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merge paparazzi master into paparazzi dev

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This commit is contained in:
Christophe De Wagter
2012-03-05 17:17:29 +01:00
parent 5cb91f8c1d cd8247589a
commit cf2dca2fb1
253 changed files with 3804 additions and 3845 deletions
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.gitignore
+11
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@@ -1,3 +1,6 @@
# ignore html dir for github pages
/doc/html
*.so
*.[oa]
*.out
@@ -17,6 +20,13 @@
*.aux
# Eclipse IDE project files
*.cproject
*.project
*.externalToolBuilders
/build.properties
/META-INF
# Debian related files
*.deb
*.dsc
@@ -119,6 +129,7 @@
/sw/logalizer/ivy_example
/sw/logalizer/motor_bench
/sw/logalizer/tmclient
/sw/logalizer/openlog2tlm
# /sw/simulator/
/sw/simulator/gaia
BUGS
+1
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@@ -1,2 +1,3 @@
We count on your for finding them
Please see the bug/issue tracker on https://github.com/paparazzi/paparazzi/issues
Doxyfile
+272 -104
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File diff suppressed because it is too large Load Diff
Makefile
+16 -8
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@@ -233,11 +233,11 @@ fast_deb:
$(MAKE) deb OCAMLC=ocamlc.opt DEBFLAGS=-b
clean:
rm -fr dox build-stamp configure-stamp conf/%gconf.xml debian/files debian/paparazzi-arm7 debian/paparazzi-avr debian/paparazzi-base debian/paparazzi-bin debian/paparazzi-dev
rm -f $(MESSAGES_H) $(MESSAGES2_H) $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(DL_PROTOCOL_H)
find . -mindepth 2 -name Makefile -exec sh -c '$(MAKE) -C `dirname {}` $@' \;
find . -name '*~' -exec rm -f {} \;
rm -f paparazzi sw/simulator/launchsitl
$(Q)rm -fr dox build-stamp configure-stamp conf/%gconf.xml debian/files debian/paparazzi-base debian/paparazzi-bin
$(Q)rm -f $(MESSAGES_H) $(MESSAGES2_H) $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(DL_PROTOCOL_H)
$(Q)find . -mindepth 2 -name Makefile -exec sh -c 'echo "Cleaning {}"; $(MAKE) -C `dirname {}` $@' \;
$(Q)find . -name '*~' -exec rm -f {} \;
$(Q)rm -f paparazzi sw/simulator/launchsitl
cleanspaces:
find ./sw/airborne -name '*.[ch]' -exec sed -i {} -e 's/[ \t]*$$//' \;
@@ -247,9 +247,14 @@ cleanspaces:
find ./conf -name '*.xml' -exec sed -i {} -e 's/[ \t]*$$//' ';'
distclean : dist_clean
dist_clean : clean
rm -r conf/srtm_data
rm -r conf/maps_data conf/maps.xml
dist_clean :
@echo "Warning: This removes all non-repository files. This means you will loose your aircraft list, your maps, your logfiles, ... if you want this, then run: make dist_clean_irreversible"
dist_clean_irreversible: clean
rm -rf conf/srtm_data
rm -rf conf/maps_data conf/maps.xml
rm -rf conf/conf.xml conf/controlpanel.xml
rm -rf var
ab_clean:
find sw/airborne -name '*~' -exec rm -f {} \;
@@ -260,6 +265,9 @@ test_all_example_airframes:
$(MAKE) AIRCRAFT=Tiny_IMU clean_ac ap
$(MAKE) AIRCRAFT=EasyStar_ETS clean_ac ap sim
test_all_example_airframes2:
for ap in `grep name conf/conf.xml.example | sed -e 's/.*name=\"//' | sed -e 's/"//'`; do echo "Making $$ap"; make -C ./ AIRCRAFT=$$ap clean_ac ap.compile; done
commands: paparazzi sw/simulator/launchsitl
paparazzi:
README
-102
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@@ -1,102 +0,0 @@
# Paparazzi $Id$
# Copyright (C) 2003-2010 The Paparazzi Team
#
# This file is part of Paparazzi.
#
# Paparazzi is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2, or (at your option)
# any later version.
#
# Paparazzi is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with Paparazzi; see the file COPYING. If not, write to
# the Free Software Foundation, 59 Temple Place - Suite 330,
# Boston, MA 02111-1307, USA.
Intro
-----
Paparazzi is an attempt to develop a free software Unmanned (Air) Vehicle System.
As of today the system is being used successfuly by a number of hobyists, universities and companies all over the world, on vehicle of various size ( 100g to 25Kg ) and of various nature ( fixed wing, rotorcrafts, boats and surface vehicles).
Up to date informations are available from the wiki website
http://paparazzi.enac.fr
and from the mailing list (http://savannah.nongnu.org/mail/?group=paparazzi)
and the IRC channel (freenode, #paparazzi).
Directories quick and dirty description:
---------------------------------------
conf: the configuration directory (airframe, radio, ... descriptions).
data: where to put read-only data (e.g. maps, terrain elevation files, icons)
hw: hardware (electronic schemas, PCBs, ...)
sw: software (onboard, ground station, simulation, ...)
var: products of compilation, cache for the map tiles, ...
debian: Debian packaging control files
Required Software
-----------------
Installation is described in the wiki (paparazzi.enac.fr/wiki/Installation).
Main requirements include
- OCaml (ocaml.org), xml-light library (http://tech.motion-twin.com/xmllight)
- gcc, GTK2, Glib2, libgnomecanvas, libxml2
- ARM7 micro-controller development environnment (gcc, loader, libc, binutils)
- ...
For Debian or Ubuntu users, required packages are available at
http://paparazzi.enac.fr/debian
- "paparazzi-dev" will provide everything needed to compile and run the ground segment and the simulator. If something is missing, please report it.
- "paparazzi-arm7" is required to compile the code for LPC21 based boards ( tiny, twog, booz, etc).
- "paparazzi-stm32" is needed for building code for STM32 based boards (lisa/L, lisa/M)
- "paparazzi-omap" is needed for building code for the optional Gumstix Overo module available on lisa/L
- "paparazzi-jsbsim" is needed for using jsbsim as flight dynamic model for the simulator.
Compilation and demo simulation
-------------------------------
1) type "make" in the top directory to compile all the libraries and tools.
2) "./paparazzi" to run the Paparazzi Center
3) Select the "Microjet" aircraft in the upper-left A/C
combo box. Select "sim" from upper-middle "target" combo box. Click
"Build". When the compilation is finished, select "Simulation" from
the upper-right session combo box and click "Execute".
4) In the GCS, wait about 10s for the aircraft to be in the "Holding
point" navigation block. Switch to the "Takeoff" block (lower-left
blue airway button in the strip). Takeoff with the green launch button.
Uploading of the embedded software
----------------------------------
1) Power the flight controller board while it is connected to the PC with
the USB cable.
2) From the Paparazzi center, select the "ap" target, and click "Upload".
Flight
-------------------------------------
1) From the Paparazzi Center, select the flight session and ... do
the same than in simulation !
README.md
+69
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@@ -0,0 +1,69 @@
Paparazzi UAS
=============
Paparazzi is an attempt to develop a free software Unmanned (Air) Vehicle System.
As of today the system is being used successfuly by a number of hobyists, universities and companies all over the world, on vehicle of various size ( 100g to 25Kg ) and of various nature ( fixed wing, rotorcrafts, boats and surface vehicles).
Up to date information is available in the wiki http://paparazzi.enac.fr
and from the mailing list [paparazzi-devel@nongnu.org] (http://savannah.nongnu.org/mail/?group=paparazzi)
and the IRC channel (freenode, #paparazzi).
Required Software
-----------------
Installation is described in the wiki (http://paparazzi.enac.fr/wiki/Installation).
For Ubuntu users, required packages are available in the [paparazzi-uav PPA] (https://launchpad.net/~paparazzi-uav/+archive/ppa),
Debian users can use http://paparazzi.enac.fr/debian
- **paparazzi-dev** is the meta-package that depends on everything needed to compile and run the ground segment and the simulator.
- **paparazzi-arm-multilib** ARM cross-compiling toolchain for LPC21 and STM32 based boards.
- **paparazzi-omap** toolchain for the optional Gumstix Overo module available on lisa/L.
- **paparazzi-jsbsim** is needed for using JSBSim as flight dynamic model for the simulator.
Directories quick and dirty description:
----------------------------------------
_conf_: the configuration directory (airframe, radio, ... descriptions).
_data_: where to put read-only data (e.g. maps, terrain elevation files, icons)
_doc_: documentation (diagrams, manual source files, ...)
_sw_: software (onboard, ground station, simulation, ...)
_var_: products of compilation, cache for the map tiles, ...
Compilation and demo simulation
-------------------------------
1. type "make" in the top directory to compile all the libraries and tools.
2. "./paparazzi" to run the Paparazzi Center
3. Select the "Microjet" aircraft in the upper-left A/C combo box.
Select "sim" from upper-middle "target" combo box. Click "Build".
When the compilation is finished, select "Simulation" from
the upper-right session combo box and click "Execute".
4. In the GCS, wait about 10s for the aircraft to be in the "Holding point" navigation block.
Switch to the "Takeoff" block (lower-left blue airway button in the strip).
Takeoff with the green launch button.
Uploading of the embedded software
----------------------------------
1. Power the flight controller board while it is connected to the PC with the USB cable.
2. From the Paparazzi center, select the "ap" target, and click "Upload".
Flight
------
1. From the Paparazzi Center, select the flight session and ... do the same than in simulation !
conf/Makefile.stm32
+8 -7
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@@ -44,10 +44,6 @@ TOOLCHAIN_DIR=$(shell dirname $(TOOLCHAIN))
GCC_BIN_DIR=$(TOOLCHAIN_DIR)/bin
GCC_LIB_DIR=$(TOOLCHAIN_DIR)/arm-none-eabi/lib
# Detect if we are using the new libopencm3 or the old libopenstm32
LIBOPENCM3_LIB=$(shell if [ -e "$(GCC_LIB_DIR)/libopencm3_stm32f1.a" ]; then echo "opencm3_stm32f1"; else echo "opencm3_stm32"; fi)
LIBOPENCM3_DEFS=$(shell if [ -e "$(GCC_LIB_DIR)/libopencm3_stm32f1.a" ]; then echo "-DSTM32F1"; fi)
