mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-23 13:24:03 +08:00
Toying with various settings
This commit is contained in:
Developer
@@ -39,7 +39,7 @@ NOTES:
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<configure name="CPU_LED" value="1"/>
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<module name="imu" type="mpu9250_spi">
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<define name="USE_ADC_2"/>
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<!-- <define name="USE_ADC_2"/>-->
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<configure name="IMU_MPU9250_SPI_DEV" value="spi1"/>
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<configure name="IMU_MPU9250_SPI_SLAVE_IDX" value="SPI_SLAVE2"/>
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<define name="IMU_MPU9250_READ_MAG" value="FALSE"/>
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@@ -94,6 +94,7 @@ NOTES:
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<!-- <module name="ahrs" type="int_cmpl_quat">
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<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN"/>
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<define name="USE_MAGNETOMETER" value="TRUE"/>
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<define name="USE_MAGNETOMETER_ONGROUND" value="FALSE"/>
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</module>-->
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<!--<module name="uart"/>--><!-- TODO Exteral HITL PC debugging e.g a photocam trigger etc -->
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</target>
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@@ -155,7 +156,8 @@ NOTES:
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<define name="AHRS_ICQ_MAG_ID" value="MAG_HMC58XX_SENDER_ID" /> <!-- Meaning the external hmc-->
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<configure name="USE_MAGNETOMETER" value="FALSE"/> <!-- First autoflight set to false better make sure it works and is callibrated if set to TRUE >;-)-->
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<define name="AHRS_USE_GPS_HEADING" value="TRUE"/> <!-- FALSE thus data from magneto only, testing, brrrr -->
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<!--<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN"/> --><!-- value="TRUE"/> -->
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<!-- <define name="USE_MAGNETOMETER_ONGROUND" value="FALSE"/> -->
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<!--<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" value="TRUE"/> -->
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</module>
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<module name="ins" type="alt_float"/>
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@@ -184,8 +186,9 @@ NOTES:
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</firmware> -->
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<!-- To test various things for the new board -->
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<!--
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<firmware name="test_progs">
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<!--
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<target name="test_module" board="px4fmu_4.0">
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<module name="usb_serial_stm32_example1"/>
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</target>
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@@ -207,15 +210,16 @@ NOTES:
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<configure name="IMU_MPU9250_SPI_SLAVE_IDX" value="SPI_SLAVE2"/>
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</module>
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<configure name="PERIODIC_FREQUENCY" value="120"/>
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</target>
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</target>
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<target name="test_actuators_pwm_sin" board="px4fmu_4.0">
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</target>
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<target name="test_baro_board" board="px4fmu_4.0">
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<configure name="BARO_LED" value="2"/>
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</target>
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-->
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<target name="test_adc" board="px4fmu_4.0"/>
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<!--
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<target name="test_uart" board="px4fmu_4.0">
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<define name="USE_UART1"/>
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<define name="UART1_BAUD" value="B57600"/>
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@@ -239,7 +243,8 @@ NOTES:
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<!-- <target name="test_actuators_pwm" board="px4fmu_4.0">-->
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<!-- <define name="SERVO_HZ" value="40"/> -->
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<!-- </target>-->
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<!--</firmware>-->
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</firmware>
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<!-- ************************* MODULES ************************* -->
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<modules>
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@@ -268,17 +273,19 @@ NOTES:
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<configure name="AIRSPEED_ETS_I2C_DEV" value="i2c1"/>
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</module>
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<module name="current_sensor">
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<!-- <module name="current_sensor">
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<define name="USE_ADC_3"/>
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<configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
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<!-- <define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.3"/>--><!-- TODO determine -->
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</module>
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<configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>-->
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<!-- <define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.3"/>--><!-- TODO determine -->
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<!-- </module>-->
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<!-- <module name="adc_generic">
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<configure name="ADC_CHANNEL_GENERIC1" value="ADC_2"/>
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<configure name="ADC_CHANNEL_GENERIC2" value="ADC_3"/>
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</module> -->
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<!-- <module name="adc_generic">-->
