_control" type="ppm"/>
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</target>
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<define name="USE_I2C1"/>
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<define name="USE_I2C2"/>
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<!--define name="AGR_CLIMB"/-->
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<!--define name="LOITER_TRIM"/-->
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<!--define name="PITCH_TRIM"/-->
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<!-- Communication -->
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<subsystem name="telemetry" type="transparent">
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<configure name="MODEM_BAUD" value="B57600"/>
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<configure name="MODEM_PORT" value="UART1"/>
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<!-- <define name="TELEMETRY_MODE_FBW" value="2"/> -->
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</subsystem>
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<!-- <subsystem name="navigation" type="extra"/> -->
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<subsystem name="sdlog"/>
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<!-- Actuators are automatically chosen according to board-->
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<subsystem name="imu" type="apogee_mpu9150"/>
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<!-- <subsystem name="imu" type="apogee"/> -->
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<subsystem name="ahrs" type="float_dcm"/>
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<subsystem name="ins" type="alt_float">
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<define name="USE_BAROMETER" value="TRUE"/>
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</subsystem>
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<subsystem name="control"/>
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<subsystem name="navigation"/>
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<!-- Sensors -->
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<subsystem name="gps" type="ublox"/>
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<!--subsystem name="spi_master"/-->
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</firmware>
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<!-- commands section -->
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<servos>
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<servo name="MOTOR" no="0" min="1040" neutral="1040" max="2000"/>
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<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1500" max="1000"/>
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<servo name="AILEVON_RIGHT" no="2" min="1000" neutral="1500" max="2000"/>
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</servos>
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<commands>
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<axis name="THROTTLE" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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</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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<section name="MIXER">
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<define name="AILEVON_AILERON_RATE" value="0.75"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
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</section>
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<command_laws>
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<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
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<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
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<set servo="MOTOR" value="@THROTTLE"/>
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<set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
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<set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="80" unit="deg" />
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<define name="MAX_PITCH" value="60" unit="deg" />
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</section>
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<section name="GCS">
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<define name="SPEECH_NAME" value="Funjet 1"/>
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<define name="AC_ICON" value="flyingwing"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<!-- Calibration Neutral -->
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<define name="GYRO_P_NEUTRAL" value="0"/>
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<define name="GYRO_Q_NEUTRAL" value="0"/>
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<define name="GYRO_R_NEUTRAL" value="0 "/>
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<define name="ACCEL_X_NEUTRAL" value="0"/>
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<define name="ACCEL_Y_NEUTRAL" value="0"/>
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<define name="ACCEL_Z_NEUTRAL" value="0"/>
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<define name="BODY_TO_IMU_PHI" value="0" unit="deg"/> <!--roll-left-->
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<define name="BODY_TO_IMU_THETA" value="0" unit="deg"/> <!--pitch-down-->
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<define name="BODY_TO_IMU_PSI" value="0"/>
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<define name="GYRO_P_SIGN" value="1"/>
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<define name="GYRO_Q_SIGN" value="-1"/>
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<define name="GYRO_R_SIGN" value="-1"/>
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<define name="ACCEL_X_SIGN" value="1"/>
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<define name="ACCEL_Y_SIGN" value="-1"/>
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<define name="ACCEL_Z_SIGN" value="-1"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="0.0" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0.0" unit="deg"/>
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</section>
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<section name="BAT">
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="MilliAmpereOfAdc(_adc)" value="(_adc-158)*16.5698"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="10." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="TRIGGER_DELAY" value="1."/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="40."/>
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<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="0.18"/> <!-- 0.024 -->
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="5."/>
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<!-- Cruise throttle + limits -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.3"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.05"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(45.)"/> <!-- was 20-->
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<define name="AUTO_PITCH_MIN_PITCH" value="-RadOfDeg(45.)"/> <!-- was 20-->
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<!-- Climb loop (throttle) -->
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
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<!--automatic increase to the throttle position for climb error.