# Define programs and commands.
GCC_BIN_PREFIX=$(GCC_BIN_DIR)/arm-none-eabi
CC = $(GCC_BIN_PREFIX)-gcc
@@ -66,9 +62,14 @@ CP = $(shell which arm-none-eabi-objcopy)
DMP = $(shell which arm-none-eabi-objdump)
NM = $(shell which arm-none-eabi-nm)
SIZE = $(shell which arm-none-eabi-size)
RM = rm
GCC_LIB_DIR=$(shell dirname `which arm-none-eabi-gcc`)/../arm-none-eabi/lib
endif
# Detect if we are using the new libopencm3 or the old libopenstm32
LIBOPENCM3_LIB=$(shell if [ -e "$(GCC_LIB_DIR)/libopencm3_stm32f1.a" ]; then echo "opencm3_stm32f1"; else echo "opencm3_stm32"; fi)
LIBOPENCM3_DEFS=$(shell if [ -e "$(GCC_LIB_DIR)/libopencm3_stm32f1.a" ]; then echo "-DSTM32F1"; fi)
#first try to find OpenOCD in the path
OOCD = $(shell which openocd)
#if OpenOCD could not be found in the path, try the toolchain dir
@@ -117,7 +118,7 @@ endif
MULTILIB = $(shell if $(CC) --print-multi-lib | grep thumb2 > /dev/null ; then echo "yes"; else echo "no"; fi)
CFLAGS = -I. -I./$(ARCH) $(INCLUDES) -D__thumb2__ -Wall -msoft-float -O$(OPT)
CFLAGS += -Wl,gc-sections
CFLAGS += -Wl,--gc-sections
CFLAGS += -mcpu=$(MCU) -mthumb -ansi
ifeq ("$(MULTILIB)","yes")
CFLAGS += -mfix-cortex-m3-ldrd
@@ -148,9 +149,9 @@ endif
AFLAGS += -x assembler-with-cpp -Wa,-adhlns=$(OBJDIR)/$(<:.S=.lst),--g$(DEBUG)
ifeq ("$(MULTILIB)","yes")
LDFLAGS = -T$(LDSCRIPT) -nostartfiles -O$(OPT) --gc-sections -mthumb -march=armv7 -mfix-cortex-m3-ldrd -msoft-float
LDFLAGS = -T$(LDSCRIPT) -nostartfiles -O$(OPT) -mthumb -march=armv7 -mfix-cortex-m3-ldrd -msoft-float
else
LDFLAGS = -D__thumb2__ -T$(LDSCRIPT) -nostartfiles -L$(GCC_LIB_DIR) -O$(OPT) --gc-sections
LDFLAGS = -D__thumb2__ -T$(LDSCRIPT) -nostartfiles -L$(GCC_LIB_DIR) -O$(OPT)
endif
LDFLAGS += -Wl,-Map=$(OBJDIR)/$(TARGET).map,--cref,--gc-sections
LDLIBS += -lc -lm -lgcc -lcmsis -lstm32 -l$(LIBOPENCM3_LIB)
conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml → conf/airframes/CDW/ChimuJTinyFwSpi.xml
+41 -46
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@@ -1,45 +1,54 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
<!--
YAPA + XSens + XBee
-->
<airframe name="Yapa v1">
<servos>
<servo name="THROTTLE" no="0" min="1100" neutral="1000" max="1900"/>
<servo name="RUDDER" no="2" min="1100" neutral="1500" max="1900"/>
<servo name="ELEVATOR" no="6" min="1000" neutral="1500" max="2000"/>
<servo name="CAM_TILT" no="7" min="700" neutral="1600" max="2500"/>
<servo name="CAM_PAN" no="3" min="800" neutral="1650" max="2500"/>
<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="CAM_PAN" failsafe_value="0"/>
<axis name="CAM_TILT" failsafe_value="0"/>
<axis name="BRAKE" failsafe_value="0"/> <!-- both elerons up as butterfly brake ? -->
</commands>
<ap_only_commands>
<copy command="CAM_PAN"/>
<copy command="CAM_TILT"/>
</ap_only_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>
<command_laws>
<set servo="CAM_PAN" value="@CAM_PAN"/>
<set servo="CAM_TILT" value="@CAM_TILT"/>
<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="RUDDER" value="@ROLL"/>
<set servo="AILERON_LEFT" value="@ROLL"/>
<set servo="AILERON_RIGHT" value="@ROLL"/>
<!-- Differential Thurst -->
<set servo="THROTTLE" value="@THROTTLE"/>
@@ -49,8 +58,8 @@
</command_laws>
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="rad"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="rad"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
</section>
<section name="AUTO1" prefix="AUTO1_">
@@ -58,30 +67,20 @@
<define name="MAX_PITCH" value="0.7"/>
</section>
<section name="PANTILT" prefix="CAM_">
<define name="PAN_MIN" value="-45"/>
<define name="PAN_NEUTRAL" value="33"/>
<define name="PAN_MAX" value="156"/>
<define name="PAN0" value="0"/>
<define name="TILT_MIN" value="-62"/>
<define name="TILT_NEUTRAL" value="47"/>
<define name="TILT_MAX" value="122"/>
<define name="TILT0" value="90"/>
<define name="MODE0" value="1"/>
</section>
<section name="BAT">
<define name="LOW_BAT_LEVEL" value="7" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="6.5" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="6.0" unit="V"/>
<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="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."/>
@@ -159,12 +158,9 @@
<modules>
<load name="ins_chimu_spi.xml" >
<define name="CHIMU_BIG_ENDIAN" />
</load>
<load name="./TUDelft/campoint60Hz.xml" />
<load name="gps_ubx_ucenter.xml">
<define name="GPS_PORT_ID" value="GPS_PORT_UART2" />
</load>
<!-- <define name="CHIMU_BIG_ENDIAN" /> -->
</load>
</modules>
<firmware name="fixedwing">
@@ -174,14 +170,13 @@
<define name="WIND_INFO_RET"/>
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="POINT_CAM_PITCH_ROLL" />
<!-- <define name="NB_CHANNELS" value="5" /> -->
</target>
<target name="sim" board="pc"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="gps" type="ublox" />
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B9600"/>
@@ -191,7 +186,7 @@
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="navigation"/>
<!-- <subsystem name="gps" type="ublox_lea5h"/> -->
<!-- <subsystem name="gps" type="ublox"/> -->
<subsystem name="spi_slave_hs"/>
conf/airframes/CDW/ChimuLisaFw.xml
-6
View File
@@ -154,12 +154,6 @@
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
</section>
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
<section name="SIMU">
<define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
<define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
conf/airframes/TU_Delft/yapa_xsens.xml → conf/airframes/CDW/LisaAspirin2.xml
+92 -69
View File
@@ -1,15 +1,15 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
YAPA + XSens + XBee
Lisa + Aspirin v2 using SPI only
-->
<airframe name="Yapa v1">
<airframe name="LisaAspirin2">
<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="THROTTLE" no="2" min="1000" neutral="1000" max="2000"/>
<servo name="AILEVON_LEFT" no="1" min="1000" neutral="1500" max="2000"/>
<servo name="AILEVON_RIGHT" no="0" 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>
@@ -28,53 +28,58 @@
<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="AILEVON_LEFT" value="@ROLL + @PITCH"/>
<set servo="AILEVON_RIGHT" value="@ROLL - @PITCH"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<!-- Pitch with Brake-Trim Function -->
<set servo="ELEVATOR" value="-@PITCH * PITCH_GAIN + BRAKE_PITCH * $brake_value"/>
<set servo="ELEVATOR" value="@PITCH"/>
</command_laws>
<!-- Local magnetic field -->
<section name="AHRS" prefix="AHRS_" >
<define name="H_X" value="0.51562740288882" />
<define name="H_Y" value="-0.05707735220832" />
<define name="H_Z" value="0.85490967783446" />
</section>
<section name="IMU" prefix="IMU_">
<!-- Calibration Neutral -->
<define name="GYRO_P_NEUTRAL" value="0"/>
<define name="GYRO_Q_NEUTRAL" value="0"/>
<define name="GYRO_R_NEUTRAL" value="0"/>
<!-- SENS = 16.4 LSB/(deg/sec) * 57.6 deg/rad = 939.650 LSB/rad/sec / 12bit FRAC: 4096 / 939.65 -->
<define name="GYRO_P_SENS" value="4.359" integer="16"/>
<define name="GYRO_Q_SENS" value="4.359" integer="16"/>
<define name="GYRO_R_SENS" value="4.359" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="0"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="0"/>
<!-- SENS = 2048 LSB/g / 9.81 ms2/g = 208.766564729 LSB/ms2 / 10bit FRAC: 1024 / 208.7665 -->
<define name="ACCEL_X_SENS" value="9.81" integer="16"/>
<define name="ACCEL_Y_SENS" value="9.81" integer="16"/>
<define name="ACCEL_Z_SENS" value="9.81" integer="16"/>
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="1" integer="16"/>
<define name="MAG_Y_SENS" value="1" integer="16"/>
<define name="MAG_Z_SENS" value="1" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0"/>
<define name="BODY_TO_IMU_THETA" value="0"/>
<define name="BODY_TO_IMU_PSI" value="0"/>
</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="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.7"/>
<define name="MAX_PITCH" value="0.7"/>
@@ -88,11 +93,6 @@
<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"/>
@@ -177,40 +177,62 @@
<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="LIGHT_LED_STROBE" value="2"/>
<define name="LIGHT_LED_NAV" value="3"/>
<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>
<load name="digital_cam_i2c.xml"/> -->
<!-- <load name="ins_ppzuavimu.xml" /> -->
<!--
<load name="digital_cam.xml" >
<define name="DC_SHUTTER_LED" value="3"/>
</load>
-->
</modules>
<firmware name="fixedwing">
<target name="ap" board="tiny_2.11">
<target name="ap" board="lisa_m_1.0">
<define name="STRONG_WIND"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<configure name="PERIODIC_FREQUENCY" value="120"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
<configure name="AHRS_ALIGNER_LED" value="1"/>
<configure name="CPU_LED" value="1"/>
</target>
<target name="sim" board="pc"/>
<define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<!-- Sensors -->
<!--
<subsystem name="ahrs" type="int_cmpl_quat">
<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" />
</subsystem>
-->
<subsystem name="imu" type="aspirin_v2.0"/>
<subsystem name="ahrs" type="float_dcm">
<!-- <define name="USE_MAGNETOMETER" /> -->
</subsystem>
<subsystem name="radio_control" type="ppm"/>
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<subsystem name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="B57600"/>
</subsystem>
@@ -218,9 +240,10 @@
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="navigation"/>
<subsystem name="gps" type="xsens"/>
<subsystem name="gps" type="ublox_utm"/>
</firmware>
</airframe>
conf/airframes/CDW/debug_i2c.xml
+276
View File
@@ -0,0 +1,276 @@
<!-- this is an asctec frame equiped with Lisa/L#3 and asctec V2 controllers -->
<airframe name="booz2_a7">
<servos min="0" neutral="0" max="0xff">
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" min="0" neutral="0" max="255"/>
<servo name="LEFT" no="2" min="0" neutral="0" max="255"/>
<servo name="RIGHT" no="3" min="0" neutral="0" max="255"/>
</servos>
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<!-- for the sim -->
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<define name="NB" value="4"/>
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
</section>
<section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="3"/>
<define name="MAX_MOTOR" value="200"/>
<define name="TRIM_A" value="0"/>
<define name="TRIM_E" value="0"/>
<define name="TRIM_R" value="0"/>
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/>
<define name="ROLL_COEF" value="{ 0 , 0, 256, -256 }"/>
<define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/>
<define name="YAW_COEF" value="{ 256, 256, -256, -256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_NEUTRAL" value="32858"/>
<define name="GYRO_Q_NEUTRAL" value="33152"/>
<define name="GYRO_R_NEUTRAL" value="31779"/>
<define name="GYRO_P_SENS" value=" 1.101357422" integer="16"/>
<define name="GYRO_Q_SENS" value=" 1.122670898" integer="16"/>
<define name="GYRO_R_SENS" value=" 1.104890137" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="32899"/>
<define name="ACCEL_Y_NEUTRAL" value="33281"/>
<define name="ACCEL_Z_NEUTRAL" value="32569"/>
<define name="ACCEL_X_SENS" value="2.57702956051" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.57835230627" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.54311399868" integer="16"/>
