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Pascal Brisset
2006-10-21 06:19:17 +00:00
parent a46ad658b1
commit ec1ddbf1a9
4 changed files with 150 additions and 131 deletions
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conf/airframes/microjet7.xml
+8 -3
View File
@@ -110,7 +110,11 @@
<define name="ALTITUDE_MAX_CLIMB" value="2."/> <define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop --> <!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_CRUISE_THROTTLE" value="0.40"/> <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.40"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/> <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_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/> <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
@@ -133,6 +137,7 @@
<define name="ROLL_PGAIN" value="5000."/> <define name="ROLL_PGAIN" value="5000."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/> <define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-8000."/> <define name="PITCH_PGAIN" value="-8000."/>
<define name="PITCH_DGAIN" value="0."/>
<define name="ELEVATOR_OF_ROLL" value="1250"/> <define name="ELEVATOR_OF_ROLL" value="1250"/>
<!-- roll rate loop --> <!-- roll rate loop -->
@@ -220,7 +225,7 @@ ap.srcs += gps_ubx.c gps.c
ap.CFLAGS += -DINFRARED ap.CFLAGS += -DINFRARED
ap.srcs += infrared.c estimator.c ap.srcs += infrared.c estimator.c
ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
@@ -236,7 +241,7 @@ ap.srcs += bomb.c
# Config for SITL simulation # Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM
sim.srcs += bomb.c sim.srcs += bomb.c
conf/airframes/slayer1.xml
+110 -105
View File
@@ -1,26 +1,26 @@
<airframe name="ENAC 1 Ball Dropper"> <airframe name="Miraterre Test AC">
<!-- tiny v1.1 --> <!-- tiny airframe -->
<!-- commands section --> <!-- commands section -->
<servos> <servos>
<servo name="AILEVON_RIGHT" no="0" min="1000" neutral="1500" max="2000"/> <servo name="AILEVON_RIGHT" no="1" min="1000" neutral="1500" max="2000"/>
<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1500" max="1000"/> <servo name="AILEVON_LEFT" no="0" min="2000" neutral="1500" max="1000"/>
<servo name="GAZ" no="2" min="1250" neutral="1262" max="1850"/> <servo name="GAZ" no="2" min="1250" neutral="1250" max="1850"/>
<servo name="PAYLOAD" no="3" max="1000" neutral="2000" min="2000"/> <servo name="HATCH" no="3" min="1000" neutral="2000" max="2000"/>
</servos> </servos>
<commands> <commands>
<axis name="THROTTLE" failsafe_value="0"/> <axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/> <axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/> <axis name="PITCH" failsafe_value="0"/>
<axis name="PAYLOAD" failsafe_value="0"/> <axis name="HATCH" failsafe_value="0"/>
</commands> </commands>
<rc_commands> <rc_commands>
<set command="THROTTLE" value="@THROTTLE"/> <set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/> <set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/> <set command="PITCH" value="@PITCH"/>
<set command="PAYLOAD" value="@YAW"/> <set command="HATCH" value="@LLS"/>
</rc_commands> </rc_commands>
<section name="MIXER"> <section name="MIXER">
@@ -32,9 +32,9 @@
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/> <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/> <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="GAZ" value="@THROTTLE"/> <set servo="GAZ" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="-$elevator + $aileron"/> <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="-$elevator - $aileron"/> <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
<set servo="PAYLOAD" value="@PAYLOAD"/> <set servo="HATCH" value="@HATCH"/>
</command_laws> </command_laws>
<section name="AUTO1" prefix="AUTO1_"> <section name="AUTO1" prefix="AUTO1_">
@@ -65,134 +65,123 @@
<define name="ADC_ROLL_NEUTRAL" value="507"/> <define name="ADC_ROLL_NEUTRAL" value="507"/>
<define name="ADC_PITCH_NEUTRAL" value="-16"/> <define name="ADC_PITCH_NEUTRAL" value="-16"/>
<define name="ADC_TOP_NEUTRAL" value="488"/> <define name="ADC_TOP_NEUTRAL" value="488"/>
<define name="CORRECTION_UP" value="1.6"/>
<define name="CORRECTION_DOWN" value="1.4"/>
<define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/>
<define name="ESTIMATED_PHI_PI_4" value="M_PI_4"/>
<define name="ALLOW_INVERTED" value="1"/> <define name="ALLOW_INVERTED" value="1"/>
<define name="CORRECTION_RIGHT" value="1.3"/>
<define name="CORRECTION_LEFT" value="1.3"/>
<define name="CORRECTION_UP" value="1.6"/>
