mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-07 00:53:41 +08:00
This commit is contained in:
Pascal Brisset
+10
-10
@@ -106,8 +106,8 @@
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<define name="CARROT" value="5." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="CONTROL_RATE" value="60" unit="Hz"/>
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<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
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<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
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<define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
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<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/>-->
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<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
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<define name="TRIGGER_DELAY" value="1."/>
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@@ -168,8 +168,8 @@
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<section name="AGGRESSIVE" prefix="AGR_">
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<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
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<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
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<define name="CLIMB_THROTTLE" value="0.7"/><!-- Gaz for Aggressive Climb -->
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<define name="CLIMB_PITCH" value="0.25"/><!-- Pitch for Aggressive Climb -->
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<define name="CLIMB_THROTTLE" value="0.6"/><!-- Gaz for Aggressive Climb -->
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<define name="CLIMB_PITCH" value="0.20"/><!-- Pitch for Aggressive Climb -->
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<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
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<define name="DESCENT_PITCH" value="-0.15"/><!-- Pitch for Aggressive Decent -->
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<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
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@@ -194,12 +194,12 @@
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<define name="HOME_RADIUS" value="100" unit="m"/>
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</section>
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<!--
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<!-- -->
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<section name="DATALINK" prefix="DATALINK_">
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<define name="DEVICE_TYPE" value="XBEE"/>
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<define name="DEVICE_ADDRESS" value="...."/>
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</section>
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-->
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<!-- -->
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<section name="Digital camera telecommand">
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<!-- IOs are seen as LEDs -->
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@@ -233,12 +233,12 @@ ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
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ap.CFLAGS += -DRADIO_CONTROL
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ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
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#XBEE ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B9600
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#XBEE ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
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ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B9600
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ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
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#TRANSPARENT
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ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
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ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
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#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
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#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
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ap.CFLAGS += -DINTER_MCU
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@@ -0,0 +1,66 @@
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<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
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<flight_plan alt="1900" ground_alt="1780" lat0="42.725089" lon0="1.688210" max_dist_from_home="20000" name="NS" security_height="25">
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<header>
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#include "nav_line.h"
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#include "datalink.h"
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</header>
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<waypoints>
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<waypoint name="HOME" x="0" y="0"/>
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<waypoint name="BEILLE" x="0" y="-10"/>
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<waypoint name="STDBY" x="49.5" y="100.1"/>
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<waypoint alt="2350.0" name="PASS" x="1184.2" y="-11752.8"/>
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<waypoint alt="2000.0" name="INCLES" x="-289.6" y="-13601.6"/>
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<waypoint alt="1880.0" name="AF" x="-199.2" y="-13625.7"/>
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<waypoint alt="1850.0" name="TD" x="-290.0" y="-13621.7"/>
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<waypoint name="_BASELEG" x="1742.7" y="-13383.7"/>
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<waypoint name="CLIMB" x="-114.5" y="162.3"/>
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<waypoint alt="2100.0" name="LAPARAN" x="1530.1" y="-6079.1"/>
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<waypoint alt="2150.0" name="DESCENT" x="352.6" y="-12433.6"/>
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</waypoints>
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<exceptions/>
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<blocks>
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<block name="Holding point">
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<set value="1" var="kill_throttle"/>
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<attitude roll="0" throttle="0" vmode="throttle"/>
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</block>
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<block key="t" name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
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<exception cond="estimator_z > ground_alt+25" deroute="Standby"/>
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<set value="0" var="kill_throttle"/>
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<set value="0" var="estimator_flight_time"/>
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<go from="HOME" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>
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</block>
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<block key="<Control>a" name="Standby" strip_button="Standby" strip_icon="home.png">
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<set value="NAV_MODE_COURSE" var="nav_mode"/>
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<circle radius="nav_radius" wp="STDBY"/>
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</block>
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<block name="GO">
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<go from="BEILLE" hmode="route" wp="LAPARAN"/>
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<go from="LAPARAN" hmode="route" wp="PASS"/>
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<go from="PASS" hmode="route" wp="DESCENT"/>
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<go alt="2100" from="DESCENT" hmode="route" wp="INCLES"/>
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<circle radius="100" wp="INCLES"/>
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</block>
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<block name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png">
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<set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
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<deroute block="land"/>
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</block>
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<block name="Land Left AF-TD" strip_button="Land left (wp AF-TD)" strip_icon="land-left.png">
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<set value="-DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
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<deroute block="land"/>
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</block>
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<block name="land">
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<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
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<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
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<circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10), 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
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</block>
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<block name="final">
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<exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
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<go from="AF" hmode="route" vmode="glide" wp="TD"/>
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</block>
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<block name="flare">
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<go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
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<attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
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</block>
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</blocks>
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</flight_plan>
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@@ -93,6 +93,7 @@
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<dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
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<dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
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<dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
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<dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
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<dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
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<dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
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<dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="nav" handler="IncreaseShift" shortname="inc. shift">
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