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<!-- SONar -->
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<!-- Sonar -->
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<!-- <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>-->
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<!--<configure name="ADC_SONAR" value="ADC_1"/>-->
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<!-- RPM measuring sensor -->
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@@ -392,32 +399,44 @@ NOTES:
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<!-- ************************* SENSORS ************************* -->
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<section name="IMU" prefix="IMU_"> <!-- TODO -->
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<!-- ***************** MAGNETO *****************-->
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<!-- replace this with your own calibration (on the correct sensor?) -->
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<define name="MAG_X_NEUTRAL" value="-179"/>
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<define name="MAG_Y_NEUTRAL" value="-21"/>
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<define name="MAG_Z_NEUTRAL" value="79"/>
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<!-- TODO: Calibrate,
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<!-- RE-CALIBRATE after your aircraft changes e.g. cabeling or something else !-->
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<define name="MAG_X_NEUTRAL" value="0"/>
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<define name="MAG_Y_NEUTRAL" value="0"/>
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<define name="MAG_Z_NEUTRAL" value="0"/>
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<define name="MAG_X_SENS" value="4.17334785618" integer="16"/>
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<define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
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<define name="MAG_Z_SENS" value="4.40442339014" integer="16"/>
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<define name="BODY_TO_IMU_PHI" value="0"/>
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<define name="BODY_TO_IMU_THETA" value="0"/>
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<define name="BODY_TO_IMU_PSI" value="0"/>
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<define name="BODY_TO_IMU_PHI" value="0.0"/>
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<define name="BODY_TO_IMU_THETA" value="0.0"/>
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<define name="BODY_TO_IMU_PSI" value="0.0"/>
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</section>
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<section name="AHRS" prefix="AHRS_">
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<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
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<!-- NL -->
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<define name="H_X" value="0.3892503" />
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<define name="H_Y" value="0.0017972" />
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<define name="H_Z" value="0.9211303" />
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<!--TODO: start using geo_mag module, else replace the values with your local magnetic field -->
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<!-- Local Magnetic field NL Testfield-->
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<!--
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<define name="H_X" value="0.382478"/>
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<define name="H_Y" value="0.00563406"/>
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<define name="H_Z" value="0.923948"/>
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-->
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<!-- Local Magnetic field DE Testfield -->
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<define name="H_X" value="0.51562740288882"/>
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<define name="H_Y" value="-0.05707735220832"/>
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<define name="H_Z" value="0.85490967783446"/>
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<!-- Some insights https://lists.nongnu.org/archive/html/paparazzi-devel/2013-10/msg00126.html -->
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<!-- <define name="GRAVITY_HEURISTIC_FACTOR" value="2"/>--><!-- TODO test and determine best val for heavy vibrating airfame -->
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</section>
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<section name="INS" prefix="INS_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="0.0" unit="deg"/><!-- TODO: Determine when fixed in final -->
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<define name="PITCH_NEUTRAL_DEFAULT" value="0.0" unit="deg"/><!-- TODO: Determine when fixed in final -->
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<define name="ROLL_NEUTRAL_DEFAULT" value="0.0" unit="deg"/><!-- TODO: Determine when mechanical in final fixed position in airframe -->
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<define name="PITCH_NEUTRAL_DEFAULT" value="0.0" unit="deg"/><!-- TODO: Determine when mechanical in final fixed position in airframe -->
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</section>
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<!-- TODO: Set correct values for Maxbotix LV1 (Model 1010) -->
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@@ -431,9 +450,23 @@ NOTES:
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<!-- ************************* GAINS ************************* -->
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="0.80"/>
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<define name="COURSE_DGAIN" value="0.20"/>
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<define name="COURSE_PRE_BANK_CORRECTION" value="1.0"/>
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<!-- TODO: Tune value -->
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<define name="COURSE_PGAIN" value="0.80"/>
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<define name="COURSE_DGAIN" value="0.10"/>
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<!--
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The prebank is an adjustment to the roll setting which is performed when the aircraft is
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trying to do a circle and when it is close to the circumference of the circle. This way
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it does not fly straight into the circumference but instead it starts to make a roll as
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the one needed to fly in circles.
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There is a value in the airframe file COURSE_PRE_BANK_CORRECTION which can be used to
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increase o decrease the effect. If set to 1 then the normal prebank is done.