<define name="CORRECTION_DOWN" value="1.4"/>
</section> </section>
<section name="GYRO" prefix="GYRO_"> <section name="GYRO" prefix="GYRO_">
<define name="ADC_ROLL_NEUTRAL" value="464"/><!--459--> <define name="ADC_ROLL_NEUTRAL" value="470"/>
<define name="ADC_PITCH_NEUTRAL" value="471"/> <define name="ADC_PITCH_NEUTRAL" value="471"/>
<define name="ADC_TEMP_NEUTRAL" value="802"/>
<define name="ADC_TEMP_SLOPE" value="-0.0"/>
<define name="ROLL_SCALE" value="1.3846"/> <define name="ROLL_SCALE" value="1.3846"/>
<define name="ROLL_DIRECTION" value="1."/> <define name="ROLL_DIRECTION" value="1."/>
<define name="PITCH_SCALE" value="1.3846"/> <define name="PITCH_SCALE" value="1.3846"/>
<define name="PITCH_DIRECTION" value="1."/> <define name="PITCH_DIRECTION" value="1."/>
</section> </section>
<section name="BAT"> <section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/> <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<!-- <define name="VOLTAGE_ADC_A" value="0.0175"/>
<define name="VOLTAGE_ADC_B" value="0.525"/>
-->
<!-- <define name="VOLTAGE_ADC_A" value="0.01818"/>
<define name="VOLTAGE_ADC_B" value="-0.09"/>
<define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>-->
<define name="LOW_BATTERY" value="9.3" unit="V"/> <define name="LOW_BATTERY" value="9.3" unit="V"/>
</section> </section>
<section name="MISC"> <section name="MISC">
<define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/> <define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
<define name="CARROT" value="3." unit="s"/> <define name="CARROT" value="3." unit="s"/>
<define name="CONTROL_RATE" value="60"/> <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="KILL_MODE_DISTANCE" value="1.5*MAX_DIST_FROM_HOME"/> <define name="CONTROL_RATE" value="60" unit="Hz"/>
<!-- <define name="TELEMETRY_MODE_FBW" value="1"/>--> <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
<define name="Z_CONTRAST_DEFAULT" value="1"/>
</section> </section>
<section name="PID"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.065"/>
<!-- outer loop saturation -->
<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_MIN_CRUISE_THROTTLE" value=".4"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2500"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.008"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.25"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.35"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.1"/>
<define name="AUTO_PITCH_IGAIN" value="0.025"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.5"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.5"/>
<define name="THROTTLE_SLEW" value="0.05"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.88"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
<define name="ROLL_MAX_SETPOINT" value="0.73" unit="radians"/>
<define name="ROLL_PGAIN" value="10000."/> <define name="ROLL_PGAIN" value="10000."/>
<define name="PITCH_OF_ROLL" value="0.0"/> <define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="6000."/> <define name="PITCH_PGAIN" value="-6000."/>
<define name="MAX_ROLL" value="0.73"/> <define name="PITCH_DGAIN" value="0."/>
<define name="MAX_PITCH" value="0.5"/> <define name="ELEVATOR_OF_ROLL" value="0"/>
<define name="MIN_PITCH" value="-0.5"/>
<define name="LOITER_PITCH" value="0.0"/>
<define name="DASH_PITCH" value="-0.0"/>
<define name="LOITER_TRIM" value="1000"/>
<define name="DASH_TRIM" value="-2500"/>
<define name="AILERON_OF_GAZ" value="0.0"/>
<define name="CRUISE_THROTTLE" value="0.65"/>
<define name="CLIMB_AUTO_PITCH_PGAIN" value="-0.1"/>
<define name="CLIMB_AUTO_PITCH_IGAIN" value="0.025"/>
<define name="CLIMB_AUTO_THROTTLE_PGAIN" value="-0.008"/>
<define name="CLIMB_AUTO_THROTTLE_IGAIN" value="0.25"/>
<define name="CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
</section>
<!-- roll rate loop -->
<define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
<define name="ROLL_RATE_SETPOINT_PGAIN" value="-5.5"/>
<define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
<define name="ROLL_RATE_PGAIN" value="1000."/>
<define name="ROLL_RATE_IGAIN" value="0."/>
<define name="ROLL_RATE_DGAIN" value="0."/>
<define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
<section name="ALT" prefix="CLIMB_">
<define name="MAX" value="3."/>
<define name="PITCH_OF_VZ_PGAIN" value="0.35"/>
<define name="MAX_DIFF_GAZ" value="0.05" unit="%"/>
</section>
<section name="THR">
<define name="DASH_THR" value="1.0"/>
<define name="LOITER_THR" value=".40"/>
</section> </section>