<define name="MAG_X_NEUTRAL" value="58"/>
<define name="MAG_Y_NEUTRAL" value="92"/>
<define name="MAG_Z_NEUTRAL" value="-3"/>
<define name="MAG_X_SENS" value="4.70018395734" integer="16"/>
<define name="MAG_Y_SENS" value="4.884119848" integer="16"/>
<define name="MAG_Z_SENS" value="2.59926404993" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0. )"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0. )"/>
<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 135.)"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
<define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
<define name="SP_MAX_R" value="RadOfDeg(90.)"/>
<define name="DEADBAND_R" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="RadOfDeg(300.)"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="RadOfDeg(180.)"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- gaui props
<define name="PHI_PGAIN" value="-900"/>
<define name="PHI_DGAIN" value="-200"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="-900"/>
<define name="THETA_DGAIN" value="-200"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="PSI_PGAIN" value="-900"/>
<define name="PSI_DGAIN" value="-200"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PHI_DDGAIN" value=" 200"/>
<define name="THETA_DDGAIN" value=" 200"/>
<define name="PSI_DDGAIN" value=" 200"/>
-->
<!-- feedback -->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="PSI_PGAIN" value="-2000"/>
<define name="PSI_DGAIN" value="-400"/>
<define name="PSI_IGAIN" value="-10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
<define name="THETA_DDGAIN" value=" 300"/>
<define name="PSI_DDGAIN" value=" 300"/>
</section>
<section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value=" 0.51562740288882"/>
<define name="H_Y" value="-0.05707735220832"/>
<define name="H_Z" value=" 0.85490967783446"/>
</section>
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="10." integer="16"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/>
<!--
<define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-200"/>
<define name="HOVER_KI" value="0"/>
-->
<define name="HOVER_KP" value="-150"/>
<define name="HOVER_KD" value="-80"/>
<define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<!-- <define name="INV_M" value ="0.2"/> -->
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-50"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-15"/>
<define name="NGAIN" value="-0"/>
</section>
<section name="MISC">
<define name="FACE_REINJ_1" value="1024"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
<modules main_freq="512">
<load name="i2c_abuse_test.xml"/>
</modules>
<firmware name="rotorcraft">
<!-- <define name="USE_PERSISTENT_SETTINGS"/> -->
<!-- <define name="USE_INS_NAV_INIT"/> -->
<define name="USE_ADAPT_HOVER"/>
<define name="FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R"/>
<target name="ap" board="lisa_l_1.0">
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="asctec"/>
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="b2_v1.1"/>
<subsystem name="gps" type="ublox">
<configure name="GPS_BAUD" value="B57600"/>
</subsystem>
<!--subsystem name="ahrs" type="int_cmpl_euler"/-->
<subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="hff"/>
</firmware>
<firmware name="lisa_l_test_progs">
<target name="test_led" board="lisa_l_1.0"/>
<target name="test_uart" board="lisa_l_1.0"/>
<target name="test_servos" board="lisa_l_1.0"/>
<target name="test_telemetry" board="lisa_l_1.0"/>
<target name="test_baro" board="lisa_l_1.0"/>
<target name="test_imu_b2" board="lisa_l_1.0"/>
<target name="test_imu_b2_2" board="lisa_l_1.0"/>
<target name="test_imu_aspirin" board="lisa_l_1.0"/>
<target name="test_rc_spektrum" board="lisa_l_1.0"/>
<target name="test_rc_ppm" board="lisa_l_1.0"/>
<target name="test_adc" board="lisa_l_1.0"/>
<target name="test_hmc5843" board="lisa_l_1.0"/>
<target name="test_itg3200" board="lisa_l_1.0"/>
<target name="test_adxl345" board="lisa_l_1.0"/>
<target name="test_esc_mkk_simple" board="lisa_l_1.0"/>
<target name="test_esc_asctecv1_simple" board="lisa_l_1.0"/>
<target name="test_actuators_mkk" board="lisa_l_1.0"/>
<target name="test_actuators_asctecv1" board="lisa_l_1.0"/>
<target name="tunnel_sw" board="lisa_l_1.0"/>
<target name="tunnel_hw" board="lisa_l_1.0"/>
</firmware>
<firmware name="lisa_passthrough">
<target name="overo_test_passthrough" board="lisa_l_1.0" >
<param name="HOST" value="A7"/>
<param name="USER" value=""/>
<param name="TARGET_DIR" value="~"/>
<param name="PERIODIC_FREQ" value="512"/>
</target>
<target name="stm_passthrough" board="lisa_l_1.0">
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="imu" type="b2_v1.1"/>
</target>
</firmware>
</airframe>
conf/airframes/CDW/yapa3_aspirin2.xml
+274
View File
@@ -0,0 +1,274 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
YAPA + XSens + XBee
-->
<airframe name="Yapa v1">
<servos>
<servo name="THROTTLE" no="9" min="1000" neutral="1000" max="2000"/>
<servo name="AILERON_LEFT" no="8" min="1000" neutral="1500" max="2000"/>
<servo name="AILERON_RIGHT" no="7" min="2000" neutral="1500" max="1000"/>
<servo name="ELEVATOR" no="6" min="2000" neutral="1500" max="1000"/>
<servo name="RUDDER" no="5" 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>
<command_laws>
<set servo="AILERON_LEFT" value="@ROLL"/>
<set servo="AILERON_RIGHT" value="@ROLL"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="ELEVATOR" value="@PITCH"/>
</command_laws>
<!-- Local magnetic field -->
<section name="AHRS" prefix="AHRS_" >
<define name="H_X" value="0.51562740288882" />
<define name="H_Y" value="-0.05707735220832" />
<define name="H_Z" value="0.85490967783446" />
</section>
<section name="IMU" prefix="IMU_">
<!-- Calibration Neutral -->
<define name="GYRO_P_NEUTRAL" value="0"/>
<define name="GYRO_Q_NEUTRAL" value="0"/>
<define name="GYRO_R_NEUTRAL" value="0"/>
<!-- SENS = 16.4 LSB/(deg/sec) * 57.6 deg/rad = 939.650 LSB/rad/sec / 12bit FRAC: 4096 / 939.65 -->
<define name="GYRO_P_SENS" value="4.359" integer="16"/>
<define name="GYRO_Q_SENS" value="4.359" integer="16"/>
<define name="GYRO_R_SENS" value="4.359" integer="16"/>
<define name="GYRO_P_Q" value="0."/>
<define name="GYRO_P_R" value="0"/>
<define name="GYRO_Q_P" value="0."/>
<define name="GYRO_Q_R" value="0."/>
<define name="GYRO_R_P" value="0."/>
<define name="GYRO_R_Q" value="0."/>
<define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_Q_SIGN" value="1"/>
<define name="GYRO_R_SIGN" value="1"/>
<define name="ACCEL_X_NEUTRAL" value="-40"/>
<define name="ACCEL_Y_NEUTRAL" value="-15"/>
<define name="ACCEL_Z_NEUTRAL" value="375"/>
<!-- SENS = 2048 LSB/g / 9.81 ms2/g = 208.766564729 LSB/ms2 / 10bit FRAC: 1024 / 208.7665 -->
<define name="ACCEL_X_SENS" value="9.81" integer="16"/>
<define name="ACCEL_Y_SENS" value="9.81" integer="16"/>
<define name="ACCEL_Z_SENS" value="9.81" integer="16"/>
<!--
<define name="ACCEL_X_SENS" value="4.905" integer="16"/>
<define name="ACCEL_Y_SENS" value="4.905" integer="16"/>
<define name="ACCEL_Z_SENS" value="4.905" integer="16"/>
-->
<define name="ACCEL_X_SIGN" value="1"/>
<define name="ACCEL_Y_SIGN" value="1"/>
<define name="ACCEL_Z_SIGN" value="1"/>
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="1" integer="16"/>
<define name="MAG_Y_SENS" value="1" integer="16"/>
<define name="MAG_Z_SENS" value="1" integer="16"/>
<define name="MAG_X_SIGN" value="1"/>
<define name="MAG_Y_SIGN" value="1"/>
<define name="MAG_Z_SIGN" value="1"/>
<define name="BODY_TO_IMU_PHI" value="0"/>
<define name="BODY_TO_IMU_THETA" value="0"/>
<define name="BODY_TO_IMU_PSI" value="0"/>
</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="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="0.75" 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="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="3"/>
</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"/>
<configure name="PERIODIC_FREQUENCY" value="120"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
<configure name="AHRS_ALIGNER_LED" value="3"/>
<configure name="CPU_LED" value="3"/>
</target>
<target name="sim" board="pc"/>
<define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<!-- Sensors -->
<!--
<subsystem name="ahrs" type="int_cmpl_quat">
<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" />
</subsystem>
<subsystem name="imu" type="aspirin_i2c"/>
-->
<subsystem name="imu" type="aspirin2_i2c"/>
<subsystem name="ahrs" type="float_dcm">
<!-- <define name="USE_MAGNETOMETER" /> -->
</subsystem>
<subsystem name="radio_control" type="ppm"/>
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B9600"/>
</subsystem>
<!-- Actuators -->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="navigation"/>
<subsystem name="gps" type="ublox_utm"/>
</firmware>
</airframe>
conf/airframes/ENAC/fixed-wing/drops.xml
-4
View File
@@ -210,10 +210,6 @@ on<!DOCTYPE airframe SYSTEM "airframe.dtd">
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
<makefile>
CONFIG = \"tiny_2_1.h\"
conf/airframes/ENAC/fixed-wing/slayer2.xml
-7
View File
@@ -188,13 +188,6 @@
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
<!--
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="AEROCOMM"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
-->
<makefile>
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
conf/airframes/ENAC/fixed-wing/twinjet2.xml
+3 -102
View File
@@ -14,10 +14,10 @@
<!--load name="infrared_i2c.xml"/-->
<!--load name="max3100.xml"/>
<load name="gsm.xml"/-->
<load name="demo_module.xml">
<!--load name="demo_module.xml">
<define name="TEST" value="1"/>
<define name="TEST_FLAG"/>
</load>
</load-->
<!--load name="enose.xml"/-->
<load name="light.xml"/>
<load name="infrared_adc.xml"/>
@@ -33,7 +33,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="control" type="new"/>
<subsystem name="control" type="adaptive"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
@@ -217,103 +217,4 @@
<define name="YAW_RESPONSE_FACTOR" value="1."/>
</section>
<!--
<makefile>
CONFIG = \"tiny_2_1_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -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
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
ap.srcs += commands.c
########## RC actuators + radio
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
########## Modems
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
########## ADC
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
ap.srcs += $(SRC_ARCH)/adc_hw.c
########## GPS
ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
# -DGPS_LED=2
ap.srcs += gps_ubx.c gps.c latlong.c
########## IR sensors
ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN
ap.srcs += infrared.c estimator.c
########## Gyro
#ap.CFLAGS += -DUSE_GYRO -DADXRS150
#ap.srcs += gyro.c
########## Nav
ap.CFLAGS += -DNAV -DAGR_CLIMB -DPITCH_TRIM
ap.srcs += subsystems/nav.c fw_h_ctl_a.c fw_v_ctl_n.c
ap.srcs += subsystems/navigation/nav_survey_rectangle.c
ap.srcs += subsystems/navigation/nav_line.c
########## SPI Master use slave0
ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0
ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c
