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Pascal Brisset
2005-09-16 06:02:25 +00:00
parent 738859cf10
commit e3fb8a4e00
10 changed files with 78 additions and 26 deletions
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conf/airframes/gorazoptere_brushless_ANALOG.xml
+8 -2
View File
@@ -49,6 +49,9 @@
<define name="IR2" value="1"/>
<define name="VSUPPLY" value="6"/>
</section>
<section name="servo">
<define name="SERVOS_FALLING_EDGE" value="1"/>
</section>
<servos min="1000" neutral="1500" max="2000">
<servo name="MOTOR_FRONT" no="1" min="1250" neutral="1250" max="1850"/>
<servo name="MOTOR_BACK" no="2" min="1250" neutral="1250" max="1850"/>
@@ -66,8 +69,10 @@
<set servo="MOTOR_LEFT" value="$throttle - $roll + $yaw"/>
</command>
<section name="INFRARED" prefix="IR_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="1024"/>
<define name="ADC_ROLL_NEUTRAL" value="0"/>
<define name="ADC_PITCH_NEUTRAL" value="1024"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="DEFAULT_CONTRAST" value="200"/>
<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
<linear name="RollOfIrs" arity="2" coeff1="-1" coeff2="1"/>
@@ -80,6 +85,7 @@
<define name="MAX_ROLL" value="0.35"/>
<define name="MAX_PITCH" value="0.35"/>
<define name="MIN_PITCH" value="-0.35"/>
<define name="AILERON_OF_GAZ" value="-0.13"/>
</section>
<section name="ALT" prefix="CLIMB_">
<define name="PITCH_PGAIN" value="-0.1"/>
conf/conf.xml
+3 -3
View File
@@ -38,7 +38,7 @@
ac_id="4"
airframe="airframes/plaster1.xml"
radio="radios/mc3030.xml"
flight_plan="flight_plans/ricou_vz.xml"
flight_plan="flight_plans/muret_mini.xml"
/>
<aircraft
@@ -71,7 +71,7 @@
ac_id="8"
airframe="airframes/ladybug.xml"
radio="radios/mc3030.xml"
flight_plan="flight_plans/sinsat.xml"
flight_plan="flight_plans/muret_mini.xml"
/>
<aircraft
@@ -79,7 +79,7 @@
ac_id="9"
airframe="airframes/flyingtux.xml"
radio="radios/mc3030.xml"
flight_plan="flight_plans/ricou_vz.xml"
flight_plan="flight_plans/muret_mini.xml"
/>
<ground name="desktop" ivy_bus="127.255.255.255:2010">
conf/control_panel.xml
+12 -1
View File
@@ -139,7 +139,7 @@
<session name="replay Ricou">
<!-- <variable name="ivy_bus" value="192.168.1:2001"/> -->
<variable name="map" value="ricouUTM.xml"/>
<variable name="map" value="ricou_large.xml"/>
<program name="receive"/>
<program name="http server"/>
<program name="cockpit"><arg flag="-render" constant="1"/></program>
@@ -228,6 +228,17 @@
<program name="map 2d ml"/>
</session>
<session name="flight hard modem Muret">
<variable name="map" value="muret_UTM.xml"/>
<variable name="ivy_bus" value="127:2010"/>
<program name="http server"/>
<program name="modem"><arg flag="-d" constant="/dev/ttyUSB0"/></program>
<program name="receive"/>
<program name="messages"><arg flag="-c" constant="telemetry_ap:*"/><arg flag="-c" constant="ground"/></program>
<program name="cockpit"/>
<program name="map 2d ml"/>
</session>
<session name="flight microjet multimon sim">
<program name="multimon"><arg flag="-p" constant="/tmp/multimon"/></program>
<program name="modem"><arg flag="-d" constant="/tmp/multimon"/></program>
conf/flight_plans/mav05.xml
+1 -1
View File
@@ -14,7 +14,7 @@
</waypoints>