<section name="NAV"> <section name="NAV">
<define name="COURSE_PGAIN" value="-0.6"/>
<define name="COURSE_IGAIN" value="0.0"/>
<define name="ALTITUDE_PGAIN" value="-0.065"/>
<define name="NAV_PITCH" value="0."/> <define name="NAV_PITCH" value="0."/>
<define name="PRE_BANK_COEFF" value="0.9"/>
</section> </section>
<section name="SIMU">
<define name="ROLL_RESPONSE_FACTOR" value="2."/>
<define name="YAW_RESPONSE_FACTOR" value="1.35"/>
<define name="WEIGHT" value="1.3"/>
</section>
<section name="AGGRESSIVE" prefix="AGR_"> <section name="AGGRESSIVE" prefix="AGR_">
<define name="CLIMB_GAZ" value="1.0"/><!-- Gaz for Aggressive Climb -->
<define name="DESCENT_GAZ" value="0.1"/><!-- Gaz for Aggressive Decent -->
<define name="CLIMB_PITCH" value="0.42"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_PITCH" value="-0.5"/><!-- Pitch for Aggressive Decent -->
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!--> <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!--> <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_THROTTLE" value="1."/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.42"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.5"/><!-- Pitch for Aggressive Decent -->
<define name="CLIMB_NAV_RATIO" value="0.5"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude --> <define name="CLIMB_NAV_RATIO" value="0.5"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
<define name="DESCENT_NAV_RATIO" value="1.0"/> <define name="DESCENT_NAV_RATIO" value="1.0"/>
</section> </section>
<section name="GYRO">
<define name="GYRO_MAX_RATE" value="500."/>
<define name="ROLLRATESUM_NB_SAMPLES" value="60"/>
<define name="ALT_ROLL_PGAIN" value="5.5"/>
<define name="ROLL_RATE_PGAIN" value="860.0"/>
<define name="ROLL_RATE_IGAIN" value="0.0"/>
<define name="ROLL_RATE_DGAIN" value="0.0"/>
<define name="CONFIDENCE_COEFF" value="34.0"/>
<define name="J_FILTER" value="0"/>
</section>
<section name="FAILSAFE" prefix="FAILSAFE_"> <section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/> <define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
<define name="DEFAULT_GAZ" value="0.0" unit="%"/> <define name="DEFAULT_GAZ" value="0." unit="%"/>
<define name="DEFAULT_ROLL" value="0.6" unit="rad"/> <define name="DEFAULT_ROLL" value="0.6" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/> <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/> <define name="HOME_RADIUS" value="100" unit="m"/>
</section> </section>
<!-- <section name="DATALINK" prefix="DATALINK_">
<section name="DATALINK" prefix="DATALINK_"> <define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_TYPE" value="AEROCOMM"/>
<define name="DEVICE_ADDRESS" value="...."/> <define name="DEVICE_ADDRESS" value="...."/>
</section> </section>
-->
<makefile> <makefile>
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1 ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
@@ -206,8 +195,12 @@ ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
ap.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/uart_hw.c datalink.c ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
#TRANSPARENT ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
ap.CFLAGS += -DINTER_MCU ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c ap.srcs += inter_mcu.c
@@ -215,35 +208,47 @@ ap.srcs += inter_mcu.c
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6 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.srcs += $(SRC_ARCH)/adc_hw.c
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200 ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
ap.srcs += gps_ubx.c gps.c ap.srcs += gps_ubx.c gps.c
ap.CFLAGS += -DINFRARED ap.CFLAGS += -DINFRARED
ap.srcs += infrared.c estimator.c ap.srcs += infrared.c estimator.c
ap.CFLAGS += -DNAV ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
ap.srcs += nav.c pid.c ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
ap.CFLAGS += -DGYRO -DIDG300 -DPID_RATE_LOOP
ap.srcs += gyro.c
ap.CFLAGS += -DGYRO -DIDG300
ap.srcs += gyro.c bomb.c
# Harware In The Loop # Harware In The Loop
#ap.CFLAGS += -DHITL #ap.CFLAGS += -DHITL
test.CFLAGS += -DFBW -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART0 -DUART0_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart0
test.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4015_hw.c main.c
#tunel.CFLAGS += -DFBW -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1 # Config for SITL simulation
tunnel.srcs += $(SRC_ARCH)/uart_tunnel.c
# config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM
# a test program to setup actuators
setup_actuators.ARCHDIR = $(ARCHI)