########## Barometer (SPI)
#ap.CFLAGS += -DUSE_BARO_MS5534A
#ap.srcs += $(SRC_ARCH)/baro_MS5534A.c
########## I2C0
ap.CFLAGS += -DUSE_I2C0
ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
########## Lights
ap.CFLAGS += -DUSE_LIGHT
ap.srcs += light.c
########## Max3100
ap.CFLAGS += -DMAX3100_BAUD_RATE=MAX3100_B9600
ap.CFLAGS += -DGCS_NUMBER=\"+33640286530\"
ap.CFLAGS += -DUSE_MODULES
# Config for SITL simulation
#include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.ARCHDIR = $(ARCHI)
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl_n.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DPITCH_TRIM -DALT_KALMAN
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
sim.CFLAGS += -DUSE_LIGHT
sim.srcs += light.c
sim.CFLAGS += -DUSE_I2C0
sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
sim.CFLAGS += -DUSE_MODULES
</makefile>
-->
</airframe>
conf/airframes/ENAC/fixed-wing/weasel.xml
+4
View File
@@ -10,6 +10,8 @@
<modules>
<load name="baro_board.xml"/>
<load name="airspeed_ads1114.xml"/>
<!--load name="mcp355x.xml"/-->
</modules>
<firmware name="fixedwing">
@@ -40,6 +42,8 @@
<subsystem name="navigation"/>
<!-- Sensors -->
<subsystem name="gps" type="ublox"/>
<!--subsystem name="spi"/-->
</firmware>
conf/airframes/ENAC/malolo_sim.xml
-7
View File
@@ -192,14 +192,7 @@
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
<!--
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
-->
<section name="SIMU">
<!--define name="JSBSIM_MODEL" value="&quot;fulmar&quot;"/-->
conf/airframes/ENAC/quadrotor/blender.xml
+15 -28
View File
@@ -1,11 +1,11 @@
<airframe name="Blender">
<modules main_freq="512">
<load name="booz_pwm.xml">
<!--load name="booz_pwm.xml">
<define name="USE_PWM1"/>
</load>
<load name="booz_drop.xml"/>
<load name="booz_cam.xml"/>
<load name="booz_cam.xml"/-->
<!--load name="sonar_maxbotix_booz.xml"/-->
</modules>
@@ -22,13 +22,13 @@
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<!--define name="NPS_NO_SUPERVISION"/-->
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="asctec"/>
<!--subsystem name="actuators" type="mkk"/-->
<subsystem name="actuators" type="skiron">
<define name="SKIRON_I2C_SCL_TIME" value="25"/>
</subsystem>
<subsystem name="imu" type="b2_v1.1"/>
<subsystem name="gps" type="ublox">
<configure name="GPS_BAUD" value="B57600"/>
@@ -48,17 +48,11 @@
</firmware>
<servos min="0" neutral="0" max="0xff">
<servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
<servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
<servo name="YAW" no="2" min="0" neutral="0" max="255"/>
<servo name="THRUST" no="3" min="0" neutral="0" max="255"/>
</servos>
<!--servos min="0" neutral="0" max="0xff">
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" min="0" neutral="0" max="255"/>
<servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
<servo name="BACK" no="2" min="0" neutral="0" max="255"/>
<servo name="RIGHT" no="1" min="0" neutral="0" max="255"/>
<servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
</servos-->
</servos>
<commands>
<axis name="PITCH" failsafe_value="0"/>
@@ -67,20 +61,15 @@
<axis name="THRUST" failsafe_value="0"/>
</commands>
<!--section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<section name="ACTUATORS_SKIRON" prefix="ACTUATORS_SKIRON_">
<define name="NB" value="4"/>
<define name="ADDR" value="{ 0x52, 0x56, 0x54, 0x58 }"/>
</section-->
<define name="IDX" value="{ SERVO_FRONT, SERVO_BACK, SERVO_RIGHT, SERVO_LEFT }"/>
</section>
<section name="SUPERVISION" prefix="SUPERVISION_">
<define name="TRIM_A" value="0"/>
<define name="TRIM_E" value="0"/>
<define name="TRIM_R" value="0"/>
</section>
<!--section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="25"/>
<define name="MAX_MOTOR" value="243"/>
<define name="TRIM_A" value="0"/>
<define name="MIN_MOTOR" value="20"/>
<define name="MAX_MOTOR" value="255"/>
<define name="TRIM_A" value="6"/>
<define name="TRIM_E" value="0"/>
<define name="TRIM_R" value="0"/>
<define name="NB_MOTOR" value="4"/>
@@ -89,8 +78,7 @@
<define name="PITCH_COEF" value="{ 256, -256, 0, 0}"/>
<define name="YAW_COEF" value="{ -256, -256, 256, 256}"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
</section-->
</section>
<section name="IMU" prefix="IMU_">
@@ -228,7 +216,6 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="VoltageOfAdc(adc)" value="(0.025*adc)"/>
</section>
conf/airframes/ENAC/quadrotor/booz2_g1.xml
-3
View File
@@ -158,7 +158,6 @@
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="15." integer="16"/>
<define name="UNTILT_ACCEL" value="1"/>
<define name="SONAR_SENS" value="2.146" integer="16"/>
</section>
@@ -193,9 +192,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.183" integer="16"/>
</section>
<section name="AUTOPILOT">
conf/airframes/ENAC/quadrotor/g1_vision.xml
-3
View File
@@ -131,7 +131,6 @@
<section name="INS" prefix="BOOZ_INS_">
<define name="BARO_SENS" value="15." integer="16"/>
<define name="UNTILT_ACCEL" value="1"/>
<define name="SONAR_SENS" value="2.146" integer="16"/>
</section>
@@ -174,9 +173,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.183" integer="16"/>
</section>
<section name="AUTOPILOT">
conf/airframes/ENAC/quadrotor/mkk1-vision.xml
-3
View File
@@ -164,7 +164,6 @@
<section name="INS" prefix="BOOZ_INS_">
<define name="BARO_SENS" value="15." integer="16"/>
<define name="UNTILT_ACCEL" value="1"/>
<!--define name="SONAR_SENS" value="2.146" integer="16"/-->
<define name="SONAR_SENS" value="3." integer="16"/>
</section>
@@ -207,9 +206,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9." unit="V"/>
<define name="BATTERY_SENS" value="0.183" integer="16"/>
</section>
<section name="AUTOPILOT">
conf/airframes/ENAC/quadrotor/mkk1.xml
-3
View File
@@ -194,7 +194,6 @@
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="15." integer="16"/>
<define name="UNTILT_ACCEL" value="1"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -227,9 +226,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9." unit="V"/>
<define name="BATTERY_SENS" value="0.183" integer="16"/>
</section>
<section name="AUTOPILOT">
conf/airframes/ENAC/quadrotor/navgo.xml
+29 -19
View File
@@ -21,7 +21,6 @@
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<!--define name="NPS_NO_SUPERVISION"/-->
</target>
<subsystem name="radio_control" type="ppm"/>
@@ -30,11 +29,11 @@
<define name="SKIRON_I2C_SCL_TIME" value="25"/>
</subsystem>
<subsystem name="imu" type="navgo"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="int_cmpl_euler">
<define name="LOW_NOISE_THRESHOLD" value="50000"/>
<subsystem name="gps" type="ublox">
<configure name="GPS_BAUD" value="B57600"/>
</subsystem>
<subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/>
<subsystem name="ins" type="hff"/>
</firmware>
@@ -73,31 +72,39 @@
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_NEUTRAL" value="-126"/>
<define name="GYRO_Q_NEUTRAL" value="-29"/>
<define name="GYRO_R_NEUTRAL" value="-32"/>
<define name="GYRO_P_NEUTRAL" value="10"/>
<define name="GYRO_Q_NEUTRAL" value="-32"/>
<define name="GYRO_R_NEUTRAL" value="11"/>
<!-- SENS ITG3200 1/14.375 (deg/s)/LSB, rate frac 12bit => 1/14.375 * pi / 180 * 2^12 -->
<define name="GYRO_P_SENS" value="4.97312" integer="16"/>
<define name="GYRO_Q_SENS" value="4.97312" integer="16"/>
<define name="GYRO_R_SENS" value="4.97312" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="4"/>
<define name="ACCEL_Y_NEUTRAL" value="-17"/>
<define name="ACCEL_Z_NEUTRAL" value="-22"/>
<define name="ACCEL_X_NEUTRAL" value="9"/>
<define name="ACCEL_Y_NEUTRAL" value="14"/>
<define name="ACCEL_Z_NEUTRAL" value="-16"/>
<!-- SENS ADXL345 16G 31.2 mg/LSB, accel frac 10bit => 31.2 * 2^10 / 1000 = 31.9488-->
<define name="ACCEL_X_SENS" value="38.2816633245" integer="16"/>
<define name="ACCEL_Y_SENS" value="38.7857058923" integer="16"/>
<define name="ACCEL_Z_SENS" value="39.7459254023" integer="16"/>
<define name="ACCEL_X_SENS" value="38.5866088465" integer="16"/>
<define name="ACCEL_Y_SENS" value="38.7212932023" integer="16"/>
<define name="ACCEL_Z_SENS" value="39.403098907" integer="16"/>
<define name="MAG_X_NEUTRAL" value="85"/>
<define name="MAG_Y_NEUTRAL" value="97"/>
<define name="MAG_Z_NEUTRAL" value="-43"/>
<define name="MAG_X_NEUTRAL" value="80"/>
<define name="MAG_Y_NEUTRAL" value="-271"/>
<define name="MAG_Z_NEUTRAL" value="112"/>
<define name="MAG_X_SENS" value="4.44131219218" integer="16"/>
<define name="MAG_Y_SENS" value="4.56234629213" integer="16"/>
<define name="MAG_Z_SENS" value="5.298653926" integer="16"/>
<!--define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="5.43371021972" integer="16"/>
<define name="MAG_Y_SENS" value="4.8961742578" integer="16"/>
<define name="MAG_Z_SENS" value="5.31527656902" integer="16"/>
<define name="MAG_Z_SENS" value="5.31527656902" integer="16"/-->
<define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)"/> <!-- -10 -->
<define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)"/> <!-- -10 -->
@@ -125,6 +132,8 @@
<define name="ACCEL_Y_SENS" value="38.7108" integer="16"/>
<define name="ACCEL_Z_SENS" value="39.6583" integer="16"/>
<define name="MAG_X_NEUTRAL" value="55"/>
<define name="MAG_Y_NEUTRAL" value="54"/>
<define name="MAG_Z_NEUTRAL" value="92"/>
@@ -149,7 +158,8 @@
</section>
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="14" integer="16"/>
<!-- 1.4 mm/LSB : 0.0014*2^8 = 0.3584 -->
<define name="BARO_SENS" value="1.156" integer="16"/>
</section>
conf/airframes/ENAC/quadrotor/nova1.xml
-3
View File
@@ -165,7 +165,6 @@
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="15." integer="16"/>
<define name="UNTILT_ACCEL" value="1"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -198,9 +197,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9." unit="V"/>
<define name="BATTERY_SENS" value="0.183" integer="16"/>
</section>
<section name="AUTOPILOT">
conf/airframes/NoVa_L.xml
-3
View File
@@ -102,9 +102,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.48" integer="16"/>
</section>
@@ -192,7 +190,6 @@
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="10." integer="16"/>
<define name="UNTILT_ACCEL" value="1"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
conf/airframes/PPZUAV/fixed-wing/kalscott_easystar.xml
-205
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@@ -1,205 +0,0 @@
<!DOCTYPE airframe SYSTEM "airframe.dtd">
<!--
Multiplex EasyStar, using rudder
TWOG v1 board
Tilted infrared sensor
XBee 2.4GHz modem in transparent mode
-->
<!-- commands section -->
<servos>
<servo name="THROTTLE" no="0" min="1120" neutral="1120" max="1920"/>
<servo name="ELEVATOR" no="6" min="1100" neutral="1514" max="1900"/>
<servo name="RUDDER" no="7" min="2050" neutral="1612" max="950"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="THROTTLE" value="@THROTTLE"/>
</rc_commands>
<command_laws>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="RUDDER" value="@ROLL"/>
<set servo="ELEVATOR" value="@PITCH"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="RadOfDeg(50)"/>
<define name="MAX_PITCH" value="RadOfDeg(40)"/>
</section>
<section name="adc" prefix="ADC_CHANNEL_">
<define name="IR1" value="ADC_1"/>
<define name="IR2" value="ADC_2"/>
<define name="IR_TOP" value="ADC_0"/>
