mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 23:49:00 +08:00
LisaM ac
This commit is contained in:
Martin Mueller
@@ -1,4 +1,4 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
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<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
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Lisa/L board (http://paparazzi.enac.fr/wiki/Lisa)
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@@ -0,0 +1,173 @@
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
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<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
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Lisa/L board (http://paparazzi.enac.fr/wiki/Lisa)
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XBee modem
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LEA 5H GPS
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robbe R6107SP mk
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-->
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<airframe name="Funjet Lisa/L">
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<firmware name="fixedwing">
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<target name="sim" board="pc"/>
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<target name="ap" board="lisa_m_1.0"/>
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="telemetry" type="transparent"/>
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<subsystem name="control"/>
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<subsystem name="attitude" type="infrared"/>
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<subsystem name="gps" type="ublox_lea5h">
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<param name="GPS_UART_NR" value="3"/>
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</subsystem>
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<subsystem name="navigation"/>
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</firmware>
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<firmware name="lisa_l_test_progs">
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<target name="tunnel" board="lisa_l_1.0"/>
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<target name="test_led" board="lisa_l_1.0"/>
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<target name="test_uart" board="lisa_l_1.0"/>
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<target name="test_servos" board="lisa_l_1.0"/>
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<target name="test_telemetry" board="lisa_l_1.0"/>
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<target name="test_baro" board="lisa_l_1.0"/>
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<target name="test_imu_b2" board="lisa_l_1.0"/>
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<target name="test_imu_b2_2" board="lisa_l_1.0"/>
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<target name="test_imu_aspirin" board="lisa_l_1.0"/>
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<target name="test_rc_spektrum" board="lisa_l_1.0"/>
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<target name="test_rc_ppm" board="lisa_l_1.0"/>
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<target name="test_adc" board="lisa_l_1.0"/>
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<target name="test_hmc5843" board="lisa_l_1.0"/>
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<target name="test_itg3200" board="lisa_l_1.0"/>
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<target name="test_adxl345" board="lisa_l_1.0"/>
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<target name="test_esc_mkk_simple" board="lisa_l_1.0"/>
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<target name="test_esc_asctecv1_simple" board="lisa_l_1.0"/>
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<target name="test_actuators_mkk" board="lisa_l_1.0"/>
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<target name="test_actuators_asctecv1" board="lisa_l_1.0"/>
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</firmware>
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<servos>
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<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
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<servo name="AILEVON_LEFT" no="1" min="1900" neutral="1534" max="1100"/>
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<servo name="AILEVON_RIGHT" no="2" min="1100" neutral="1468" max="1900"/>
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</servos>
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<commands>
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<axis name="THROTTLE" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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</commands>
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<rc_commands>
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<set command="THROTTLE" value="@THROTTLE"/>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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</rc_commands>
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<section name="MIXER">
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<define name="AILEVON_AILERON_RATE" value="0.45"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
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</section>
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<command_laws>
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<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
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<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
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<set servo="MOTOR" value="@THROTTLE"/>
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<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
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<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="RadOfDeg(50)"/>
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<define name="MAX_PITCH" value="RadOfDeg(35)"/>
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</section>
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<section name="INFRARED" prefix="IR_">
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<define name="ADC_IR1_NEUTRAL" value="2048"/>
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<define name="ADC_IR2_NEUTRAL" value="2048"/>
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<define name="ADC_TOP_NEUTRAL" value="2048"/>
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<define name="LATERAL_CORRECTION" value="-1"/>
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<define name="LONGITUDINAL_CORRECTION" value="1"/>
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<define name="VERTICAL_CORRECTION" value="1.5"/>
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<define name="HORIZ_SENSOR_TILTED" value="1"/>
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<define name="IR1_SIGN" value="1"/>
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<define name="IR2_SIGN" value="-1"/>
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<define name="TOP_SIGN" value="1"/>
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<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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</section>
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<section name="BAT">
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
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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="DEFAULT_CIRCLE_RADIUS" value="120."/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="2."/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
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<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
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<!-- auto pitch inner loop -->
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<define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
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<define name="AUTO_PITCH_IGAIN" value="0.0"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
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<define name="THROTTLE_SLEW" value="0.1"/>
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</section>
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="-0.9"/>
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<define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
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<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
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<define name="ROLL_PGAIN" value="6600."/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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<define name="PITCH_PGAIN" value="-5500."/>
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<define name="PITCH_DGAIN" value="0.4"/>
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<define name="ELEVATOR_OF_ROLL" value="2400"/>
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</section>
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<section name="NAV">
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<define name="NAV_PITCH" value="0."/>
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<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
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</section>
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
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<define name="HOME_RADIUS" value="100" unit="m"/>
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</section>
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<section name="SIMU">
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<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
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</section>
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</airframe>
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@@ -2,7 +2,6 @@
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<!-- Merlin, Himax HC2212-1180
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Tiny 2.11
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PerkinElmer TPS334 IR Sensors
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Tilted infrared sensor
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XBee modem
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LEA 4P (set to POSLLH)
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@@ -80,8 +79,6 @@
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<!-- 0.0247311828 -->
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<!-- 0.02432905 -->
