mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-25 06:15:43 +08:00
*** empty log message ***
This commit is contained in:
Pascal Brisset
@@ -6,8 +6,8 @@
|
||||
<servos>
|
||||
<servo name="GAZ" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="HATCH" no="2" max="2000" neutral="1000" min="1000"/>
|
||||
<servo name="AILEVON_LEFT" no="6" min="1075" neutral="1530" max="2025"/>
|
||||
<servo name="AILEVON_RIGHT" no="3" min="1975" neutral="1565" max="975"/>
|
||||
<servo name="AILEVON_LEFT" no="6" min="1075" neutral="1518" max="2025"/>
|
||||
<servo name="AILEVON_RIGHT" no="3" min="1975" neutral="1595" max="975"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
@@ -55,23 +55,23 @@
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="10" unit="deg"/>
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="3.6" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="2" unit="deg"/>
|
||||
<define name="DEFAULT_CONTRAST" value="200"/>
|
||||
<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
|
||||
<linear name="RollOfIrs" arity="2" coeff1="-0.7" coeff2="0.7"/>
|
||||
<linear name="PitchOfIrs" arity="2" coeff1="-0.7" coeff2="-0.7"/>
|
||||
<linear name="RollOfIrs" arity="2" coeff1="1.07" coeff2="-1.07"/>
|
||||
<linear name="PitchOfIrs" arity="2" coeff1="1.07" coeff2="1.07"/>
|
||||
<linear name="TopOfIr" arity="1" coeff1="-1"/>
|
||||
<define name="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
|
||||
<define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
|
||||
<define name="ADC_ROLL_NEUTRAL" value="0"/>
|
||||
<define name="ADC_PITCH_NEUTRAL" value="-716"/>
|
||||
<define name="ADC_PITCH_NEUTRAL" value="1102"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="512"/>
|
||||
|
||||
<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="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"/>
|
||||
|
||||
<define name="ESTIMATED_PHI_PI_4" value="0.9"/>
|
||||
|
||||
@@ -120,7 +120,7 @@
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.3"/>
|
||||
<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"/>
|
||||
@@ -141,7 +141,7 @@
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-0.8"/>
|
||||
<define name="COURSE_PGAIN" value="-0.55"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
|
||||
@@ -149,7 +149,7 @@
|
||||
|
||||
<define name="ROLL_PGAIN" value="5000."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="-9000."/>
|
||||
<define name="PITCH_PGAIN" value="-12500."/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="1250"/>
|
||||
|
||||
@@ -157,8 +157,8 @@
|
||||
<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="1000."/>
|
||||
<define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="1000."/>
|
||||
<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"/>
|
||||
@@ -239,6 +239,11 @@ ap.srcs += inter_mcu.c
|
||||
|
||||
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
ap.CFLAGS += -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC_NB_SAMPLES=16
|
||||
ap.CFLAGS += -DUSE_ADC_2 -DADC_CHANNEL_GENERIC1=ADC_2
|
||||
ap.CFLAGS += -DUSE_ADC_3 -DADC_CHANNEL_GENERIC2=ADC_3
|
||||
ap.srcs += adc_generic.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
|
||||
|
||||
@@ -254,9 +259,11 @@ ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c
|
||||
ap.CFLAGS += -DGYRO -DADXRS150
|
||||
ap.srcs += gyro.c
|
||||
|
||||
ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -D USE_BARO_MS5534A
|
||||
ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
|
||||
ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
|
||||
|
||||
ap.srcs += bomb.c
|
||||
|
||||
|
||||
# Harware In The Loop
|
||||
|
||||
@@ -265,8 +272,8 @@ ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360
|
||||
sim.srcs += nav_survey_rectangle.c
|
||||
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360 -DUSE_BARO_MS5534A
|
||||
sim.srcs += nav_survey_rectangle.c $(SRC_ARCH)/sim_baro.c bomb.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
|
||||
@@ -250,7 +250,7 @@ ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c
|
||||
# ap.srcs += $(SRC_ARCH)/gpio.c
|
||||
|
||||
# Chemo sensor
|
||||
ap.CFLAGS += -DUSE_ADC_5 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC=ADC_5 -DADC_CHANNEL_GENERIC_NB_SAMPLES=16
|
||||
ap.CFLAGS += -DUSE_ADC_5 -DUSE_ADC_GENERIC1 -DADC_CHANNEL_GENERIC1=ADC_5 -DADC_CHANNEL_GENERIC_NB_SAMPLES=16
|
||||
ap.srcs += adc_generic.c
|
||||
|
||||
|
||||
|
||||
@@ -112,11 +112,11 @@
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.65"/>
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".47"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1250"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/>
|
||||
<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="0.25"/>
|
||||
@@ -155,6 +155,7 @@
|
||||
<define name="ROLL_RATE_DGAIN" value="0.5"/>
|
||||
<define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
|
||||
|
||||
<define name="COURSE_SLEW_INCREMENT" value="RadOfDeg(2)"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
|
||||
Reference in New Issue
Block a user