<define name="IR_NB_SAMPLES" value="16"/>
</section>
<section name="INFRARED" prefix="IR_">
<define name="ADC_IR1_NEUTRAL" value="512"/>
<define name="ADC_IR2_NEUTRAL" value="510"/>
<define name="ADC_TOP_NEUTRAL" value="516"/>
<define name="LATERAL_CORRECTION" value="0.7"/>
<define name="LONGITUDINAL_CORRECTION" value="0.7"/>
<define name="VERTICAL_CORRECTION" value="1."/>
<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="-5.3" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="-3" unit="deg"/>
<define name="CORRECTION_UP" value="1."/>
<define name="CORRECTION_DOWN" value="1."/>
<define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="8.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="8.5" unit="V"/>
<define name="LOW_BAT_LEVEL" value="9.5" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.5" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
<define name="CARROT" value="4." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(2.0*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<define name="NO_XBEE_API_INIT" value="TRUE"/>
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="90."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.0" unit="volt"/>
<!-- outer loop -->
<define name="ALTITUDE_PGAIN" value="-0.075" unit="(m/s)/m"/>
<define name="ALTITUDE_MAX_CLIMB" value="4." unit="m/s"/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5" unit="%"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.4" unit="%"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.8" unit="%"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" unit="pprz_t"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000" unit="pprz_t"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.02" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05" unit="rad/(m/s)"/>
<define name="AUTO_PITCH_PGAIN" value="-0.125"/>
<define name="AUTO_PITCH_IGAIN" value="0.025"/>
<define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
<define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-25)"/>
<define name="THROTTLE_SLEW" value="1.0"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.7"/>
<define name="ROLL_MAX_SETPOINT" value="RadOfDeg(35)" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="RadOfDeg(25)" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="RadOfDeg(-25)" unit="radians"/>
<define name="PITCH_PGAIN" value="-20000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="-7400"/>
<define name="ROLL_RATE_GAIN" value="-200"/>
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" 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="0.9"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="RadOfDeg(18)"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="RadOfDeg(-20)"/><!-- 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="3" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.4" unit="%"/>
<define name="DEFAULT_ROLL" value="RadOfDeg(15)" unit="rad"/>
<define name="DEFAULT_PITCH" value="RadOfDeg(0)" unit="rad"/>
<define name="HOME_RADIUS" value="90" unit="m"/>
</section>
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="PPRZ"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
<makefile>
CONFIG = \"tiny_2_1_1.h\"
# Target configuration
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 -DUSE_MODULES
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
# Servo driver
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
# Radio configuration
ap.CFLAGS += -DRADIO_CONTROL
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
# Telemetry configuration
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B57600
ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
# ADC configuration
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
ap.srcs += $(SRC_ARCH)/adc_hw.c
# USE_GPS configuration
ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG -DGPS_LED=2
ap.srcs += gps_ubx.c gps.c latlong.c
ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN
ap.srcs += infrared.c estimator.c
# Control loops
ap.CFLAGS += -DNAV -DLOITER_TRIM
ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
ap.srcs += subsystems/navigation/nav_line.c
ap.srcs += subsystems/navigation/nav_survey_rectangle.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN -DUSE_MODULES
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
</makefile>
</airframe>
conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
-2
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@@ -178,9 +178,7 @@
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.18" integer="16"/>
</section>
conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
-2
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@@ -196,9 +196,7 @@
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.18" integer="16"/>
</section>
conf/airframes/Poine/booz2_a1.xml
-2
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@@ -169,9 +169,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.48" integer="16"/>
</section>
<section name="AUTOPILOT">
conf/airframes/Poine/booz2_a1p.xml
-2
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@@ -173,9 +173,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.48" integer="16"/>
</section>
<section name="AUTOPILOT">
conf/airframes/Poine/booz2_a7.xml
-3
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@@ -74,9 +74,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.48" integer="16"/>
</section>
@@ -164,7 +162,6 @@
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="10." integer="16"/>
<define name="UNTILT_ACCEL" value="1"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
conf/airframes/Poine/booz2_a8.xml
-2
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@@ -182,9 +182,7 @@
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.48" integer="16"/>
</section>
conf/airframes/Poine/easy_glider1.xml
-1
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@@ -76,7 +76,6 @@
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
<!--define name="MILLIAMP_PER_PERCENT" value="0.86"/-->
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
conf/airframes/Poine/h_hex.xml
+1 -3
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@@ -76,9 +76,7 @@
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.48" integer="16"/>
</section>
@@ -183,7 +181,7 @@
</target>
<subsystem name="telemetry" type="transparent"/>
<!-- <subsystem name="imu" type="b2_v1.1"/> -->
<subsystem name="imu" type="aspirin"/>
<subsystem name="imu" type="aspirin_v1.0"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/>
conf/airframes/TU_Delft/MicrojetBR.xml
-274
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@@ -1,274 +0,0 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="Microjet BR Tiny 1.1">
<!-- commands section -->
<servos>
<servo name="THROTTLE" no="0" min="1100" neutral="1100" max="1700"/>
<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1500" max="1000"/>
<servo name="AILEVON_RIGHT" no="3" min="950" neutral="1450" max="1950"/>
<servo name="CAM_PAN" no="5" min="1950" neutral="1450" max="950"/>
<servo name="CAM_TILT" no="2" min="1000" neutral="1550" max="2000"/>
</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="CAM_PAN" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="CAM_PAN" value="@YAW"/>
<set command="CAM_TILT" value="@YAW"/>
</rc_commands>
<section name="MIXER">
<define name="AILEVON_AILERON_RATE" value="0.4"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.7"/>
</section>
<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
<set servo="CAM_PAN" value="@CAM_PAN"/>
<set servo="CAM_TILT" value="@CAM_TILT"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="1.1"/>
<define name="MAX_PITCH" value="0.6"/>
</section>
<section name="INFRARED" prefix="IR_">
<define name="ADC_IR1_NEUTRAL" value="501"/>
<define name="ADC_IR2_NEUTRAL" value="510"/>
<define name="ADC_TOP_NEUTRAL" value="520"/>
<define name="HORIZ_SENSOR_ALIGNED" value="1"/>
<define name="IR1_SIGN" value="-1"/>
<define name="IR2_SIGN" value="1"/>
<define name="TOP_SIGN" value="1"/>
<define name="LATERAL_CORRECTION" value="1."/>
<define name="LONGITUDINAL_CORRECTION" value="1."/>
<define name="VERTICAL_CORRECTION" value="1."/>
<define name="ROLL_NEUTRAL_DEFAULT" value="0.114591561258" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0.0572957806289" unit="deg"/>
<define name="CORRECTION_UP" value="1."/>
<define name="CORRECTION_DOWN" value="1."/>
<define name="CORRECTION_LEFT" value="1."/>
<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"/>
<define name="ROLL_DIRECTION" value="1."/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="25000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="17." 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="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"/>
<define name="LIGHT_LED_1" value="3"/>
</section>
<section name="external leds">
<!-- ADC 4 -->
<define name="LED_4_BANK" value="0"/>
<define name="LED_4_PIN" value="22"/>
</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="-0.101000003517"/>
<!-- outer loop saturation max m/s the alt tap can be-->
<define name="ALTITUDE_MAX_CLIMB" value="4"/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.333000004292"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.15"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.45"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="219.511993408"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.104999996722" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.00700000021607"/>
<define name="AUTO_THROTTLE_IGAIN" value="0."/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.12800000608"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.0399999991059"/>
<define name="AUTO_PITCH_IGAIN" value="0.019999999553"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.54100000858"/>
<define name="ROLL_MAX_SETPOINT" value="0.916999995708" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.4" unit="radians"/>
<define name="ROLL_PGAIN" value="5000."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-7330.82714844"/>
<define name="PITCH_DGAIN" value="1.7254999876"/>
<define name="ELEVATOR_OF_ROLL" value="1250."/>
<define name="ROLL_RATE_GAIN" value="-112.781997681"/>
<define name="ROLL_ATTITUDE_GAIN" value="-4957.62695312"/>
<!-- roll rate loop -->
<define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
<define name="ROLL_RATE_SETPOINT_PGAIN" value="-10." unit="rad/s/rad"/>
<define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
<define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="3000."/>
<define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="3000."/>
<define name="ROLL_RATE_IGAIN" value="0."/>
<define name="ROLL_RATE_DGAIN" value="0."/>
<define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
<define name="ROLL_SLEW" value="0.1"/>
<define name="SIMPLE_ROLL_PGAIN" value="-15000"/>
<define name="SIMPLE_ROLL_DGAIN" value="-3000"/>
</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="-0.015"/> NOG niet in de nav.c file
<define name="NAV_FOLLOW_PGAIN" value="-0.05"/> -->
</section>
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="50"/><!-- 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="0.55"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.5"/><!-- 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="0.3" unit="%"/>
