mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-23 13:05:34 +08:00
[airframes] cleaning Enac airframes
This commit is contained in:
Gautier Hattenberger
@@ -1,216 +0,0 @@
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
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<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
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Tiny 2.11 board (http://paparazzi.enac.fr/wiki/Tiny_v2)
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IR i2c
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Tilted infrared sensor (http://paparazzi.enac.fr/wiki/Image:Tiny_v2_1_Funjet.jpg)
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Radiotronix modem
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LEA 5H GPS
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Airspeed sensor
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Digital camera
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-->
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<airframe name="Funjet Tiny 2.11">
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<modules>
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<load name="light.xml">
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<define name="LIGHT_LED_STROBE" value="5"/>
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<define name="LIGHT_LED_NAV" value="3"/>
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</load>
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<load name="infrared_i2c.xml"/>
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<load name="pbn.xml"/>
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</modules>
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<firmware name="fixedwing">
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<define name="USE_I2C0"/>
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<define name="AGR_CLIMB"/>
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<define name="ALT_KALMAN"/>
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<define name="LOITER_TRIM"/>
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<target name="sim" board="pc"/>
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<target name="ap" board="tiny_2.11"/>
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<subsystem name="radio_control" type="ppm"/>
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<!--subsystem name="joystick"/-->
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<!-- Communication -->
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<subsystem name="telemetry" type="transparent"/>
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<!-- Actuators are automatically chosen according to board-->
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<subsystem name="control"/>
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<subsystem name="ahrs" type="infrared"/>
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<!-- Sensors -->
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<subsystem name="gps" type="ublox"/>
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<subsystem name="imu" type="analog">
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<configure name="GYRO_P" value="ADC_5" />
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</subsystem>
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<subsystem name="current_sensor">
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<configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
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</subsystem>
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<subsystem name="navigation"/>
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</firmware>
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<firmware name="setup">
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<target name="tunnel" 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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<servos>
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<servo name="MOTOR" no="0" min="1040" neutral="1040" max="2000"/>
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<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1500" max="1050"/>
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<servo name="AILEVON_RIGHT" no="6" min="1120" neutral="1540" max="1980"/>
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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="0.75"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
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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="0.85"/>
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<define name="MAX_PITCH" value="0.6"/>
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</section>
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<section name="INFRARED" prefix="IR_">
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<define name="IR1_NEUTRAL" value="-15"/>
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<define name="IR2_NEUTRAL" value="10"/>
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<define name="TOP_NEUTRAL" value="-15"/>
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<define name="I2C_DEFAULT_CONF" value="1"/>
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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"/>
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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="2." unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="2." unit="deg"/>
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</section>
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<!-- Gyro sensitivity : -->
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<!-- GYRO_ADXRS300_RESISTOR_BRIDGE value="(3.3/(3.3+1.8))" -->
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<!-- GYRO_ADXRS300_SENSITIVITY value="5" unit="mV/(deg/s)" -->
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<!-- ROLL_SCALE value="RadOfDeg(3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE))" unit="rad/s/adc_unit" -->
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<section name="IMU" prefix="IMU_">
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<define name="GYRO_P_SIGN" value="1"/>
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<define name="GYRO_P_NEUTRAL" value="487"/>
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<define name="GYRO_P_SENS" value="0.0173851" integer="16"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
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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_FREQUENCY" value="60" unit="Hz"/>
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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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<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
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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="3."/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
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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="0.01"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.04"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
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<!-- auto pitch inner loop -->
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<define name="AUTO_PITCH_PGAIN" value="0.03"/>
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<define name="AUTO_PITCH_IGAIN" value="0.0"/>
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<define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/>
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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="1."/>