setup_actuators.ARCH = arm7tdmi
setup_actuators.TARGET = setup_actuators
setup_actuators.TARGETDIR = setup_actuators
setup_actuators.CFLAGS += -DFBW -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART0 -DUART0_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart0
setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4015_hw.c main.c
# a test program to tunnel between both uart
tunnel.ARCHDIR = $(ARCHI)
tunnel.ARCH = arm7tdmi
tunnel.TARGET = tunnel
tunnel.TARGETDIR = tunnel
tunnel.CFLAGS += -DFBW -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1
tunnel.srcs += $(SRC_ARCH)/uart_tunnel.c
</makefile> </makefile>
</airframe> </airframe>
conf/airframes/slayer3.xml
+10 -4
View File
@@ -12,6 +12,7 @@
<axis name="THROTTLE" failsafe_value="0"/> <axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/> <axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/> <axis name="PITCH" failsafe_value="0"/>
<axis name="HATCH" failsafe_value="0"/>
</commands> </commands>
<rc_commands> <rc_commands>
@@ -104,7 +105,11 @@
<define name="ALTITUDE_MAX_CLIMB" value="3."/> <define name="ALTITUDE_MAX_CLIMB" value="3."/>
<!-- auto throttle inner loop --> <!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_CRUISE_THROTTLE" value="0.65"/> <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.65"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".4"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2500"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.008"/> <define name="AUTO_THROTTLE_PGAIN" value="-0.008"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.25"/> <define name="AUTO_THROTTLE_IGAIN" value="0.25"/>
@@ -128,6 +133,7 @@
<define name="ROLL_PGAIN" value="10000."/> <define name="ROLL_PGAIN" value="10000."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/> <define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-6000."/> <define name="PITCH_PGAIN" value="-6000."/>
<define name="PITCH_DGAIN" value="0."/>
<define name="ELEVATOR_OF_ROLL" value="2000"/> <define name="ELEVATOR_OF_ROLL" value="2000"/>
<!-- roll rate loop --> <!-- roll rate loop -->
@@ -209,12 +215,12 @@ ap.srcs += gps_ubx.c gps.c
ap.CFLAGS += -DINFRARED ap.CFLAGS += -DINFRARED
ap.srcs += infrared.c estimator.c ap.srcs += infrared.c estimator.c
ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
ap.CFLAGS += -DGYRO -DADXRS150 ap.CFLAGS += -DGYRO -DADXRS150
ap.srcs += gyro.c ap.srcs += gyro.c bomb.c
# Harware In The Loop # Harware In The Loop
@@ -223,7 +229,7 @@ ap.srcs += gyro.c
# Config for SITL simulation # Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM
# a test program to setup actuators # a test program to setup actuators
conf/settings/tuning.xml
+4 -1
View File
@@ -34,6 +34,7 @@
<dl_settings NAME="attitude"> <dl_settings NAME="attitude">
<dl_setting MAX="15000" MIN="1000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain"/> <dl_setting MAX="15000" MIN="1000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain"/>
<dl_setting MAX="-1000" MIN="-15000" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain"/> <dl_setting MAX="-1000" MIN="-15000" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain"/>
<dl_setting MAX="2" MIN="0." STEP="0.1" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain"/>
<dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll"/> <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll"/>
<dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/> <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
</dl_settings> </dl_settings>
@@ -49,9 +50,11 @@
</dl_settings> </dl_settings>
<dl_settings name="auto_throttle"> <dl_settings name="auto_throttle">
<dl_setting MAX="0.7" MIN="0.3" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle"/> <dl_setting MAX="0.9" MIN="0.3" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle"/>
<dl_setting MAX="-0.01" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain"/> <dl_setting MAX="-0.01" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain"/>
<dl_setting MAX="1" MIN="0.05" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain"/> <dl_setting MAX="1" MIN="0.05" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain"/>
<dl_setting MAX="0" MIN="-3000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/>
<dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim"/>
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr"/> <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr"/>
</dl_settings> </dl_settings>