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="80" unit="m"/>
</section>
<section name="CAM" prefix="CAM_">
<define name="TILT_MAX" value="30" unit="deg"/>
<define name="TILT_NEUTRAL" value="0" unit="deg"/>
<define name="TILT_MIN" value="-30" unit="deg"/>
<define name="TILT0" value="0" unit="deg"/>
<define name="PAN_MAX" value="45" unit="deg"/>
<define name="PAN_NEUTRAL" value="0" unit="deg"/>
<define name="PAN_MIN" value="-45" unit="deg"/>
<define name="PAN0" value="0" unit="deg"/>
</section>
<!--moet nog in tuning-->
<section name="Takeoff" prefix="Takeoff_">
<define name="Height" value="30" unit="m"/>
<define name="Speed" value="15" unit="m/s"/>
<define name="MinSpeed" value="5" unit="m/s"/>
<define name="Distance" value="10" unit="m"/>
</section>
<section name="Landing" prefix="Landing_">
<define name="FinalHeight" value="30" unit="m"/>
<define name="AFHeight" value="10" unit="m"/>
<define name="FinalStageTime" value="10" unit="s"/>
</section>
<section name="SIMU">
<define name="YAW_RESPONSE_FACTOR" value="0.5"/> <!-- ?????????????????????????? -->
</section>
<modules>
<load name="light.xml">
<define name="LIGHT_LED_STROBE" value="3"/>
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
</load>
<load name="infrared_adc.xml"/>
</modules>
<firmware name="fixedwing">
<target name="sim" board="pc" >
<define name="STRONG_WIND" />
<define name="TUNE_AGRESSIVE_CLIMB" />
<define name="LOITER_TRIM" />
<define name="AGR_CLIMB" />
</target>
<target name="ap" board="tiny_1.1">
<define name="STRONG_WIND" />
<define name="LOITER_TRIM" />
<define name="ALT_KALMAN" />
<define name="AGR_CLIMB" />
<define name="TUNE_AGRESSIVE_CLIMB" />
</target>
<subsystem name="radio_control" type="ppm"/>
<!-- Communication -->
<subsystem name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="B57600"/>
</subsystem>
<!-- Sensors -->
<!-- <subsystem name="gyro" type="roll">
<configure name="ADC_GYRO_ROLL" value="ADC_3" />
</subsystem>
--> <subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="control" />
<subsystem name="navigation" type="extra"/>
</firmware>
<makefile location="after">
</makefile>
</airframe>
conf/airframes/TU_Delft/MicrojetBRimu.xml
-307
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@@ -1,307 +0,0 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="Microjet BR Tiny 1.1">
<!-- commands section -->
<servos>
<servo name="THROTTLE" no="0" min="1100" neutral="1100" max="1700"/>
<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1500" max="1000"/>
<servo name="AILEVON_RIGHT" no="3" min="950" neutral="1450" max="1950"/>
<servo name="CAM_PAN" no="5" min="1950" neutral="1450" max="950"/>
<servo name="CAM_TILT" no="2" min="1000" neutral="1550" max="2000"/>
</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="CAM_PAN" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="CAM_PAN" value="@YAW"/>
<set command="CAM_TILT" value="@YAW"/>
</rc_commands>
<section name="MIXER">
<define name="AILEVON_AILERON_RATE" value="0.4"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.7"/>
</section>
<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
<set servo="CAM_PAN" value="@CAM_PAN"/>
<set servo="CAM_TILT" value="@CAM_TILT"/>
</command_laws>
<!-- Local magnetic field -->
<section name="AHRS" prefix="AHRS_">
<define name="H_X" value="0.51562740288882"/>
<define name="H_Y" value="-0.05707735220832"/>
<define name="H_Z" value="0.85490967783446"/>
</section>
<section name="IMU" prefix="IMU_">
<!-- Calibration Neutral -->
<define name="GYRO_P_NEUTRAL" value="0"/>
<define name="GYRO_Q_NEUTRAL" value="0"/>
<define name="GYRO_R_NEUTRAL" value="0"/>
<!-- SENS = 14.375 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec / 12bit FRAC: 4096 / 828 -->
<define name="GYRO_P_SENS" value="4.947" integer="16"/>
<define name="GYRO_Q_SENS" value="4.947" integer="16"/>
<define name="GYRO_R_SENS" value="4.947" integer="16"/>
<define name="GYRO_P_Q" value="0."/>
<define name="GYRO_P_R" value="0"/>
<define name="GYRO_Q_P" value="0."/>
<define name="GYRO_Q_R" value="0."/>
<define name="GYRO_R_P" value="0."/>
<define name="GYRO_R_Q" value="0."/>
<define name="GYRO_P_SIGN" value="-1"/>
<define name="GYRO_Q_SIGN" value="-1"/>
<define name="GYRO_R_SIGN" value="1"/>
<define name="ACCEL_X_NEUTRAL" value="-14"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="0"/>
<!-- SENS = 256 LSB/g @ 2.5V [X&Y: 265 LSB/g @ 3.3V] / 9.81 ms2/g = 26.095 LSB/ms2 / 10bit FRAC: 1024 / 26.095 for z and 1024 / 27.01 for X&Y -->
<define name="ACCEL_X_SENS" value="37.9" integer="16"/>
<define name="ACCEL_Y_SENS" value="37.9" integer="16"/>
<define name="ACCEL_Z_SENS" value="39.24" integer="16"/>
<define name="ACCEL_X_SIGN" value="-1"/>
<define name="ACCEL_Y_SIGN" value="-1"/>
<define name="ACCEL_Z_SIGN" value="1"/>
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="1" integer="16"/>
<define name="MAG_Y_SENS" value="1" integer="16"/>
<define name="MAG_Z_SENS" value="1" integer="16"/>
<define name="MAG_X_SIGN" value="1"/>
<define name="MAG_Y_SIGN" value="1"/>
<define name="MAG_Z_SIGN" value="1"/>
<define name="BODY_TO_IMU_PHI" value="0"/>
<define name="BODY_TO_IMU_THETA" value="0"/>
<define name="BODY_TO_IMU_PSI" value="0"/>
</section>
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(6.18794441223)" unit="rad"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(-6.87549352646)" unit="deg"/>
</section>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="1.1"/>
<define name="MAX_PITCH" value="0.9"/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="25000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="17." 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="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"/>
<define name="LIGHT_LED_1" value="3"/>
</section>
<section name="external leds">
<!-- ADC 4 -->
<define name="LED_4_BANK" value="0"/>
<define name="LED_4_PIN" value="22"/>
</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="-0.101000003517"/>
<!-- outer loop saturation max m/s the alt tap can be-->
<define name="ALTITUDE_MAX_CLIMB" value="4"/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.386999994516"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.45"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="219.511993408"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.104999996722" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0."/>
<define name="AUTO_THROTTLE_IGAIN" value="0."/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.202000007033"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.0399999991059"/>
<define name="AUTO_PITCH_IGAIN" value="0.019999999553"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.12900002003"/>
<define name="COURSE_DGAIN" value="0.556999993324"/>
<define name="ROLL_MAX_SETPOINT" value="0.916999995708" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="0.6" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.4" unit="radians"/>
<define name="ROLL_PGAIN" value="0."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-8550.48925781"/>
<define name="PITCH_DGAIN" value="1.7254999876"/>
<define name="ELEVATOR_OF_ROLL" value="1250."/>
<define name="ROLL_RATE_GAIN" value="-625."/>
<define name="ROLL_ATTITUDE_GAIN" value="-4464.28613281"/>
<!-- roll rate loop -->
<define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
<define name="ROLL_RATE_SETPOINT_PGAIN" value="-10." unit="rad/s/rad"/>
<define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
<define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="3000."/>
<define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="3000."/>
<define name="ROLL_RATE_IGAIN" value="0."/>
<define name="ROLL_RATE_DGAIN" value="0."/>
<define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
<define name="ROLL_SLEW" value="0.1"/>
<define name="SIMPLE_ROLL_PGAIN" value="-15000"/>
<define name="SIMPLE_ROLL_DGAIN" value="-3000"/>
</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="-0.015"/> NOG niet in de nav.c file
<define name="NAV_FOLLOW_PGAIN" value="-0.05"/> -->
</section>
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="50"/><!-- 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="0.550000011921"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.5"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0."/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.300000011921"/><!-- Pitch for Aggressive Decent -->
<define name="CLIMB_NAV_RATIO" value="0.800000011921"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
<define name="DESCENT_NAV_RATIO" value="1."/>
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="80" unit="m"/>
</section>
<section name="CAM" prefix="CAM_">
<define name="TILT_MAX" value="30" unit="deg"/>
<define name="TILT_NEUTRAL" value="0" unit="deg"/>
<define name="TILT_MIN" value="-30" unit="deg"/>
<define name="TILT0" value="0" unit="deg"/>
<define name="PAN_MAX" value="45" unit="deg"/>
<define name="PAN_NEUTRAL" value="0" unit="deg"/>
<define name="PAN_MIN" value="-45" unit="deg"/>
<define name="PAN0" value="0" unit="deg"/>
</section>
<!--moet nog in tuning-->
<section name="Takeoff" prefix="Takeoff_">
<define name="Height" value="30" unit="m"/>
<define name="Speed" value="15" unit="m/s"/>
<define name="MinSpeed" value="5" unit="m/s"/>
<define name="Distance" value="10" unit="m"/>
</section>
<section name="Landing" prefix="Landing_">
<define name="FinalHeight" value="30" unit="m"/>
<define name="AFHeight" value="10" unit="m"/>
<define name="FinalStageTime" value="10" unit="s"/>
</section>
<section name="SIMU">
<define name="YAW_RESPONSE_FACTOR" value="0.5"/> <!-- ?????????????????????????? -->
</section>
<modules>
<load name="light.xml">
<define name="LIGHT_LED_STROBE" value="3"/>
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
</load>
</modules>
<firmware name="fixedwing">
<target name="ap" board="tiny_1.1">
<configure name="FLASH_MODE" value="IAP"/>
<configure name="PERIODIC_FREQUENCY" value="120"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
<configure name="AHRS_ALIGNER_LED" value="2"/>
<define name="STRONG_WIND"/>
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="AGR_CLIMB"/>
<define name="TUNE_AGRESSIVE_CLIMB"/>
</target>
<target name="sim" board="pc">
<define name="STRONG_WIND"/>
<define name="TUNE_AGRESSIVE_CLIMB"/>
<define name="LOITER_TRIM"/>
<define name="AGR_CLIMB"/>
</target>
<subsystem name="radio_control" type="ppm"/>
<!-- Communication -->
<subsystem name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="B57600"/>
</subsystem>
<!-- Sensors -->
<subsystem name="imu" type="ppzuav"/>
<subsystem name="ahrs" type="float_dcm"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="control"/>
<subsystem name="navigation"/>
</firmware>
</airframe>
conf/airframes/TU_Delft/MicrojetCDW.xml
-236
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="Microjet CDW Tiny 1.1">
<!-- commands section -->
<servos>
<servo name="THROTTLE" no="0" min="1050" neutral="1050" max="1900"/>
<servo name="AILEVON_RIGHT" no="1" min="1850" neutral="1480" max="1100"/> <!-- 400 - 380 -->