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If you have a climb error calculated at 1 m/s, with 0.15 you will increase the throttle
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automatically(open loop) by 15%. -->
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<define name="AUTO_THROTTLE_PGAIN" value="0.002"/> <!-- 0.005 -->
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<define name="AUTO_THROTTLE_DGAIN" value="0.0"/> <!-- 0.005 -->
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<define name="AUTO_THROTTLE_IGAIN" value="0.004"/> <!-- 0.005 -->
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<!-- Climb loop (pitch) -->
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.03"/>
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<!-- increases the pitch setpoint for a climb_error.
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If your climb rate error is 1 m/s you will command a pitch of 0.35 radians. -->
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<define name="AUTO_PITCH_PGAIN" value="0.04"/> <!-- 0.03 -->
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<define name="AUTO_PITCH_DGAIN" value="0.04"/> <!-- 0.03 -->
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<define name="AUTO_PITCH_IGAIN" value="0.0"/>
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<define name="AUTO_AIRSPEED_SETPOINT" value="13."/>
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<define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
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<define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
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<define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
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<define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
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<define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
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<define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
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<define name="AIRSPEED_MAX" value="30"/>
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<define name="AIRSPEED_MIN" value="10"/>
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<!-- groundspeed control -->
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<define name="AUTO_GROUNDSPEED_SETPOINT" value="12."/>
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<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
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<define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
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<!-- pitch trim --> <!-- 5 deg -->
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<define name="PITCH_LOITER_TRIM" value="RadOfDeg(0.)"/>
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<define name="PITCH_DASH_TRIM" value="RadOfDeg(-0.)"/>
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<define name="THROTTLE_SLEW" value="0.1"/>
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</section>
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="0.7"/>
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<define name="ROLL_MAX_SETPOINT" value="0.8" unit="radians"/>
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<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
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|
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<define name="ROLL_ATTITUDE_GAIN" value="8800."/>
|
||||||
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<define name="ROLL_RATE_GAIN" value="500."/>
|
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<define name="ROLL_IGAIN" value="150."/>
|
||||||
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<define name="ROLL_KFFA" value="0"/>
|
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<define name="ROLL_KFFD" value="0"/>
|
||||||
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|
||||||
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<define name="PITCH_PGAIN" value="14000."/>
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<define name="PITCH_DGAIN" value="0."/>
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<define name="PITCH_IGAIN" value="250."/>
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||||||
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<define name="PITCH_KFFA" value="0."/>
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<define name="PITCH_KFFD" value="0."/>
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|
||||||
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<define name="PITCH_OF_ROLL" value="RadOfDeg(0.0)"/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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<define name="ELEVATOR_OF_ROLL" value="1400"/>
|
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</section>
|
||||||
|
|
||||||