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<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
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</section>
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@@ -92,15 +89,12 @@
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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="ALT_KALMAN_ENABLED" value="FALSE"/>
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<define name="TRIGGER_DELAY" value="1."/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
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<!-- outer loop proportional gain -->
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@@ -126,10 +120,8 @@
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<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
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<define name="THROTTLE_SLEW" value="0.1"/>
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</section>
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="-1.0"/>
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<define name="ROLL_MAX_SETPOINT" value="0.60" unit="radians"/>
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@@ -145,7 +137,7 @@
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<!--define name="ROLL_ATTITUDE_GAIN" value="-5900"/>
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<define name="ROLL_RATE_GAIN" value="-2900"/-->
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</section>
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</section>
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<section name="NAV">
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<define name="NAV_PITCH" value="0."/>
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@@ -161,7 +153,7 @@
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<define name="DESCENT_PITCH" value="-0.35"/><!-- 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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<define name="DESCENT_NAV_RATIO" value="1.0"/>
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</section>
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</section>
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
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@@ -171,65 +163,44 @@
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<define name="HOME_RADIUS" value="100" unit="m"/>
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</section>
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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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<makefile>
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CONFIG = \"tiny_2_1.h\"
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<firmware name="fixedwing">
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<target name="ap" board="tiny_2.11"/>
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<target name="sim" board="pc"/>
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<define name="AGR_CLIMB"/>
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<define name="LOITER_TRIM"/>
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<define name="ALT_KALMAN"/>
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<define name="WIND_INFO"/>
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<define name="WIND_INFO_RET"/>
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<define name="USE_I2C0"/>
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<define name="SENSOR_SYNC_SEND"/>
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include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
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<!-- RC -->
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<subsystem name="radio_control" type="ppm"/>
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<!-- Communication -->
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<subsystem name="telemetry" type="xbee_api"/>
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<!-- Actuators are automatically chosen according to board-->
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<subsystem name="control"/>
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<!-- Sensors -->
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<subsystem name="attitude" type="infrared"/>
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<subsystem name="gps" type="ublox_lea4p"/>
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<!-- Nav -->
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<subsystem name="navigation"/>
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<!-- Interfaces -->
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<subsystem name="i2c"/>
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</firmware>
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FLASH_MODE=IAP
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<firmware name="setup">
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<target name="tunnel" board="tiny_2.11"/>
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<target name="usb_tunnel_0" board="tiny_2.11"/>
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<target name="usb_tunnel_1" board="tiny_2.11"/>
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<target name="setup_actuators" board="tiny_2.11"/>
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</firmware>
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ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
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ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
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<!-- modules -->
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<modules>
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<load name="humid_sht.xml"/>
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<load name="ir_mlx.xml"/>
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</modules>
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ap.srcs += commands.c
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ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
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ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
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ap.CFLAGS += -DRADIO_CONTROL -DUSE_RC_TELEMETRY
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ap.srcs += radio_control.c ppm_telemetry.c
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ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
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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 += -DINTER_MCU
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ap.srcs += inter_mcu.c
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ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
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ap.srcs += $(SRC_ARCH)/adc_hw.c
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ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
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# -DGPS_USE_LATLONG
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ap.srcs += gps_ubx.c gps.c latlong.c
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ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
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ap.srcs += infrared.c estimator.c
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ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
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ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
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ap.srcs += subsystems/navigation/nav_line.c
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ap.srcs += subsystems/navigation/nav_survey_rectangle.c
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ap.srcs += subsystems/navigation/snav.c
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# Config for SITL simulation
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# include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
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sim.ARCHDIR = $(ARCH)
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sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO
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sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
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sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
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sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
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</makefile>
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</airframe>
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@@ -12,6 +12,8 @@ ARCH=stm32
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$(TARGET).ARCHDIR = $(ARCH)
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# not needed?
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$(TARGET).OOCD_INTERFACE=flossjtag
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#$(TARGET).OOCD_INTERFACE=jtagkey-tiny
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# -----------------------------------------------------------------------
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ifndef FLASH_MODE
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@@ -64,13 +66,16 @@ MODEM_UART_NR = 2
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endif
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ifndef ADC_IR1
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ADC_IR1 = 1
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ADC_IR1 = 1
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ADC_IR1_CHAN = 0
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endif
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ifndef ADC_IR2
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ADC_IR2 = 2
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ADC_IR2 = 2
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ADC_IR2_CHAN = 1
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endif
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ifndef ADC_IR3
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ADC_IR_TOP = 3
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ADC_IR_TOP = 4
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ADC_IR_TOP_CHAN = 3
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endif
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ifndef ADC_IR_NB_SAMPLES
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ADC_IR_NB_SAMPLES = 16
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||||
|
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Block a user