From dd9e8b4c5bc3d553a47c5f3f5d2d499175ce7f66 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Fri, 27 May 2011 13:17:35 +0200
Subject: [PATCH] add joystich and airframe files

---
 conf/airframes/ENAC/fixed-wing/spocIII-2.xml |  22 +-
 conf/airframes/ENAC/fixed-wing/spocIII-3.xml | 219 +++++++++++++++++++
 conf/joystick/gp_interlink.xml               |  21 ++
 3 files changed, 252 insertions(+), 10 deletions(-)
 create mode 100644 conf/airframes/ENAC/fixed-wing/spocIII-3.xml
 create mode 100644 conf/joystick/gp_interlink.xml

diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-2.xml b/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
index 2983b7f7c3..95541bb206 100644
--- a/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
+++ b/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
@@ -23,6 +23,7 @@
   <firmware name="fixedwing">
     <define name="ALT_KALMAN"/>
     <define name="LOITER_TRIM"/>
+    <define name="USE_GYRO_PITCH_RATE"/>
 
     <target name="sim" board="pc"/>
     <target name="ap" board="tiny_2.11">
@@ -38,7 +39,7 @@
 
     <!-- Communication -->
     <subsystem name="telemetry" type="xbee_api"/>
-    <subsystem name="radio_control" type="ppm"/>
+    <subsystem name="radio_control" type="datalink"/>
 
     <!-- Sensors -->
     <subsystem name="gps" type="ublox_lea5h"/>
@@ -88,7 +89,7 @@
 
   <section name="AUTO1" prefix="AUTO1_">
     <define name="MAX_ROLL" value="0.85"/>
-    <define name="MAX_PITCH" value="0.6"/>
+    <define name="MAX_PITCH" value="0.8"/>
   </section>
 
   <section name="INS" prefix="INS_">
@@ -98,7 +99,7 @@
 
   <section name="BAT">
     <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="4" unit="V"/>
     <define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
   </section>
  
@@ -111,11 +112,12 @@
     <define name="CONTROL_RATE" value="60" unit="Hz"/>
     <!-- define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/ -->
     <!-- define name="NO_XBEE_API_INIT" value="TRUE"/ -->
-    <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
+    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
 
     <define name="TRIGGER_DELAY" value="1."/>
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
 
+    <define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
     <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
   </section>
  
@@ -136,13 +138,13 @@
     <define name="AUTO_THROTTLE_DASH_TRIM" value="0."/>
 
     <!-- Climb loop (throttle) -->
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.08" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
     <define name="AUTO_THROTTLE_DGAIN" value="-0.0"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="-0.002"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="-0.001"/>
 
     <!-- Climb loop (pitch) -->
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.08"/>
     <define name="AUTO_PITCH_PGAIN" value="-0.0"/>
     <define name="AUTO_PITCH_DGAIN" value="-0.0"/>
     <define name="AUTO_PITCH_IGAIN" value="-0.0"/>
@@ -167,7 +169,7 @@
     <define name="PITCH_LOITER_TRIM" value="RadOfDeg(0.)"/>
     <define name="PITCH_DASH_TRIM" value="RadOfDeg(-0.)"/>
 
-   <define name="THROTTLE_SLEW" value="0.5"/>
+   <define name="THROTTLE_SLEW" value="0.005"/>
 
   </section>
 
@@ -184,7 +186,7 @@
     <define name="ROLL_KFFA" value="0"/>
     <define name="ROLL_KFFD" value="0"/>
 
