TUD Airframe

2026-05-21 11:55:41 +08:00 · 2011-05-11 16:34:38 +02:00
parent 1d8f7f5100
commit f05c19c231
2 changed files with 280 additions and 0 deletions
@@ -0,0 +1,226 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<!--
+	YAPA + XSens + XBee
+-->
+
+<airframe name="Yapa v1">
+
+  <servos>
+    <servo name="THROTTLE" no="0" min="1100" neutral="1100" max="1900"/>
+    <servo name="AILERON_LEFT" no="2" min="1100" neutral="1500" max="1900"/>
+    <servo name="AILERON_RIGHT" no="6" min="1100" neutral="1500" max="1900"/>
+    <servo name="ELEVATOR" no="7" min="1900" neutral="1500" max="1100"/>
+    <servo name="RUDDER" no="3" min="1100" neutral="1500" max="1900"/>
+  </servos>
+
+  <commands>
+    <axis name="THROTTLE" failsafe_value="0"/>
+    <axis name="ROLL" failsafe_value="0"/>
+    <axis name="YAW" failsafe_value="0"/>
+    <axis name="PITCH" failsafe_value="0"/>
+    <axis name="BRAKE" failsafe_value="0"/>	<!-- both elerons up as butterfly brake ? -->
+  </commands>
+
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL" value="@ROLL"/>
+    <set command="YAW" value="@YAW"/>
+    <set command="PITCH" value="@PITCH"/>
+    <set command="BRAKE" value="@FLAPS"/>
+  </rc_commands>
+
+  <section name="SERVO_MIXER_GAINS">
+    <define name="AILERON_NEUTRAL" value="0.45f"/>
+
+    <define name="AILERON_RATE_UP" value="1.0f"/>
+    <define name="AILERON_RATE_DOWN" value="0.5f"/>
+
+    <define name="AILERON_RATE_UP_BRAKE" value="1.0f"/>
+    <define name="AILERON_RATE_DOWN_BRAKE" value="1.0f"/>
+
+    <define name="PITCH_GAIN" value="0.9f"/>
+
+    <define name="BRAKE_AILEVON" value="-0.7f"/>
+    <define name="BRAKE_PITCH" value="0.1f"/>
+    <define name="MAX_BRAKE_RATE" value="150"/>
+
+    <define name="LIMIT(X,XL,XH)" value="(    ((X)>(XH))   ?    (XH)    :    ( ((X)>(XL)) ? (X) : (XL) )    )"/>
+
+</section>
+
+  <command_laws>
+    <!-- Brake Rate Limiter -->
+    <let var="brake_value_nofilt" value="LIMIT(-@BRAKE, 0, MAX_PPRZ)"/>
+    <let var="test; \
+  	      static int16_t _var_brake_value = 0; \
+              _var_brake_value += LIMIT(_var_brake_value_nofilt - _var_brake_value,-MAX_BRAKE_RATE,MAX_BRAKE_RATE); \
+              int verwaarloos_deze_warning_CDW" value="0"/>
+
+    <!-- Differential Aileron Depending on Brake Value -->
+    <let var="aileron_up_rate" value="(AILERON_RATE_UP   * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_UP_BRAKE   * $brake_value)"/>
+    <let var="aileron_down_rate" value="(AILERON_RATE_DOWN * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_DOWN_BRAKE * $brake_value)"/>
+    <let var="aileron_up" value="(@ROLL  *  (((float)$aileron_up_rate) / ((float)MAX_PPRZ)))"/>
+    <let var="aileron_down" value="(@ROLL  * (((float)$aileron_down_rate) / ((float)MAX_PPRZ)))"/>
+    <let var="leftturn" value="(@ROLL >= 0? 1 : 0)"/>
+    <let var="rightturn" value="(1 - $leftturn)"/>
+    <set servo="AILERON_LEFT" value="($aileron_up * $leftturn) + ($aileron_down * $rightturn) - $brake_value*(BRAKE_AILEVON) - (MAX_PPRZ * AILERON_NEUTRAL)"/>
+    <set servo="AILERON_RIGHT" value="($aileron_up * $rightturn) + ($aileron_down * $leftturn) + $brake_value*(BRAKE_AILEVON) + (MAX_PPRZ *AILERON_NEUTRAL)"/>
+
+    <set servo="RUDDER" value="@YAW"/>
+    <set servo="THROTTLE" value="@THROTTLE"/>
+
+    <!-- Pitch with Brake-Trim Function -->
+    <set servo="ELEVATOR" value="@PITCH * PITCH_GAIN - BRAKE_PITCH * $brake_value"/>
+  </command_laws>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="0.7"/>
+    <define name="MAX_PITCH" value="0.7"/>
+  </section>
+
+  <section name="BAT">
+    <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/>
+
+    <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+  </section>
+
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
+    <define name="CARROT" value="5." unit="s"/>
+    <define name="CONTROL_RATE" value="60" unit="Hz"/>
+    <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
+<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
+    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
+
+    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
+
+    <define name="GLIDE_AIRSPEED" value="10"/>
+    <define name="GLIDE_VSPEED" value="3."/>
+    <define name="GLIDE_PITCH" value="45" unit="deg"/>
+  </section>
+
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="-0.03"/>
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+    <!-- auto throttle inner loop -->
+    <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"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
+    <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="0.1"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
+
+    <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="-1.20000004768"/>
+    <define name="COURSE_DGAIN" value="0.3"/>
+    <define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
+
+    <define name="ROLL_MAX_SETPOINT" value="0.75" unit="radians"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+
+    <define name="PITCH_PGAIN" value="-12000."/>
+    <define name="PITCH_DGAIN" value="1.5"/>
+
+    <define name="ELEVATOR_OF_ROLL" value="1000."/>
+
+    <define name="ROLL_SLEW" value="1."/>
+