<servo name="AILEVON_LEFT" no="2" min="1250" neutral="1580" max="1980"/> <!-- 300 - 400 -->
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
</rc_commands>
<section name="MIXER">
<define name="AILEVON_AILERON_RATE" value="0.75"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.9"/>
</section>
<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.8"/>
<define name="MAX_PITCH" value="0.7"/>
</section>
<section name="IMU" prefix="IMU_">
<!-- MAX1168 ADC CHANNELS -->
<define name="GYRO_P_CHAN" value="0"/>
<define name="GYRO_Q_CHAN" value="1"/>
<define name="GYRO_R_CHAN" value="2"/>
<define name="ACCEL_X_CHAN" value="4"/>
<define name="ACCEL_Y_CHAN" value="3"/>
<define name="ACCEL_Z_CHAN" value="5"/>
<!-- Calibration Neutral -->
<define name="GYRO_P_NEUTRAL" value="21480"/>
<define name="GYRO_Q_NEUTRAL" value="21410"/>
<define name="GYRO_R_NEUTRAL" value="21940"/>
<!-- SENS = 2mV/deg/sec * 57.6 deg/rad = 114.59 mV/rad/sec * 16 LSB/mV = 1833.465 LSB/rad/sec / 12bit FRAC -->
<define name="GYRO_P_SENS" value="2.234" integer="16"/>
<define name="GYRO_Q_SENS" value="2.234" integer="16"/>
<define name="GYRO_R_SENS" value="2.234" integer="16"/>
<define name="GYRO_P_Q" value="0."/>
<define name="GYRO_P_R" value="(1.0f/75.0f)"/>
<define name="GYRO_Q_P" value="0."/>
<define name="GYRO_Q_R" value="0."/>
<define name="GYRO_R_P" value="0."/>
<define name="GYRO_R_Q" value="0."/>
<define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_Q_SIGN" value="-1"/>
<define name="GYRO_R_SIGN" value="-1"/>
<define name="ACCEL_X_NEUTRAL" value="26584"/>
<define name="ACCEL_Y_NEUTRAL" value="26660"/>
<define name="ACCEL_Z_NEUTRAL" value="26732"/>
<!-- 3.5G: SENS = 330mV/g / 9.81 ms2/g = 33.63 mV/ms2 * 16 LSB/mV = 538.22 LSB/ms2 / 10bit FRAC -->
<!-- 2G: SENS = 660mV/g / 9.81 ms2/g = 67.27 mV/ms2 * 16 LSB/mV = 1076 LSB/ms2 / 10bit FRAC -> 0.9372-->
<!-- 6G: SENS = 220mV/g / 9.81 ms2/g = 67.27 mV/ms2 * 16 LSB/mV = 358.8 LSB/ms2 / 10bit FRAC -> 2.853818182-->
<define name="ACCEL_X_SENS" value="2.85382" integer="10"/>
<define name="ACCEL_Y_SENS" value="2.85382" integer="10"/>
<define name="ACCEL_Z_SENS" value="2.85382" integer="10"/>
<define name="ACCEL_X_SIGN" value="1"/>
<define name="ACCEL_Y_SIGN" value="-1"/>
<define name="ACCEL_Z_SIGN" value="-1"/>
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="1" integer="16"/>
<define name="MAG_Y_SENS" value="1" integer="16"/>
<define name="MAG_Z_SENS" value="1" integer="16"/>
<!-- <define name="MAG_45_HACK" value="1"/> -->
<define name="BODY_TO_IMU_PHI" value="0"/>
<define name="BODY_TO_IMU_THETA" value="0"/>
<define name="BODY_TO_IMU_PSI" value="0"/>
</section>
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0."/>
<define name="PITCH_NEUTRAL_DEFAULT" value="-0.0570000000298"/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="14.5" 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="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="75."/>
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="0." 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="-0.01"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="4."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.33"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.60"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0."/>
<define name="AUTO_THROTTLE_IGAIN" value="0."/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
<define name="THROTTLE_SLEW_LIMITER" value="1" unit="s"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.39999997616"/>
<define name="ROLL_MAX_SETPOINT" value="0.703999996185" unit="radians"/>
<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="-6000."/>
<define name="PITCH_DGAIN" value="0."/>
<define name="ELEVATOR_OF_ROLL" value="1200."/>
<define name="ROLL_ATTITUDE_GAIN" value="-6000."/>
<define name="ROLL_RATE_GAIN" value="-600."/>
<define name="ROLL_SLEW" value="0.02"/> <!-- Maximal roll angle change per 1/60 of second: 0.02 rad/loop * 180/pi * 60 loop/sec = 60 deg/sec -->
</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="0.6"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.0"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.35"/><!-- 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="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
<firmware name="fixedwing">
<target name="ap" board="tiny_1.1">
<configure name="PERIODIC_FREQUENCY" value="960"/> <!-- IMU FREQ -->
<configure name="AHRS_PROPAGATE_FREQUENCY" value="120"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="60"/>
<configure name="AHRS_ALIGNER_LED" value="1"/>
<configure name="CPU_LED" value="2"/>
</target>
<target name="sim" board="pc"/>
<define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<subsystem name="radio_control" type="ppm"/>
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B57600"/>
</subsystem>
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="imu" type="booz"/>
<subsystem name="ahrs" type="float_dcm"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
</firmware>
<firmware name="setup">
<target name="tunnel" board="tiny_1.1"/>
</firmware>
<modules>
<load name="light.xml">
<define name="LIGHT_LED_STROBE" value="2"/>
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
</load>
</modules>
</airframe>
conf/airframes/TU_Delft/Trip50A.xml
-304
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@@ -1,304 +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
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"/>
<servo name="AILEVON_LEFT" no="1" min="900" neutral="1500" max="2100"/>
<servo name="AILEVON_RIGHT" no="5" min="900" neutral="1500" max="2100"/>
<servo name="BOMB" no="3" min="1880" neutral="1880" max="1200"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="BOMB" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="BOMB" value="@YAW"/>
</rc_commands>
<ap_only_commands>
<!--
<copy command="CAM_TILT"/>
<copy command="CAM_PAN"/>
-->
</ap_only_commands>
<command_laws>
<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="BOMB" value="@BOMB"/>
</command_laws>
<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="5." 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="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="0x005067361851"/>
</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
# 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
</makefile>
</airframe>
conf/airframes/TU_Delft/Trip50B.xml
-320
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@@ -1,320 +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
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"/>
<servo name="CAM_TILT" no="3" min="1500" neutral="2050" max="2050"/>
</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"/>
</commands>
<ap_only_commands>
<copy command="CAM_TILT"/>
</ap_only_commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
</rc_commands>
<command_laws>
<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_">
<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="0.85"/>
<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="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="0x005067361851"/>
</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>
conf/airframes/TU_Delft/holiday50.xml
-320
View File
@@ -1,320 +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="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="AEROCOMM"/>
<define name="DEVICE_ADDRESS" value="0x005067361851"/>
</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>
conf/airframes/TU_Delft/skywalker.xml
-244
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@@ -1,244 +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="900" neutral="1500" max="2100"/>
<servo name="AILERON_RIGHT" no="6" min="900" neutral="1500" max="2100"/>
<servo name="ELEVATOR" no="7" min="1900" neutral="1500" max="1100"/>
<servo name="RUDDER" no="3" 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="YAW" failsafe_value="0"/>
<axis name="BRAKE" failsafe_value="9600"/> <!-- both elerons up as butterfly brake ? -->
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="YAW" value="@YAW"/>
<set command="PITCH" value="@PITCH"/>
<set command="BRAKE" value="@FLAPS"/>
</rc_commands>
<section name="SERVO_MIXER_GAINS">
<define name="AILERON_NEUTRAL" value="0.3f"/>
<define name="AILERON_RATE_UP" value="1.0f"/>
<define name="AILERON_RATE_DOWN" value="0.5f"/>
<define name="AILERON_RATE_UP_BRAKE" value="1.0f"/>
<define name="AILERON_RATE_DOWN_BRAKE" value="1.0f"/>
<define name="PITCH_GAIN" value="0.9f"/>
<define name="BRAKE_AILEVON" value="-0.7f"/>
<define name="BRAKE_PITCH" value="0.1f"/>
<define name="MAX_BRAKE_RATE" value="130"/>
<define name="RUDDER_OF_AILERON" value="0.3"/>
<define name="LIMIT(X,XL,XH)" value="( ((X)>(XH)) ? (XH) : ( ((X)>(XL)) ? (X) : (XL) ) )"/>
</section>
<command_laws>
<!-- Brake Rate Limiter -->
<let var="brake_value_nofilt" value="LIMIT(-@BRAKE, 0, MAX_PPRZ)"/>
<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) - $brake_value*(BRAKE_AILEVON) - (MAX_PPRZ * AILERON_NEUTRAL)"/>
<set servo="AILERON_RIGHT" value="($aileron_up * $rightturn) + ($aileron_down * $leftturn) + $brake_value*(BRAKE_AILEVON) + (MAX_PPRZ *AILERON_NEUTRAL)"/>
<set servo="RUDDER" value="@YAW + @ROLL * RUDDER_OF_AILERON"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<!-- Pitch with Brake-Trim Function -->
<set servo="ELEVATOR" value="@PITCH * PITCH_GAIN - BRAKE_PITCH * $brake_value"/>
</command_laws>
<!-- Local magnetic field -->
<section name="AHRS" prefix="AHRS_">
<define name="H_X" value="0.51562740288882"/>
<define name="H_Y" value="-0.05707735220832"/>
<define name="H_Z" value="0.85490967783446"/>
</section>
<section name="XSENS">
<define name="GPS_IMU_LEVER_ARM_X" value="-0.285f"/>
<define name="GPS_IMU_LEVER_ARM_Y" value="0.0f"/>
<define name="GPS_IMU_LEVER_ARM_Z" value="0.0f"/>
</section>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="RadOfDeg(75)"/>
<define name="MAX_PITCH" value="RadOfDeg(45)"/>
</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="0.0" unit="rad"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="-0.075" unit="rad"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="14." 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"/>
<define name="COMMAND_ROLL_TRIM" value="-2300" />
<define name="COMMAND_PITCH_TRIM" value="1800" />
</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="-0.108000002801"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.312000006437"/>
<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="0.250999987125" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.00700000021607"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.0309999994934"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.171000003815"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.16799998283"/>
<define name="COURSE_DGAIN" value="0.280999988317"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="1.0039999485"/>
<define name="ROLL_MAX_SETPOINT" value="0.851999998093" 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="-15429.6865234"/>
<define name="PITCH_DGAIN" value="7.73400020599"/>
<define name="ELEVATOR_OF_ROLL" value="3007.81298828"/>
<define name="ROLL_SLEW" value="1."/>
<define name="ROLL_ATTITUDE_GAIN" value="-11718.75"/>