-    <define name="PITCH_PGAIN" value="-4000."/>
+    <define name="PITCH_PGAIN" value="-7000."/>
     <define name="PITCH_DGAIN" value="-2400."/>
     <define name="PITCH_IGAIN" value="-300."/>
     <define name="PITCH_KFFA" value="0."/>
diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-3.xml b/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
new file mode 100644
index 0000000000..a3a7ac3f16
--- /dev/null
+++ b/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
@@ -0,0 +1,219 @@
+<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+
+<!-- SPirit Of Corsica III
+     Ailerons, elevator, NO rudder
+     Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
+     arduIMU i2c
+     XBee modem (transparent)
+     Current sensor
+-->
+
+<airframe name="Spoc III Tiny 2.1">
+
+  <modules>
+    <load name="ins_arduimu_basic.xml"/>
+    <load name="airspeed_ets.xml">
+      <define name="SENSOR_SYNC_SEND"/>
+      <define name="USE_AIRSPEED"/>
+      <define name="AIRSPEED_ETS_SCALE" value="1.53"/>
+      <!--define name="AIRSPEED_ETS_REVERSE"/-->
+    </load>
+    <!--load name="generic_com.xml"/-->
+  </modules>
+
+  <firmware name="fixedwing">
+    <define name="ALT_KALMAN"/>
+    <define name="LOITER_TRIM"/>
+    <define name="USE_GYRO_PITCH_RATE"/>
+
+    <target name="sim" board="pc"/>
+    <target name="ap" board="tiny_2.11">
+      <configure name="FLASH_MODE" value="IAP"/>
+      <define name="USE_I2C0"/>
+    </target>
+
+    <subsystem name="i2c"/>
+
+    <!-- Control -->
+    <subsystem name="control" type="new"/>
+    <subsystem name="navigation"/>
+
+    <!-- Communication -->
+    <subsystem name="telemetry" type="xbee_api"/>
+    <subsystem name="radio_control" type="ppm"/>
+
+    <!-- Sensors -->
+    <subsystem name="gps" type="ublox_lea5h"/>
+
+    <subsystem name="current_sensor">
+      <configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
+    </subsystem>
+
+  </firmware>
+
+  <firmware name="setup">
+    <target name="tunnel" board="tiny_2.11"/>
+    <target name="setup_actuators" board="tiny_2.11"/>
+  </firmware>
+
+<!-- commands section -->
+  <servos>
+    <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
+    <servo name="AILERON_LEFT" no="6" min="1900" neutral="1500" max="1100"/>
+    <servo name="AILERON_RIGHT" no="2" min="1900" neutral="1590" max="1100"/>
+    <servo name="ELEVATOR" no="7" min="1900" neutral="1550" max="1100"/>
+  </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="AILERON_DIFF" value="0.66"/>
+  </section>
+
+  <command_laws>
+    <set servo="MOTOR" value="@THROTTLE"/>
+    <set servo="ELEVATOR" value="@PITCH"/>
+    <let var="roll" value="@ROLL"/>
+    <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
+    <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
+  </command_laws>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="0.85"/>
+    <define name="MAX_PITCH" value="0.8"/>
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="rad" />
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="rad" />
+  </section>
+
+  <section name="BAT">
+    <define name="CATASTROPHIC_BAT_LEVEL" value="4" unit="V"/>
+    <define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
+  </section>
+ 
+  <section name="MISC">
+    <define name="MINIMUM_AIRSPEED" value="14." unit="m/s"/>
+    <define name="NOMINAL_AIRSPEED" value="17." unit="m/s"/>
+    <define name="MAXIMUM_AIRSPEED" value="25." 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="\"ATPL2\rATRN1\rATTT80\r\""/ -->
+    <!-- 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="80."/>
+
+    <define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
+    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
+  </section>
+ 
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="-0.04"/>
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+    <!-- Cruise throttle + limits -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
+    <define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(20.)"/>
+    <define name="AUTO_PITCH_MIN_PITCH" value="-RadOfDeg(20.)"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="0."/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="0."/>
+
+    <!-- Climb loop (throttle) -->
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.08" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
+    <define name="AUTO_THROTTLE_DGAIN" value="-0.0"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="-0.001"/>
+
+    <!-- Climb loop (pitch) -->
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.08"/>
+    <define name="AUTO_PITCH_PGAIN" value="-0.0"/>
+    <define name="AUTO_PITCH_DGAIN" value="-0.0"/>
+    <define name="AUTO_PITCH_IGAIN" value="-0.0"/>
+
+    <!-- airspeed control -->
+    <define name="AUTO_AIRSPEED_SETPOINT" value="17."/>
+    <define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
+    <define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
+    <define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
+    <define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
+    <define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
+    <define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
+    <define name="AIRSPEED_MAX" value="25"/>
+    <define name="AIRSPEED_MIN" value="14"/>
+
+    <!-- groundspeed control -->
+    <define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
+    <define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
+    <define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
+
+    <!-- pitch trim --> <!-- 5 deg -->
+    <define name="PITCH_LOITER_TRIM" value="RadOfDeg(0.)"/>
+    <define name="PITCH_DASH_TRIM" value="RadOfDeg(-0.)"/>
+
+   <define name="THROTTLE_SLEW" value="0.005"/>
+
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="-1.20599997044"/>
+
+    <define name="ROLL_MAX_SETPOINT" value="0.8" unit="radians"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+
+    <define name="ROLL_ATTITUDE_GAIN" value="-8500."/>
+    <define name="ROLL_RATE_GAIN" value="-2400."/>
+    <define name="ROLL_IGAIN" value="-0."/>
+    <define name="ROLL_KFFA" value="0"/>
+    <define name="ROLL_KFFD" value="0"/>
+
+    <define name="PITCH_PGAIN" value="-7000."/>
+    <define name="PITCH_DGAIN" value="-2400."/>
+    <define name="PITCH_IGAIN" value="-300."/>
+    <define name="PITCH_KFFA" value="0."/>
+    <define name="PITCH_KFFD" value="0."/>
+
+    <define name="PITCH_OF_ROLL" value="0.043"/>
+    <define name="AILERON_OF_THROTTLE" value="0.0"/>
+
+  </section>
+
+  <section name="NAV">
+    <define name="NAV_PITCH" value="0."/>
+    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+  </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+    <define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
+    <define name="DEFAULT_THROTTLE" value="0.5" unit="%"/>
+    <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+    <define name="DEFAULT_PITCH" value="0.0" unit="rad"/>
+    <define name="HOME_RADIUS" value="100" unit="m"/>
+  </section>
+
+  <section name="SIMU">
+    <define name="JSBSIM_MODEL" value="&quot;Corsica&quot;"/>
+    <define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
+    <define name="JSBSIM_IR_PITCH_NEUTRAL" value="RadOfDeg(0.)"/>
+  </section>
+
+</airframe>
diff --git a/conf/joystick/gp_interlink.xml b/conf/joystick/gp_interlink.xml
new file mode 100644
index 0000000000..e431724c48
--- /dev/null
+++ b/conf/joystick/gp_interlink.xml
@@ -0,0 +1,21 @@
+<joystick>
+  <input>
+    <axis index="0" name="roll"/>
+    <axis index="1" name="throttle"/>
+    <axis index="2" name="pitch"/>
+    <axis index="4" name="yaw"/>
+    <button index="1" name="mode"/>
+  </input>
+
+  <messages period="0.05">
+
+    <message class="datalink" name="RC_4CH" send_always="true">
+      <field name="mode" value="mode + 1"/> <!-- only AUTO1 and AUTO2 available -->
+      <field name="throttle" value="Fit(-throttle,-75,75,0,127)"/>
+      <field name="roll" value="Fit(-roll,-90,90,-127,127)"/>
+      <field name="pitch" value="Fit(pitch,-90,90,-127,127)"/>
+      <field name="yaw" value="Fit(yaw,-90,90,-127,127)"/>
+    </message>
+
+  </messages>
+</joystick>