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<define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
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<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
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<define name="ROLL_ATTITUDE_GAIN" value="9000."/>
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<define name="ROLL_RATE_GAIN" value="3000."/>
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<define name="PITCH_PGAIN" value="20000."/>
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<define name="PITCH_DGAIN" value="0.4"/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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<define name="ELEVATOR_OF_ROLL" value="1400"/>
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</section>
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<section name="NAV">
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<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
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</section>
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<section name="AGGRESSIVE" prefix="AGR_">
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<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
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<define name="BLEND_END" value="15"/><!-- 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="0.2"/><!-- 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="-0.2"/><!-- 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 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="ROLL_RESPONSE_FACTOR" value="10"/>
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<define name="MAX_ROLL_DOT" value="20" unit="rad/s"/>
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</section>
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</airframe>
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@@ -1,232 +0,0 @@
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
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<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
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Tiny 2.11 board (http://paparazzi.enac.fr/wiki/Tiny_v2)
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IR i2c
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Tilted infrared sensor (http://paparazzi.enac.fr/wiki/Image:Tiny_v2_1_Funjet.jpg)
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Radiotronix modem
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LEA 5H GPS
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Airspeed sensor
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Digital camera
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-->
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<airframe name="Funjet Tiny 2.11">
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<modules>
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<load name="light.xml">
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<define name="LIGHT_LED_STROBE" value="5"/>
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<define name="LIGHT_LED_NAV" value="3"/>
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</load>
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<load name="infrared_i2c.xml"/>
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<load name="pbn.xml"/>
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<load name="ins_vn100.xml"/>
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</modules>
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<firmware name="fixedwing">
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<define name="AGR_CLIMB"/>
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<define name="ALT_KALMAN"/>
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<define name="PITCH_TRIM"/>
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<define name="USE_I2C0"/>
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<define name="USE_AIRSPEED"/>
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<target name="sim" board="pc"/>
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<target name="ap" board="tiny_2.11">
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<configure name="FLASH_MODE" value="IAP"/>
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<define name="SPI_MASTER"/>
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<define name="USE_SPI_SLAVE0"/>
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</target>
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<subsystem name="radio_control" type="ppm"/>
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<!--subsystem name="joystick"/-->
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<subsystem name="spi"/>
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<!-- Communication -->
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<subsystem name="telemetry" type="transparent"/>
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<!-- Actuators are automatically chosen according to board-->
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<subsystem name="control" type="new"/>
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<!-- Sensors -->
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<subsystem name="gps" type="ublox"/>
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<subsystem name="gyro" type="roll">
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<configure name="ADC_GYRO_ROLL" value="ADC_5"/>
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</subsystem>
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<subsystem name="current_sensor">
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<configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
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</subsystem>
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<subsystem name="navigation"/>
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</firmware>
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<firmware name="setup">
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<target name="tunnel" 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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<!-- commands section -->
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<servos>
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<servo name="MOTOR" no="0" min="1040" neutral="1040" max="2000"/>
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<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1500" max="1050"/>
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<servo name="AILEVON_RIGHT" no="6" min="1120" neutral="1540" max="1980"/>
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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="0.75"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
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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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||||
|
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<section name="AUTO1" prefix="AUTO1_">
|
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<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="IR1_NEUTRAL" value="-15"/>
|
||||
<define name="IR2_NEUTRAL" value="0"/>
|
||||
<define name="TOP_NEUTRAL" value="-20"/>
|
||||
<define name="I2C_DEFAULT_CONF" value="1"/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="1"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR1_SIGN" value="1"/>
|
||||
<define name="IR2_SIGN" value="1"/>
|
||||
<define name="TOP_SIGN" value="1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="2." unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="2." unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="487"/>