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If set to 0.5 then half of the additional roll is done. This causes the aircraft to not roll
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enough in order to fly the intended circle and it ends up flying in a larger circle.
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A value > 1 makes it fly a smaller circle.
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https://github.com/paparazzi/paparazzi/blob/master/sw/airborne/modules/nav.c#L132
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-->
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<define name="COURSE_PRE_BANK_CORRECTION" value="0.8"/>
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<define name="ROLL_MAX_SETPOINT" value="45" unit="deg"/><!-- Determine best val without scaring the sh*t out of us-->
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<define name="PITCH_MAX_SETPOINT" value="50" unit="deg"/><!-- Determine best val without scaring the sh*t out of us-->
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<define name="PITCH_MIN_SETPOINT" value="-50" unit="deg"/><!-- Determine best val without scaring the sh*t out of us-->
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@@ -471,7 +504,12 @@ NOTES:
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<define name="AUTO_PITCH_OF_AIRSPEED_PGAIN" value="0.0"/>
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<define name="AUTO_PITCH_OF_AIRSPEED_IGAIN" value="0.0"/>
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<define name="AUTO_PITCH_OF_AIRSPEED_DGAIN" value="0.0"/>
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<define name="THROTTLE_SLEW_LIMITER" value="1" unit="m/s/s"/>
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<define name="THROTTLE_SLEW_LIMITER" value="0.7" unit="m/s/s"/>
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<!--
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<define name="AUTO_GROUNDSPEED_SETPOINT" value="16." unit="m/s"/>
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<define name="AUTO_GROUNDSPEED_PGAIN" value="0.7"/>
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<define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
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-->
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</section>
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<!-- ************************ AUTO RC COMMANDS ***************************** -->
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@@ -492,15 +530,19 @@ NOTES:
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<!-- hint TODO Fix <define name="MilliAmpereOfAdc(adc)" value="((float)adc) * (3.3f / 4096.0f) * (90.0f / 5.0f)" />-->
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<!-- 100Amp = 2Volt -> 2482,42 tick/100Amp"(0.0402832*adc)" -->
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<!-- A simple powerblock module from CN -->
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<!-- <define name="VoltageOfAdc(adc)" value="10"/> --><!-- Quick send data test -->
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<!-- <define name="VoltageOfAdc(adc)" value="11.8"/>--> <!-- Quick send data test -->
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<!-- <define name="VoltageOfAdc(adc)" value="24 - (0.004043478f * adc)"/>-->
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<define name="VoltageOfAdc(adc)" value="12-((float)adc * 0.003f )"/>
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/> <!-- TODO unknown value, measure, now used as avarage value if no current sensor is attatched-->
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<!-- <define name="VOLTAGE_ADC_SCALE" value="0.004511719f"/> --><!-- war 0.018 0.008 R1 (Bat - ADC input) = 22k, R2 (ADC input - GND) = 2.2K--->
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<!-- <define name="VOLTAGE_OFFSET" value="0" unit="V"/>
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<define name="VoltageOfAdc(adc)" value="((float)adc * VOLTAGE_ADC_SCALE + VOLTAGE_OFFSET)"/>
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<define name="DefaultVoltageOfAdc(adc)" value="(0.00384*adc)"/>-->
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<!-- <define name="VoltageOfAdc(adc)" value="((float)adc * 0.0001f )"/>-->
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="30000"/> <!-- TODO unknown value, measure, now used as avarage value if no current sensor is attatched-->
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<define name="MAX_BAT_LEVEL" value="12.6" unit="V"/><!-- 3S lipo 3x4.2 = 12.6 -->
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<define name="LOW_BAT_LEVEL" value="10.8" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="10.2" unit="V"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<!-- <define name="MIN_BAT_LEVEL" value="9.0" unit="V"/>--><!-- Get rid if this one .. -->
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<define name="MIN_BAT_LEVEL" value="9.0" unit="V"/><!-- Get rid if this one .. -->
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</section>
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<!-- ************************* MISC ************************* -->
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@@ -554,6 +596,16 @@ NOTES:
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<section name="GCS">
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<define name="SPEECH_NAME" value="Tee 28"/>
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<define name="AC_ICON" value="fixedwing"/> <!-- Just to make sure ;) -->
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<define name="ALT_SHIFT_PLUS_PLUS" value="50"/>
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<define name="ALT_SHIFT_PLUS" value="10"/>
