Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-28 01:53:48 +08:00
Code Issues Actions 30 Packages Projects Releases Wiki Activity

Merge fixes from preparation branch 'v3.9'

Browse Source 
* fix rotorcraft adaptive vertical control numerical issues
* fix openlog
* mode switching via two 2-way switches instead of one 3-way
* NPS:
 * fix waypoint altitude
 * renamed fdm subsystem type from nps to jsbsim
 * fix ground interaction issues, can now be initialized on the ground
This commit is contained in:
Felix Ruess
2012-06-25 14:25:47 +02:00
parent fb951e82b1 2ae6134361
commit d3a1ad3150
151 changed files with 926 additions and 420 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/CDW/debug_i2c.xml
+1 -1
View File
@@ -220,7 +220,7 @@
<subsystem name="actuators" type="asctec"/>
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
conf/airframes/CDW/yapa_xsens.xml
+244
View File
@@ -0,0 +1,244 @@
<!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="980" neutral="1380" max="1780"/>
</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? 0 : 1)"/>
<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="-0.0885749980807" 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="180"/>
<define name="COMMAND_PITCH_TRIM" value="-194."/>
</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="0.43599998951"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.549000024796"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.158000007272" 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="0.361000001431"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="0.972000002861"/>
<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="16917.2929688"/>
<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="1"/>
<!-- <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/ENAC/fixed-wing/firestorm.xml
-1
View File
@@ -195,7 +195,6 @@
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
conf/airframes/ENAC/fixed-wing/funjet2.xml
-1
View File
@@ -186,7 +186,6 @@
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
-1
View File
@@ -213,7 +213,6 @@
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
conf/airframes/ENAC/fixed-wing/funjet2_new.xml
-1
View File
@@ -213,7 +213,6 @@
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
conf/airframes/ENAC/fixed-wing/funjet3.xml
-1
View File
@@ -190,7 +190,6 @@
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
conf/airframes/ENAC/fixed-wing/merlin.xml
-1
View File
@@ -173,7 +173,6 @@
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
conf/airframes/ENAC/fixed-wing/minimag1.xml
-1
View File
@@ -170,7 +170,6 @@
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
-1
View File
@@ -178,7 +178,6 @@ on<!DOCTYPE airframe SYSTEM "airframe.dtd">
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
-1
View File
@@ -162,7 +162,6 @@
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml
-1
View File
@@ -159,7 +159,6 @@
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0"/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
-1
View File
@@ -160,7 +160,6 @@
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
-1
View File
@@ -164,7 +164,6 @@
</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="0.01"/>
</section>
conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
-1
View File
@@ -166,7 +166,6 @@
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
conf/airframes/ENAC/fixed-wing/overview.xml
-1
View File
@@ -161,7 +161,6 @@
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
conf/airframes/ENAC/fixed-wing/soarzi.xml
-1
View File
@@ -151,7 +151,6 @@
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
conf/airframes/ENAC/fixed-wing/spocIII-1.xml
-1
View File
@@ -167,7 +167,6 @@
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
conf/airframes/ENAC/fixed-wing/spocIII-2.xml
-1
View File
@@ -198,7 +198,6 @@
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
conf/airframes/ENAC/fixed-wing/spocIII-3.xml
-1
View File
@@ -201,7 +201,6 @@
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
conf/airframes/ENAC/fixed-wing/twinjet2.xml
-1
View File
@@ -188,7 +188,6 @@
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
<define name="NAV_CROSS_TRACK_ERROR_IGAIN" value="0."/>
<define name="NAV_CROSS_TRACK_ERROR_MAX" value="10." unit="deg"/>
conf/airframes/ENAC/fixed-wing/weasel.xml
-1
View File
@@ -214,7 +214,6 @@
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
conf/airframes/ENAC/quadrotor/blender.xml
+1 -1
View File
@@ -18,7 +18,7 @@
<define name="ACTUATORS_START_DELAY" value="3"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
</target>
<subsystem name="radio_control" type="ppm"/>
conf/airframes/ENAC/quadrotor/booz2_g1.xml
+1 -1
View File
@@ -23,7 +23,7 @@
<define name="ACTUATORS_START_DELAY" value="3"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
<!--define name="NPS_NO_SUPERVISION"/-->
</target>
conf/airframes/ENAC/quadrotor/navgo.xml
+1 -1
View File
@@ -18,7 +18,7 @@
<define name="USE_GPS_ACC4R"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
</target>
<subsystem name="radio_control" type="ppm"/>
conf/airframes/LAAS/mmlaas_N1.xml
-1
View File
@@ -180,7 +180,6 @@
</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"/>
<define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