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<section name="NAV">
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<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
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</section>
|
||||||
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|
||||||
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
|
||||||
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<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||||
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<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
||||||
|
<define name="HOME_RADIUS" value="60" unit="m"/>
|
||||||
|
</section>
|
||||||
|
|
||||||
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<section name="SIMU">
|
||||||
|
<!--define name="ROLL_RESPONSE_FACTOR" value="10"/>
|
||||||
|
<define name="MAX_ROLL_DOT" value="20" unit="rad/s"/-->
|
||||||
|
</section>
|
||||||
|
|
||||||
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</airframe>
|
||||||
@@ -0,0 +1,67 @@
|
|||||||
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<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
|
||||||
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<flight_plan alt="650" ground_alt="600" lat0="47.830809" lon0="11.061623" max_dist_from_home="500" name="ScaleX_" security_height="30">
|
||||||
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|
||||||
|
<header>
|
||||||
|
#include "subsystems/datalink/datalink.h"
|
||||||
|
</header>
|
||||||
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|
||||||
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<waypoints>
|
||||||
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<waypoint name="HOME" x="0" y="0" height="50"/>
|
||||||
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<waypoint name="Profil" x="0" y="0"/>
|
||||||
|
<waypoint name="Anflug" x="-150" y="0" height="30"/>
|
||||||
|
</waypoints>
|
||||||
|
|
||||||
|
<blocks>
|
||||||
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|
||||||
|
<block name="Waiting for GPS fix">
|
||||||
|
<!-- <set value="1" var="kill_throttle"/> -->
|
||||||
|
<while cond="!GpsFixValid()"/>
|
||||||
|
</block>
|
||||||
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|
||||||
|
<block name="Geo init">
|
||||||
|
<while cond="LessThan(NavBlockTime(), 7)"/>
|
||||||
|
<!-- <call fun="NavSetGroundReferenceHere()"/> -->
|
||||||
|
<call fun="NavSetAltitudeReferenceHere()"/>
|
||||||
|
<set var="air_data.calc_qnh_once" value="TRUE"/>
|
||||||
|
</block>
|
||||||
|
|
||||||
|
<block name="Waiting for Remote Control">
|
||||||
|
<while cond="RCLost()"/>
|
||||||
|
</block>
|
||||||
|
|
||||||
|
<block name="Unlock throttle">
|
||||||
|
<set value="1" var="launch"/>
|
||||||
|
<set value="0" var="kill_throttle"/>
|
||||||
|
<set value="0" var="autopilot_flight_time"/>
|
||||||
|
</block>
|
||||||
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|
||||||
|
<block name="Climb">
|
||||||
|
<circle wp="Profil" pitch="45" radius="-70" throttle="0.80" until="GetPosAlt() > ground_alt + 305" vmode="throttle"/>
|
||||||
|
<deroute block="Descent"/>
|
||||||
|
</block>
|
||||||
|
|
||||||
|
<block name="Descent">
|
||||||
|
<circle wp="Profil" climb="-4" radius="-70" throttle="0.40" pitch="auto" until="ground_alt+25 > GetPosAlt()" vmode="climb"/>
|
||||||
|
<exception cond="GetPosAlt() > ground_alt + 305 + 50 " deroute="Down"/>
|
||||||
|
<deroute block="Landing"/>
|
||||||
|
</block>
|
||||||
|
|
||||||
|
<block name="Down">
|
||||||
|
<circle wp="Profil" radius="-70" until="ground_alt+35 > GetPosAlt()" vmode="alt" alt="ground_alt+40"/>
|
||||||
|
<deroute block="Landing"/>
|
||||||
|
</block>
|
||||||
|
|
||||||
|
<block name="Landing">
|
||||||
|
<while cond="TRUE">
|
||||||
|
<go wp="Anflug" approaching_time="1"/>
|
||||||
|
<go from="Anflug" hmode="route" vmode="glide" wp="HOME" alt="ground_alt+15" approaching_time="1"/>
|
||||||
|
</while>
|
||||||
|
<deroute block="Standby"/>
|
||||||
|
</block>
|
||||||
|
|
||||||
|
<block name="Standby" group="home" key="Ctrl+a" strip_button="Standby" strip_icon="home.png">
|
||||||
|
<circle radius="-70" wp="HOME"/>
|
||||||
|
</block>
|
||||||
|
|
||||||
|
</blocks>
|
||||||
|
</flight_plan>
|
||||||
@@ -125,7 +125,7 @@ void apogee_baro_event(void)
|
|||||||
#if APOGEE_BARO_SDLOG
|
#if APOGEE_BARO_SDLOG
|
||||||
if (pprzLogFile != -1) {
|
if (pprzLogFile != -1) {
|
||||||
if (!log_apogee_baro_started) {
|
if (!log_apogee_baro_started) {
|
||||||
sdLogWriteLog(pprzLogFile, "APOGEE_BARO: Pres(Pa) GPS_fix TOW(ms) Week Lat(1e7deg) Lon(1e7deg) HMSL(mm) gpseed(cm/s) course(1e7deg) climb(cm/s)\n");
|
sdLogWriteLog(pprzLogFile, "APOGEE_BARO: Pres(Pa) Temp/degC) GPS_fix TOW(ms) Week Lat(1e7deg) Lon(1e7deg) HMSL(mm) gpseed(cm/s) course(1e7deg) climb(cm/s)\n");
|
||||||
log_apogee_baro_started = TRUE;
|
log_apogee_baro_started = TRUE;
|
||||||
}
|
}
|
||||||
if (count_sd_writes == 0) {
|
if (count_sd_writes == 0) {
|
||||||
|
|||||||
Reference in New Issue
Block a user