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<define name="ALT_SHIFT_MINUS" value="-10"/>
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</section>
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<section name="SIMU">
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<define name="WEIGHT" value ="1."/>
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<define name="YAW_RESPONSE_FACTOR" value =".9"/> <!--default 1.-->
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<define name="PITCH_RESPONSE_FACTOR" value ="1."/> <!--default 1.-->
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<define name="ROLL_RESPONSE_FACTOR" value ="15."/> <!--default 15-->
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</section>
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</airframe>
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@@ -57,3 +57,9 @@ GPS_BAUD ?= B38400
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# e.g. <servo driver="Ppm">
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#
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ACTUATORS ?= actuators_pwm
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#
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# default External Current and Volt Sensor configuration
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#
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# ADC_CURRENT_SENSOR ?= ADC_3
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# ADC_VOLTAGE_SENSOR ?= ADC_2
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@@ -3,6 +3,7 @@
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<telemetry>
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<process name="Ap">
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<mode name="default">
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<message name="ADC_GENERIC" period="0.25"/>
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<message name="AIRSPEED" period="1"/>
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<message name="ALIVE" period="5.1"/>
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<message name="GPS" period="0.25"/>
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@@ -18,7 +18,7 @@
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/rotorcraft_basic.xml"
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settings="settings/rotorcraft_basic.xml settings/superbitrf.xml settings/nps.xml"
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settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml"
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settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/radio_control_superbitrf_rc.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml"
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gui_color="#fffffe72b9fd"
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/>
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<aircraft
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@@ -9,6 +9,9 @@
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#define EXT_CLK 24000000 //OK
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#define AHB_CLK 168000000 //OK
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//#define STM32F4 //to debug ADC on F4 does no work
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//#define ADC_SAMPLE_TIME ADC_SMPR_SMP_56CYC //to debug ADC on F4 does no work
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/* On PCB Multicolor LED */
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/* Red */
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//OK
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@@ -110,7 +113,7 @@
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#define RADIO_CONTROL_POWER_ON gpio_clear // yes, inverted
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#define RADIO_CONTROL_POWER_OFF gpio_set
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//A sat
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#define PERIPHERAL3V3_ENABLE_PORT GPIOC //VDD_3V3_PERIPHERAL_EN
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#define PERIPHERAL3V3_ENABLE_PIN GPIO5
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#define PERIPHERAL3V3_ENABLE_ON gpio_set
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@@ -218,11 +221,11 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
|
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#endif
|
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#define USE_AD_TIM3 1
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// Internal ADC for battery
|
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// Internal ADC for voltage level measurement
|
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#ifndef USE_ADC_1
|
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#define USE_ADC_1 1
|
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#endif
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||||
#if USE_ADC_1
|
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#define AD1_1_CHANNEL 4 //ADC12_IN4
|
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#define ADC_1 AD1_1
|
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@@ -230,10 +233,11 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
|
||||
#define ADC_1_GPIO_PIN GPIO4
|
||||
#endif
|
||||
|
||||
// External ADC for battery
|
||||
// Sense voltage level via external sensor on ADC
|
||||
#ifndef USE_ADC_2
|
||||
#define USE_ADC_2 1
|
||||
#endif
|
||||
|
||||
#if USE_ADC_2
|
||||
#define AD1_2_CHANNEL 2 // ADC123_IN2 (--> IN2 corresponds to channel 2)
|
||||
#define ADC_2 AD1_2 // ADC123 means it can be used by ADC 1 and 2 and 3 (the f4 supports 3 adc's), does not matter which. Each ADC can address 4 pins, so in this case we are using ADC 1, on its second pin.