<define name="ROLL_RATE_GAIN" value="-820.312011719"/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="30"/>
<define name="BLEND_END" value="15"/>
<define name="CLIMB_THROTTLE" value="1."/>
<define name="CLIMB_PITCH" value="0.40000000596"/>
<define name="DESCENT_THROTTLE" value="0."/>
<define name="DESCENT_PITCH" value="-0.10000000149"/>
<define name="CLIMB_NAV_RATIO" value="0.800000011921"/>
<define name="DESCENT_NAV_RATIO" value="0.834999978542"/>
</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="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" />
<target name="sim" board="pc"/>
<define name="STRONG_WIND"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<define name="LOITER_TRIM"/>
<define name="TUNE_AGRESSIVE_CLIMB"/>
<define name="AGR_CLIMB"/>
<subsystem name="radio_control" type="ppm"/>
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B9600"/>
</subsystem>
<!-- Actuators -->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="navigation"/>
<subsystem name="ins" type="xsens">
<configure name="XSENS_UART_NR" value="0" />
</subsystem>
</firmware>
</airframe>
conf/airframes/TU_Delft/skywalkerfiber.xml
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
Skywalker Fiberglass "GraySky" FPV 168 (http://www..com/)
YAPA v2 (http://paparazzi.enac.fr/wiki/Yapa#Yapa_v2)
With modified power routing
* Aspiring
* XBee 2.4Ghz
* uBlox LEA5H and Sarantel helix GPS antenna
Notes:
The two aileron servos are separately connected and have an additional spoileron function
-->
<airframe name="Graysky">
<!-- **************************** FIRMWARE ********************************* -->
<firmware name="fixedwing">
<target name="ap" board="tiny_2.11">
<configure name="PERIODIC_FREQUENCY" value="120"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
<configure name="AHRS_ALIGNER_LED" value="3"/>
</target>
<target name="sim" board="pc"/>
<define name="LOITER_TRIM"/>
<define name="TUNE_AGRESSIVE_CLIMB"/>
<define name="AGR_CLIMB"/>
<define name="ALT_KALMAN"/>
<!-- Radio Control -->
<subsystem name="radio_control" type="ppm"/>
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B9600"/>
</subsystem>
<!-- Actuators -->
<subsystem name="control"/>
<!-- Navigation -->
<subsystem name="navigation"/>
<!-- Sensors -->
<subsystem name="imu" type="aspirin_i2c"/>
<subsystem name="ahrs" type="float_dcm"/>
<subsystem name="gps" type="ublox"/>
</firmware>
<!-- **************************** MODULES ********************************** -->
<modules>
<!-- <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="3"/>
</load>
</modules>
<!-- ***************************** SERVOS ********************************** -->
<servos>
<!-- Define here to which CONNECTOR NUMBER the servo is connected to, on the autopilot cicuit board -->
<servo name="THROTTLE" no="9" min="1000" neutral="1000" max="2000"/>
<servo name="AILERON_LEFT" no="4" min="1000" neutral="1500" max="2000"/>
<servo name="AILERON_RIGHT" no="8" min="1000" neutral="1500" max="2000"/>
<servo name="ELEVATOR" no="5" min="1900" neutral="1500" max="1100"/>
<servo name="RUDDER" no="1" min="1100" neutral="1500" max="1900"/>
</servos>
<!-- commands section -->
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<!-- both ailerons up as braking spoilerons -->
<axis name="BRAKE" failsafe_value="9600"/>
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="YAW" value="@YAW"/>
<set command="PITCH" value="@PITCH"/>
<set command="BRAKE" value="@FLAPS"/>
</rc_commands>
<!-- To still be able to use rudder in autonomous fight YAW can come in handy while tuning -->
<!--
<auto_rc_commands>
<set command="YAW" value="@YAW"/>
<set command="GAIN1" value="@GAIN1"/>
<set command="CALIB" value="@CALIB"/>
</auto_rc_commands>
-->
<section name="SERVO_MIXER_GAINS">
<define name="AILERON_NEUTRAL" value="0.3f"/>
<define name="AILERON_RATE_UP" value="1.0f"/>
<define name="AILERON_RATE_DOWN" value="0.5f"/>
<define name="AILERON_RATE_UP_BRAKE" value="1.0f"/>
<define name="AILERON_RATE_DOWN_BRAKE" value="1.0f"/>
<define name="PITCH_GAIN" value="0.9f"/>
<define name="BRAKE_SPOILERON" value="-0.7f"/>
<define name="BRAKE_PITCH" value="0.1f"/>
<define name="MAX_BRAKE_RATE" value="130"/>
<define name="RUDDER_OF_AILERON" value="0.3"/>
<define name="LIMIT(X,XL,XH)" value="( ((X)>(XH)) ? (XH) : ( ((X)>(XL)) ? (X) : (XL) ) )"/>
</section>
<command_laws>
<!-- Brake Rate Limiter -->
<let var="brake_value_nofilt" value="LIMIT(-@BRAKE, 0, MAX_PPRZ)"/>
<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) - $brake_value*(BRAKE_SPOILERON) - (MAX_PPRZ * AILERON_NEUTRAL)"/>
<set servo="AILERON_RIGHT" value="($aileron_up * $rightturn) + ($aileron_down * $leftturn) + $brake_value*(BRAKE_SPOILERON) + (MAX_PPRZ *AILERON_NEUTRAL)"/>
<set servo="RUDDER" value="@YAW + @ROLL * RUDDER_OF_AILERON"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<!-- Pitch with Brake-Trim Function -->
<set servo="ELEVATOR" value="@PITCH * PITCH_GAIN - BRAKE_PITCH * $brake_value"/>
</command_laws>
<!-- Local magnetic field -->
<section name="AHRS" prefix="AHRS_">
<define name="H_X" value="0.51562740288882"/>
<define name="H_Y" value="-0.05707735220832"/>
<define name="H_Z" value="0.85490967783446"/>
</section>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="RadOfDeg(75)"/>
<define name="MAX_PITCH" value="RadOfDeg(45)"/>
</section>
<section name="BAT">
<!-- <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/> -->
<!-- Note that 3S lipo 3.1*3=9.3 most of the time the cutof for the motor part of the ESC -->
<define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
</section>
<section name="IMU" prefix="IMU_">
<!-- Calibration Neutral -->
<define name="GYRO_P_NEUTRAL" value="0"/>
<define name="GYRO_Q_NEUTRAL" value="0"/>
<define name="GYRO_R_NEUTRAL" value="0"/>
<!-- ITG3200: SENS = 14.375 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec / 12bit FRAC: 4096 / 828 -->
<!-- IMU3000: SENS = 16.4 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec / 12bit FRAC: 4096 / 828 -->
<define name="GYRO_P_SENS" value="4.336" integer="16"/>
<define name="GYRO_Q_SENS" value="4.336" integer="16"/>
<define name="GYRO_R_SENS" value="4.336" integer="16"/>
<define name="GYRO_P_Q" value="0."/>
<define name="GYRO_P_R" value="0"/>
<define name="GYRO_Q_P" value="0."/>
<define name="GYRO_Q_R" value="0."/>
<define name="GYRO_R_P" value="0."/>
<define name="GYRO_R_Q" value="0."/>
<define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_Q_SIGN" value="-1"/>
<define name="GYRO_R_SIGN" value="-1"/>
<define name="ACCEL_X_NEUTRAL" value="-12"/>
<define name="ACCEL_Y_NEUTRAL" value="+3"/>
<define name="ACCEL_Z_NEUTRAL" value="-30"/>
<!-- SENS = 256 LSB/g @ 2.5V [X&Y: 265 LSB/g @ 3.3V] / 9.81 ms2/g = 26.095 LSB/ms2 / 10bit FRAC: 1024 / 26.095 for z and 1024 / 27.01 for X&Y -->
<define name="ACCEL_X_SENS" value="37.9" integer="16"/>
<define name="ACCEL_Y_SENS" value="37.9" integer="16"/>
<define name="ACCEL_Z_SENS" value="39.24" integer="16"/>
<define name="ACCEL_X_SIGN" value="1"/>
<define name="ACCEL_Y_SIGN" value="-1"/>
<define name="ACCEL_Z_SIGN" value="-1"/>
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="1" integer="16"/>
<define name="MAG_Y_SENS" value="1" integer="16"/>
<define name="MAG_Z_SENS" value="1" integer="16"/>
<define name="MAG_X_SIGN" value="1"/>
<define name="MAG_Y_SIGN" value="1"/>
<define name="MAG_Z_SIGN" value="1"/>
<define name="BODY_TO_IMU_PHI" value="0"/>
<define name="BODY_TO_IMU_THETA" value="0"/>
<define name="BODY_TO_IMU_PSI" value="0"/>
</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="COMMAND_ROLL_TRIM" value="1" />
<define name="COMMAND_PITCH_TRIM" value="-1" />
<define name="NOMINAL_AIRSPEED" value="17." 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="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<!-- The Glide definitions are used for calculating the touch down point during auto landing -->
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
</section>
<!-- ******************* VERTICAL CONTROL ********************************** -->
<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="-0.108000002801"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.312000006437"/>
<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="0.250999987125" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.00700000021607"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.0309999994934"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.171000003815"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
</section>
<!-- ******************* HORIZONTAL CONTROL ******************************** -->
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.16799998283"/>
<define name="COURSE_DGAIN" value="0.280999988317"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="1.0039999485"/>
<define name="ROLL_MAX_SETPOINT" value="0.851999998093" 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="-15429.6865234"/>
<define name="PITCH_DGAIN" value="7.73400020599"/>
<define name="ELEVATOR_OF_ROLL" value="3007.81298828"/>
<define name="ROLL_SLEW" value="1."/>
<define name="ROLL_ATTITUDE_GAIN" value="-11718.75"/>
<define name="ROLL_RATE_GAIN" value="-820.312011719"/>
</section>
<!-- ***************************** AGGRESIVE ******************************* -->
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="30"/>
<define name="BLEND_END" value="15"/>
<define name="CLIMB_THROTTLE" value="1."/>
<define name="CLIMB_PITCH" value="0.40000000596"/>
<define name="DESCENT_THROTTLE" value="0."/>
<define name="DESCENT_PITCH" value="-0.10000000149"/>
<define name="CLIMB_NAV_RATIO" value="0.800000011921"/>
<define name="DESCENT_NAV_RATIO" value="0.834999978542"/>
</section>
<!-- ****************************** FAILSAFE ******************************* -->
<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>
<!-- ******************************* CAMERA ******************************** -->
<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>
</airframe>
conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_fw.xml
+2
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@@ -0,0 +1,2 @@
<airframe name="TestConfig">
</airframe>
conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml
+2
View File
@@ -0,0 +1,2 @@
<airframe name="TestConfig">
</airframe>
conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_fw.xml
+2
View File
@@ -0,0 +1,2 @@
<airframe name="TestConfig">
</airframe>
conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
+2
View File
@@ -0,0 +1,2 @@
<airframe name="TestConfig">
</airframe>
conf/airframes/TestHardware/LisaM_1.0_aspirin_v1.5_fw.xml
+2
View File
@@ -0,0 +1,2 @@
<airframe name="TestConfig">
</airframe>
conf/airframes/TestHardware/LisaM_1.0_aspirin_v1.5_rc.xml
+2
View File
@@ -0,0 +1,2 @@
<airframe name="TestConfig">
</airframe>
conf/airframes/TestHardware/Tiny_2.11_fw.xml
+2
View File
@@ -0,0 +1,2 @@
<airframe name="TestConfig">
</airframe>
conf/airframes/UofAdelaide/A1000_BOOZ.xml
-2
View File
@@ -242,9 +242,7 @@ second attempt
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="BATTERY_SENS" value="0.25" integer="16"/>
</section>
<section name="AUTOPILOT">

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