+    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_RATE_GAIN" value="0."/>
+  </section>
+
+  <section name="AGGRESSIVE" prefix="AGR_">
+    <define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
+    <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
+    <define name="CLIMB_THROTTLE" value="1.00"/><!-- Gaz for Aggressive Climb -->
+    <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
+    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
+    <define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
+    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
+    <define name="DESCENT_NAV_RATIO" value="1.0"/>
+  </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+    <define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
+    <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
+    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
+
+    <define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
+    <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
+    <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
+  </section>
+
+  <section name="DIGITAL_CAMERA" prefix="DC_">
+    <define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
+    <define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
+  </section>
+
+
+  <modules>
+    <load name="ins_xsens_MTiG_fixedwing.xml">
+      <configure name="XSENS_UART_NR" value="0"/>
+    </load>
+
+    <load name="light.xml">
+      <define name="LIGHT_LED_STROBE" value="3"/>
+      <define name="LIGHT_LED_NAV" value="2"/>
+      <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
+      <define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
+    </load>
+
+<!--    <load name="digital_cam_i2c.xml"/>  -->
+  <!--    <load name="ins_ppzuavimu.xml"/>  -->
+    <load name="digital_cam.xml" >
+      <define name="DC_SHUTTER_LED" value="2"/>
+    </load>
+
+  </modules>
+
+  <firmware name="fixedwing">
+
+    <target name="ap" board="tiny_2.11">
+      <define name="STRONG_WIND"/>
+      <define name="WIND_INFO"/>
+      <define name="WIND_INFO_RET"/>
+      <define name="LOITER_TRIM"/>
+      <define name="ALT_KALMAN"/>
+    </target>
+    <target name="sim" board="pc"/>
+
+    <subsystem name="radio_control" type="ppm"/>
+
+    <!-- Communication -->
+    <subsystem name="telemetry" type="xbee_api">
+      <configure name="MODEM_BAUD" value="B57600"/>
+    </subsystem>
+
+    <!-- Actuators -->
+    <subsystem name="control"/>
+    <!-- Sensors -->
+    <subsystem name="navigation"/>
+    <subsystem name="gps" type="xsens"/>
+
+    <subsystem name="i2c"/>
+
+</firmware>
+
+</airframe>
@@ -0,0 +1,54 @@
+<?xml version="1.0"?>
+<!-- $Id$
+--
+-- (c) 2003 Pascal Brisset, Antoine Drouin
+--
+-- This file is part of paparazzi.
+--
+-- paparazzi is free software; you can redistribute it and/or modify
+-- it under the terms of the GNU General Public License as published by
+-- the Free Software Foundation; either version 2, or (at your option)
+-- any later version.
+--
+-- paparazzi is distributed in the hope that it will be useful,
+-- but WITHOUT ANY WARRANTY; without even the implied warranty of
+-- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+-- GNU General Public License for more details.
+--
+-- You should have received a copy of the GNU General Public License
+-- along with paparazzi; see the file COPYING.  If not, write to
+-- the Free Software Foundation, 59 Temple Place - Suite 330,
+-- Boston, MA 02111-1307, USA.  
+-->
+
+<!--
+-- Attributes of root (Radio) tag :
+-- name: name of RC
+-- min: min width of a pulse to be considered as a data pulse
+-- max: max width of a pulse to be considered as a data pulse
+-- sync: min width of a pulse to be considered as a synchro pulse
+-- min, max and sync are expressed in micro-seconds
+-->
+
+<!-- 
+-- Attributes of channel tag :
+-- ctl: name of the command on the transmitter - only for displaying
+-- no: order in the PPM frame
+-- function: logical command
+-- averaged: channel filtered through several frames (for discrete commands)
+-- min: minimum pulse length (micro-seconds)
+-- max: maximum pulse length (micro-seconds)
+-- neutral: neutral pulse length (micro-seconds)
+Note: a command may be reversed by exchanging min and max values
+-->
+
+<!DOCTYPE radio SYSTEM "radio.dtd">
+<radio name="FASST TX Module" data_min="700" data_max="2300" sync_min="4000" sync_max="15000" pulse_type="NEGATIVE">
+  <channel ctl="A" function="ROLL" min="1100" neutral="1500" max="1900" average="0"/>     <!-- right stick left/right -->
+  <channel ctl="B" function="PITCH" min="1100" neutral="1500" max="1900" average="0"/>    <!-- left stick up/down -->
+  <channel ctl="C" function="THROTTLE" min="1100" neutral="1100" max="1900" average="0"/>	<!-- right stick up/down -->
+  <channel ctl="D" function="YAW" min="1900" neutral="1500" max="1100" average="0"/>	<!-- left stick left/right-->
+  <channel ctl="E" function="MODE" min="1100" neutral="1500" max="1900" average="0"/>     <!-- left switch -->
+  <channel ctl="F" function="EXTRA1" min="1100" neutral="1500" max="1900" average="0"/>     <!-- left switch -->
+  <channel ctl="G" function="FLAPS" min="1100" neutral="1500" max="1900" average="0"/>     <!-- left switch -->
+</radio>