conf/airframes/LAAS/mmlaas_N2.xml
-1
View File
@@ -176,7 +176,6 @@
</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"/>
<define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
conf/airframes/LAAS/mmlaas_N3.xml
-1
View File
@@ -176,7 +176,6 @@
</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"/>
<define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
conf/airframes/NoVa_L.xml
+1 -1
View File
@@ -252,7 +252,7 @@
<subsystem name="actuators" type="mkk"/>
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
conf/airframes/Poine/booz2_a1.xml
+1 -1
View File
@@ -197,7 +197,7 @@
<firmware name="rotorcraft">
<target name="ap" board="booz_1.0"/>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
conf/airframes/Poine/booz2_a7.xml
+1 -1
View File
@@ -221,7 +221,7 @@
<subsystem name="actuators" type="asctec"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
conf/airframes/Poine/easy_glider1.xml
-1
View File
@@ -131,7 +131,6 @@
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
conf/airframes/Poine/funjet42.xml
-1
View File
@@ -155,7 +155,6 @@
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
conf/airframes/Poine/swift_1.xml
-1
View File
@@ -149,7 +149,6 @@
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml
+1 -1
View File
@@ -18,7 +18,7 @@
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
</target>
conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
+1 -1
View File
@@ -19,7 +19,7 @@
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
</target>
conf/airframes/booz2_flixr.xml
+1 -1
View File
@@ -10,7 +10,7 @@
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
</target>
conf/airframes/esden/quady_lm1a1pwm.xml
+18 -19
View File
@@ -11,7 +11,7 @@
<airframe name="quady_lm1a1pwm">
<servos min="0" neutral="0" max="0xff">
<servos>
<servo name="FRONT" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="BACK" no="1" min="1000" neutral="1000" max="2000"/>
<servo name="LEFT" no="2" min="1000" neutral="1000" max="2000"/>
@@ -65,9 +65,9 @@
<include href="conf/airframes/esden/calib/asp21-018.xml"/>
<section name="IMU" prefix="IMU_">
<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( 45. )"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="45." unit="deg"/>
</section>
<section name="AUTOPILOT">
@@ -96,28 +96,28 @@
<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_PSI" value="RadOfDeg(45.)"/>
<define name="SP_MAX_R" value="RadOfDeg(90.)"/>
<define name="SP_MAX_P" value="RadOfDeg(90.)"/>
<define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_PSI" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="SP_MAX_P" value="90." unit="deg/s"/>
<define name="DEADBAND_R" value="250"/>
<define name="DEADBAND_A" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="RadOfDeg(400.)"/>
<define name="REF_MAX_P" value="400." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="RadOfDeg(400.)"/>
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="RadOfDeg(180.)"/>
<define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
@@ -190,7 +190,7 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_1.0">
<!-- <define name="BOOZ_START_DELAY" value="1"/> -->
<!-- <define name="ACTUATORS_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="pwm_supervision"/>
<subsystem name="telemetry" type="transparent"/>
@@ -198,10 +198,9 @@
<define name="RADIO_MODE" value="RADIO_FLAP"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<!--define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/-->
<!--define name = "RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value = "UART5"/-->
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
conf/airframes/esden/quady_lm2a2pwm.xml
+18 -19
View File
@@ -11,7 +11,7 @@
<airframe name="quady_lm2a2pwm">
<servos min="0" neutral="0" max="0xff">
<servos>
<servo name="FRONT" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="BACK" no="1" min="1000" neutral="1000" max="2000"/>
<servo name="LEFT" no="2" min="1000" neutral="1000" max="2000"/>
@@ -65,9 +65,9 @@
<include href="conf/airframes/esden/calib/asp21-018.xml"/>
<section name="IMU" prefix="IMU_">
<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( 45. )"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="45." unit="deg"/>
</section>
<section name="AUTOPILOT">
@@ -96,28 +96,28 @@
<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_PSI" value="RadOfDeg(45.)"/>
<define name="SP_MAX_R" value="RadOfDeg(90.)"/>
<define name="SP_MAX_P" value="RadOfDeg(90.)"/>
<define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_PSI" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="SP_MAX_P" value="90." unit="deg/s"/>
<define name="DEADBAND_R" value="250"/>
<define name="DEADBAND_A" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="RadOfDeg(400.)"/>
<define name="REF_MAX_P" value="400." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="RadOfDeg(400.)"/>
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="RadOfDeg(180.)"/>
<define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
@@ -190,7 +190,7 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0">
<!-- <define name="BOOZ_START_DELAY" value="1"/> -->
<!-- <define name="ACTUATORS_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="pwm_supervision"/>