<include name="zz" procedure="zigzag.xml" x="120" y="-20" rotate="0">
<arg name="alt" value="GROUND_ALT+50"/>
<with from="end" to="home"/>
<with from="end" to="init"/>
</include>
<blocks>
<block NAME="init">
conf/flight_plans/muret_mini.xml
+15 -11
View File
@@ -3,40 +3,44 @@
<flight_plan NAME="Muret mini" LON0="1.27289" MAX_DIST_FROM_HOME="1000" GROUND_ALT="185" SECURITY_HEIGHT="25" QFU="270" ALT="250" LAT0="43.46223">
<rc_control>
<mode NAME="AUTO1">
<setting VAR="ir_pitch_neutral" RANGE="60." RC="gain_1_up" TYPE="int16"/>
<setting VAR="ir_roll_neutral" RANGE="-60." RC="gain_2_up" TYPE="int16"/>
<setting VAR="pitch_pgain" RANGE="1000." RC="gain_1_down" TYPE="int16"/>
<setting VAR="ir_pitch_neutral" RANGE="0.1" RC="gain_1_up" TYPE="float"/>
<setting VAR="ir_roll_neutral" RANGE="-0.1" RC="gain_2_up" TYPE="float"/>
<setting VAR="pitch_pgain" RANGE="-1000." RC="gain_1_down" TYPE="int16"/>
<setting VAR="roll_pgain" RANGE="-1000." RC="gain_2_down" TYPE="int16"/>
</mode>
<mode NAME="AUTO2">
<setting VAR="pitch_of_roll" RANGE="0.1" RC="gain_1_down" TYPE="float"/>
<setting VAR="ir_pitch_neutral" RANGE="0.1" RC="gain_1_up" TYPE="float"/>
<setting VAR="ir_roll_neutral" RANGE="-0.1" RC="gain_2_up" TYPE="float"/>
<setting VAR="aileron_of_gaz" RANGE="0.1" RC="gain_1_down" TYPE="float"/>
<setting VAR="pitch_of_vz" RANGE=".1" RC="gain_2_down" TYPE="float"/>
<setting VAR="ir_pitch_neutral" RANGE="60." RC="gain_1_up" TYPE="int16"/>
<setting VAR="ir_roll_neutral" RANGE="-60." RC="gain_2_up" TYPE="int16"/>
</mode>
</rc_control>
<waypoints utm_x0="360284.8" utm_y0="4813595.5">
<waypoint name="HOME" x="0.0" y="30.0" lat="43.4625000078" lon="1.27288231142" alt="250."/>
<waypoint name="HOME" x="0.0" y="120.0" alt="250."/>
</waypoints>
<blocks>
<block NAME="home">
<exception COND="(RcEvent1())" DEROUTE="c50"/>
<circle wp="HOME" alt="GROUND_ALT+50" radius="75"/>
<circle wp="HOME" alt="GROUND_ALT+50" radius="-75"/>
</block>
<block NAME="c50">
<exception COND="(RcEvent1())" DEROUTE="c40"/>
<exception COND="(RcEvent2())" DEROUTE="home"/>
<circle wp="HOME" alt="GROUND_ALT+50" radius="50"/>
<circle wp="HOME" alt="GROUND_ALT+50" radius="-50"/>
</block>
<block NAME="c40">
<exception COND="(RcEvent1())" DEROUTE="c30"/>
<exception COND="(RcEvent2())" DEROUTE="home"/>
<circle wp="HOME" alt="GROUND_ALT+50" radius="40"/>
<circle wp="HOME" alt="GROUND_ALT+50" radius="-40"/>
</block>
<block NAME="c30">
<exception COND="(RcEvent1())" DEROUTE="c20"/>
<circle wp="HOME" alt="GROUND_ALT+30" radius="-30"/>
</block>
<block NAME="c20">
<exception COND="(RcEvent1())" DEROUTE="home"/>
<circle wp="HOME" alt="GROUND_ALT+50" radius="30"/>
<circle wp="HOME" alt="GROUND_ALT+25" radius="-20"/>
</block>
</blocks>
</flight_plan>
conf/flight_plans/zigzag.xml
+1
View File
@@ -35,6 +35,7 @@
<block NAME="back">
<exception COND="(RcEvent1())" DEROUTE="takeoff"/>
<exception COND="(RcEvent2())" DEROUTE="target"/>
<go wp="LANDING" alt="GROUND_ALT"/>
<deroute block="end"/>
</block>
sw/airborne/autopilot/estimator.c
+1 -5
View File
@@ -142,8 +142,6 @@ void estimator_update_state_3DMG( void ) {
#else //NO_IMU
float ir_roll_neutral = RadOfDeg(IR_ROLL_NEUTRAL_DEFAULT);
/** Initialized to \a IR_PITCH_NEUTRAL_DEFAULT.
