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Demo planes

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This commit is contained in:
Martin Mueller
2010-11-18 07:27:21 +00:00
committed by Felix Ruess
parent b22b731f08
commit dc8f296c0c
8 changed files with 653 additions and 51 deletions
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conf/airframes/mm/fixed-wing/drops.xml
+40 -17
View File
@@ -1,14 +1,36 @@
<!DOCTYPE airframe SYSTEM "airframe.dtd">
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
<!-- Twinstar II, 2x Jeti 12 advance
Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
PerkinElmer TPS334 IR Sensors
Tilted infrared sensor
XBee modem
K66, LEA 5H
R6107SP, LEA 5H
-->
<airframe name="Drops K66">
<airframe name="Drops">
<firmware name="fixedwing">
<target name="sim" board="pc"/>
<target name="ap" board="tiny_2.1">
<define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="control_adaptive"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="navigation"/>
<subsystem name="navigation_bomb"/>
<subsystem name="gyro" type="roll">
<param name="ADC_GYRO_ROLL" value="ADC_3"/>
</subsystem>
</firmware>
<!-- commands section -->
<servos>
@@ -70,7 +92,7 @@
<define name="IR_TOP" value="ADC_0"/>
<define name="IR_NB_SAMPLES" value="16"/>
<define name="GYRO_ROLL" value="ADC_3"/>
<define name="GYRO_NB_SAMPLES" value="32"/>
<!--define name="GYRO_NB_SAMPLES" value="32"/-->
</section>
<section name="INFRARED" prefix="IR_">
@@ -120,8 +142,6 @@
<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\rATRN1\rATTT80\r&quot;"/> -->
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
<define name="TRIGGER_DELAY" value="1."/>
@@ -154,7 +174,7 @@
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
<define name="THROTTLE_SLEW" value="0.1"/>
<define name="THROTTLE_SLEW" value="0.1"/>
</section>
@@ -168,14 +188,19 @@
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-8898.3046875"/>
<define name="PITCH_DGAIN" value="-1694.91503906"/>
<define name="PITCH_IGAIN" value="0"/>
<define name="ELEVATOR_OF_ROLL" value="1520.73706055"/>
<define name="ROLL_ATTITUDE_GAIN" value="-5847.45800781"/>
<define name="ROLL_RATE_GAIN" value="-2923.72900391"/>
<define name="ROLL_KFF" value="-500"/>
<define name="ROLL_IGAIN" value="-5000"/>
<define name="ROLL_KFFA" value="500"/>
<define name="ROLL_KFFD" value="0"/>
<define name="PITCH_KFFA" value="0"/>
<define name="PITCH_KFFD" value="0"/>
</section>
<section name="NAV">
@@ -209,13 +234,9 @@
<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>
<makefile>
<!--makefile>
CONFIG = \"tiny_2_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
@@ -280,5 +301,7 @@ sim.srcs += nav_line.c nav_survey_rectangle.c
sim.srcs += bomb.c
</makefile>
</makefile-->
</airframe>