<subsystem name="telemetry" type="transparent"/>
@@ -198,10 +198,9 @@
<define name="RADIO_MODE" value="RADIO_FLAP"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<!--define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/-->
<!--define name = "RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value = "UART5"/-->
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
conf/airframes/examples/bixler_lisa_m_2.xml
+138
View File
@@ -0,0 +1,138 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- this is a HobbyKing Bixler equiped with
* Autopilot: Lisa/M 2.0 http://paparazzi.enac.fr/wiki/Lisa/M_v20
* IMU: Aspirin 2.1 http://paparazzi.enac.fr/wiki/AspirinIMU
* GPS: Ublox http://paparazzi.enac.fr/wiki/Subsystem/gps
* RC: any PPM system http://paparazzi.enac.fr/wiki/Subsystem/radio_control#PPM
* Modem XBee in transparent mode at 57600 baud
-->
<airframe name="Bixler LisaM 2.0">
<firmware name="fixedwing">
<target name="ap" board="lisa_m_2.0"/>
<target name="sim" board="pc"/>
<define name="ALT_KALMAN"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="imu" type="aspirin_v2.1"/>
<subsystem name="ahrs" type="float_dcm"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
<!-- commands section -->
<servos>
<servo name="THROTTLE" no="1" min="1120" neutral="1120" max="1920"/>
<servo name="ELEVATOR" no="2" min="1100" neutral="1515" max="1900"/>
<servo name="RUDDER" no="3" min="950" neutral="1440" max="2050"/>
<servo name="AILERON_RIGHT" no="4" min="1000" neutral="1500" max="2000"/>
<servo name="AILERON_LEFT" no="5" min="1000" neutral="1500" max="2000"/>
</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="2000"/>
</commands>
<rc_commands>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="THROTTLE" value="@THROTTLE"/>
</rc_commands>
<section name="MIXER">
<define name="COMBI_SWITCH" value="0.3"/>
</section>
<command_laws>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="ELEVATOR" value="@PITCH"/>
<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
<set servo="AILERON_LEFT" value="@ROLL"/>
<set servo="AILERON_RIGHT" value="@ROLL"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="50" unit="deg"/>
<define name="MAX_PITCH" value="40" unit="deg"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</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="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000" unit="mA"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="9.5" unit="V"/>
<define name="LOW_BAT_LEVEL" value="10.0" 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="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="100."/>
</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="0.2" unit="%"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1.0" 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="0.03"/>
<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="25" unit="deg"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-25" unit="deg"/>
<define name="THROTTLE_SLEW" value="1.0"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="1.0"/>
<define name="COURSE_DGAIN" value="0.4"/>
<define name="ROLL_MAX_SETPOINT" value="35" unit="deg"/>
<define name="PITCH_MAX_SETPOINT" value="25" unit="deg"/>
<define name="PITCH_MIN_SETPOINT" value="-25" unit="deg"/>
<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="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="15" unit="deg"/>
<define name="DEFAULT_PITCH" value="0" unit="deg"/>
<define name="HOME_RADIUS" value="90" unit="m"/>
</section>
</airframe>
conf/airframes/examples/booz2.xml
+1 -1
View File
@@ -195,7 +195,7 @@
<firmware name="rotorcraft">
<target name="ap" board="booz_1.0"/>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
conf/airframes/examples/delta_wing_minimal.xml
-1
View File
@@ -137,7 +137,6 @@
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
conf/airframes/examples/demo_module.xml
-1
View File
@@ -132,7 +132,6 @@
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
<define name="NAV_CROSS_TRACK_ERROR_IGAIN" value="0."/>
<define name="NAV_CROSS_TRACK_ERROR_MAX" value="10." unit="deg"/>
conf/airframes/examples/easy_glider.xml
-1
View File
@@ -124,7 +124,6 @@
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
conf/airframes/examples/easystar.xml
-1
View File
@@ -140,7 +140,6 @@
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
conf/airframes/examples/easystar_ets.xml
-1
View File
@@ -153,7 +153,6 @@
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
conf/airframes/examples/funjet.xml
-1
View File
@@ -159,7 +159,6 @@
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
conf/airframes/examples/funjet_cam.xml
-1
View File
@@ -168,7 +168,6 @@
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
conf/airframes/examples/lisa_asctec.xml
+1 -1
View File
@@ -190,7 +190,7 @@
<define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/>
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
+2 -1
View File
@@ -19,12 +19,13 @@
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
</target>
<subsystem name="actuators" type="pwm_supervision">
<define name="SERVO_HZ" value="400"/>
<define name="USE_SERVOS_7AND8"/>
</subsystem>
<subsystem name="telemetry" type="transparent"/>

Some files were not shown because too many files have changed in this diff Show More