* Changed with @@@@@ EST-CE QUE CA CHANGE @@@@@ */
float ir_pitch_neutral = RadOfDeg(IR_PITCH_NEUTRAL_DEFAULT);
void estimator_update_state_infrared( void ) {
@@ -193,9 +191,7 @@ void estimator_update_state_infrared( void ) {
#endif
float rad_of_ir_roll = rad_of_ir * ir_roll;
estimator_phi = rad_of_ir * ir_roll -ir_roll_neutral;
estimator_phi = rad_of_ir * ir_roll - ir_roll_neutral;
#if defined IR_RELIEF_CORRECTION
sw/airborne/fly_by_wire/servo.c
+34 -1
View File
@@ -119,6 +119,11 @@ servo_init( void )
* Configure output compare to toggle the output bits.
*/
TCCR1A |= _BV(SERVO_COM0 );
#ifdef SERVOS_FALLING_EDGE
/** Starts CLOCK high for the falling edge case */
TCCR1A |= _BV(SERVO_FORCE);
#endif
/* Clear the interrupt flags in case they are set */
TIFR = _BV(SERVO_FLAG);
@@ -143,6 +148,33 @@ SIGNAL( SIG_OUTPUT_COMPARE1A )
static uint8_t servo = 0;
uint16_t width;
#ifdef SERVOS_FALLING_EDGE
#define RESET_WIDTH (CLOCK*1000)
#define FIRST_PULSE_WIDTH (CLOCK*100)
/** The clock pin has been initialized high and is toggled down by
the timer.
Unfortunately it seems that reset does not work on 4017 in this case if it
occurs after the first falling edge. We add two more states at the end of
the sequence:
- keeping clock low, reset high during 1ms
- clock high (toggled by the timer), reset down, during 100us (looks like
the first pulse of a standard RC */
if (servo == _4017_NB_CHANNELS) {
sbi( _4017_RESET_PORT, _4017_RESET_PIN );
/** Start a long 1ms reset, keep clock low */
SERVO_OCR += RESET_WIDTH;
servo++;
return;
}
if (servo > _4017_NB_CHANNELS) {
/** Clear the reset, the clock has been toggled high */
cbi( _4017_RESET_PORT, _4017_RESET_PIN );
/** Starts a short pulse-like period */
SERVO_OCR += FIRST_PULSE_WIDTH;
servo=0; /** Starts a new sequence next time */
return;
}
#else
if (servo >= _4017_NB_CHANNELS) {
sbi( _4017_RESET_PORT, _4017_RESET_PIN );
servo = 0;
@@ -150,7 +182,7 @@ SIGNAL( SIG_OUTPUT_COMPARE1A )
// asm( "nop; nop; nop; nop;nop; nop; nop; nop;nop; nop; nop; nop;nop; nop; nop; nop;" );
cbi( _4017_RESET_PORT, _4017_RESET_PIN );
}
#endif
width = servo_widths[servo];
SERVO_OCR += width;
@@ -160,6 +192,7 @@ SIGNAL( SIG_OUTPUT_COMPARE1A )
servo++;
}
void servo_set_one(uint8_t servo, uint16_t value_us) {
servo_widths[servo] = ChopServo(CLOCK*value_us);
}
sw/ground_segment/tmtc/receive.ml
+1 -1
View File
@@ -432,7 +432,7 @@ let send_wind = fun a ->
let vs =
["ac_id", Pprz.String id;
"dir", Pprz.Float wind_cap_deg;
"speed", Pprz.Float wind_polar;
"wspeed", Pprz.Float wind_polar;
"mean_aspeed", Pprz.Float mean;
"stddev", Pprz.Float stddev] in
Ground_Pprz.message_send my_id "WIND" vs
sw/tools/gen_airframe.ml
+2 -1
View File
@@ -116,7 +116,8 @@ let parse_section = fun s ->
and max = get_float "max" in
let servos = Xml.children s in
define "NB_SERVO" (string_of_int (List.length servos));
let nb_servos = List.fold_right (fun s m -> Pervasives.max (int_of_string (ExtXml.attrib s "no")) m) servos min_int in
define "LAST_SERVO_CHANNEL" (string_of_int nb_servos);
nl ();
let servos_params = Array.create nb_servo_4017 { min = min; neutral = neutral; max = max } in