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||||
@@ -241,11 +245,11 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
|
||||
#define ADC_2_GPIO_PIN GPIO2
|
||||
#endif
|
||||
|
||||
|
||||
// external current sens
|
||||
// Sense current via external sensor on ADC
|
||||
#ifndef USE_ADC_3
|
||||
#define USE_ADC_3 1
|
||||
#endif
|
||||
|
||||
#if USE_ADC_3
|
||||
#define AD1_3_CHANNEL 3 // ADC123_IN3
|
||||
#define ADC_3 AD1_3
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||||
@@ -255,27 +259,33 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
|
||||
#define MilliAmpereOfAdc(adc)((float)adc) * (3.3f / 4096.0f) * (90.0f / 5.0f)
|
||||
|
||||
/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
|
||||
#ifndef ADC_CHANNEL_VSUPPLY
|
||||
#define ADC_CHANNEL_VSUPPLY ADC_2
|
||||
#endif
|
||||
//#ifndef ADC_CHANNEL_VSUPPLY
|
||||
#define ADC_CHANNEL_VSUPPLY ADC_1
|
||||
//#endif
|
||||
|
||||
#if USE_ADC_2
|
||||
#define DefaultVoltageOfAdc(adc) ((float(adc) * (0.012660247f))// (0.00827*adc) //0,012660247
|
||||
#else
|
||||
#define DefaultVoltageOfAdc(adc) (0.003214815 * adc) // scale internal vdd to 5V
|
||||
#endif
|
||||
|
||||
//??FT = Five-volt tolerant. In order to sustain a voltage higher than VDD+0.3 the internal pull-up/pull-down resistors must be disabled.
|
||||
//#define DefaultVoltageOfAdc(adc) (0.0045*adc)
|
||||
|
||||
//Set stock values
|
||||
//#if USE_ADC_2
|
||||
//#define DefaultVoltageOfAdc(adc) (0.0005f * (float)adc)//FIXME: Value...
|
||||
//#else
|
||||
#define DefaultVoltageOfAdc(adc) (0.004 * adc) // scale internal vdd to 5V
|
||||
//#endif
|
||||
|
||||
/* I2C mapping */
|
||||
#define I2C1_GPIO_PORT GPIOB
|
||||
#define I2C1_GPIO_SCL GPIO8
|
||||
#define I2C1_GPIO_SDA GPIO9
|
||||
|
||||
//Onboard Barometer
|
||||
#ifndef USE_BARO_BOARD
|
||||
#define USE_BARO_BOARD 1
|
||||
#endif
|
||||
|
||||
/* Another Magnetometer on board a HMC5983 not the one in the IMU 9250*/
|
||||
//TODO
|
||||
//TODO:
|
||||
#ifndef USE_MAGNETOMETER_B
|
||||
#define USE_MAGNETOMETER_B 0
|
||||
#endif
|
||||
@@ -349,7 +359,7 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
|
||||
#define PWM_SERVO_4_OC_BIT 0
|
||||
#endif
|
||||
|
||||
/* -ESC Servo 5 */
|
||||
/* -ESC or Servo 5 */
|
||||
#if USE_PWM5
|
||||
#define PWM_SERVO_5 4
|
||||
#define PWM_SERVO_5_TIMER TIM4
|
||||
@@ -362,7 +372,7 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
|
||||
#define PWM_SERVO_5_OC_BIT 0
|
||||
#endif
|
||||
|
||||
/* -ESC Servo 6 */
|
||||
/* -ESC or Servo 6 */
|
||||
#if USE_PWM6
|
||||
#define PWM_SERVO_6 5
|
||||
#define PWM_SERVO_6_TIMER TIM4
|
||||
@@ -379,7 +389,6 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
|
||||
#define PWM_TIM4_CHAN_MASK (PWM_SERVO_5_OC_BIT|PWM_SERVO_6_OC_BIT)
|
||||
|
||||
/* Buzzer (A.k.a. Alarm) */
|
||||
|
||||
#if USE_BUZZER
|
||||
#define PWM_BUZZER
|
||||
#define PWM_BUZZER_TIMER TIM2
|
||||
@@ -393,6 +402,4 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
|
||||
#define PWM_BUZZER_OC_BIT 0
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
#endif /* CONFIG_PX4FMU_4_0_H */
|
||||
|
||||
Reference in New Issue
Block a user