|
||||
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
|
||||
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
|
||||
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
|
||||
<define name="ROLL_DIRECTION" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
||||
|
||||
</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="0.06"/> <!-- -0.024 -->
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.04"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="0.03"/>
|
||||
<define name="AUTO_PITCH_DGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<!-- airspeed control -->
|
||||
<define name="AUTO_AIRSPEED_SETPOINT" value="15."/>
|
||||
<define name="AUTO_AIRSPEED_PGAIN" value="0.05"/>
|
||||
<define name="AUTO_AIRSPEED_IGAIN" value="0.01"/>
|
||||
<define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
|
||||
<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
|
||||
<define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
|
||||
<define name="AIRSPEED_MAX" value="22"/>
|
||||
<define name="AIRSPEED_MIN" value="8"/>
|
||||
|
||||
<!-- pitch trim -->
|
||||
<define name="PITCH_LOITER_TRIM" value="RadOfDeg(5.)"/>
|
||||
<define name="PITCH_DASH_TRIM" value="RadOfDeg(-5.)"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.1"/>
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="1."/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="9000."/>
|
||||
<define name="ROLL_RATE_GAIN" value="3000."/>
|
||||
<define name="ROLL_IGAIN" value="500"/>
|
||||
<define name="ROLL_KFFA" value="500"/>
|
||||
<define name="ROLL_KFFD" value="500"/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="20000."/>
|
||||
<define name="PITCH_DGAIN" value="0.4"/>
|
||||
<define name="PITCH_IGAIN" value="500"/>
|
||||
<define name="PITCH_KFFA" value="0."/>
|
||||
<define name="PITCH_KFFD" value="0."/>
|
||||
|
||||
<define name="PITCH_OF_ROLL" value="RadOfDeg(0.2)"/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="1400"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="ROLL_RESPONSE_FACTOR" value="10"/>
|
||||
<define name="MAX_ROLL_DOT" value="20" unit="rad/s"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -1,232 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
|
||||
|
||||
<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
|
||||
Tiny 2.11 board (http://paparazzi.enac.fr/wiki/Tiny_v2)
|
||||
IR i2c
|
||||
Tilted infrared sensor (http://paparazzi.enac.fr/wiki/Image:Tiny_v2_1_Funjet.jpg)
|
||||
Radiotronix modem
|
||||
LEA 5H GPS
|
||||
Airspeed sensor
|
||||
Digital camera
|
||||
-->
|
||||
|
||||
<airframe name="Funjet Tiny 2.11">
|
||||
|
||||
<modules>
|
||||
<load name="light.xml">
|
||||
<define name="LIGHT_LED_STROBE" value="5"/>
|
||||
<define name="LIGHT_LED_NAV" value="3"/>
|
||||
</load>
|
||||
<load name="infrared_i2c.xml"/>
|
||||
<load name="pbn.xml"/>
|
||||
<load name="ins_vn100.xml"/>
|
||||
</modules>
|
||||
|
||||
<firmware name="fixedwing">
|
||||
<define name="AGR_CLIMB"/>
|
||||
<define name="ALT_KALMAN"/>
|
||||
<define name="PITCH_TRIM"/>
|
||||
<define name="USE_I2C0"/>
|
||||
<define name="USE_AIRSPEED"/>
|
||||
|
||||
<target name="sim" board="pc"/>
|
||||
<target name="ap" board="tiny_2.11">
|
||||
<configure name="FLASH_MODE" value="IAP"/>
|
||||
<define name="SPI_MASTER"/>
|
||||
<define name="USE_SPI_SLAVE0"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<!--subsystem name="joystick"/-->
|
||||
<subsystem name="spi"/>
|
||||
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
|
||||
<!-- Actuators are automatically chosen according to board-->
|
||||
<subsystem name="control" type="new"/>
|
||||
<!-- Sensors -->
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="gyro" type="roll">
|
||||
<configure name="ADC_GYRO_ROLL" value="ADC_5"/>
|
||||
</subsystem>
|
||||
|
||||
<subsystem name="current_sensor">
|
||||
<configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
|
||||
</subsystem>
|
||||
|
||||
<subsystem name="navigation"/>
|
||||
</firmware>
|
||||
|
||||
|
||||
<firmware name="setup">
|
||||
<target name="tunnel" board="tiny_2.11"/>
|
||||
<target name="setup_actuators" board="tiny_2.11"/>
|
||||
</firmware>
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR" no="0" min="1040" neutral="1040" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1500" max="1050"/>
|
||||
<servo name="AILEVON_RIGHT" no="6" min="1120" neutral="1540" max="1980"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.75"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="IR1_NEUTRAL" value="-5"/>
|
||||
<define name="IR2_NEUTRAL" value="0"/>
|
||||
<define name="TOP_NEUTRAL" value="-10"/>
|
||||
<define name="I2C_DEFAULT_CONF" value="1"/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="1"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR1_SIGN" value="1"/>
|
||||
<define name="IR2_SIGN" value="1"/>
|
||||
<define name="TOP_SIGN" value="1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="2." unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="2." unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="487"/>
|
||||
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
|
||||
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
|
||||
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
|
||||
<define name="ROLL_DIRECTION" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="16." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
||||
|
||||
</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="0.06"/> <!-- -0.024 -->
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
|
||||
<!--define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/-->
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="0.02"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="0.05"/>
|
||||
<define name="AUTO_PITCH_DGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.01"/>
|
||||
<!--define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/-->
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<!-- airspeed control -->
|
||||
<define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
|
||||
<define name="AUTO_AIRSPEED_PGAIN" value="0.08"/>
|
||||
<define name="AUTO_AIRSPEED_IGAIN" value="0.001"/>
|
||||
<define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
|
||||
<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
|
||||
<define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
|
||||
<define name="AIRSPEED_MAX" value="22"/>
|
||||
<define name="AIRSPEED_MIN" value="12"/>
|
||||
|
||||
<!-- pitch trim -->
|
||||
<define name="PITCH_LOITER_TRIM" value="RadOfDeg(5.)"/>
|
||||
<define name="PITCH_DASH_TRIM" value="RadOfDeg(-5.)"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.1"/>
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="0.7"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="9000."/>
|
||||
<define name="ROLL_RATE_GAIN" value="3000."/>
|
||||
<define name="ROLL_IGAIN" value="0"/>
|
||||
<define name="ROLL_KFFA" value="0"/>
|
||||
<define name="ROLL_KFFD" value="0"/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="20000."/>
|
||||
<define name="PITCH_DGAIN" value="1000"/>
|
||||
<define name="PITCH_IGAIN" value="300"/>
|
||||
<define name="PITCH_KFFA" value="0."/>
|
||||
<define name="PITCH_KFFD" value="0."/>
|
||||
|
||||
<define name="PITCH_OF_ROLL" value="RadOfDeg(0.0)"/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="ROLL_RESPONSE_FACTOR" value="10"/>
|
||||
<define name="MAX_ROLL_DOT" value="20" unit="rad/s"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -1,214 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
|
||||
|
||||
<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
|
||||
Tiny 2.11 board (http://paparazzi.enac.fr/wiki/Tiny_v2)
|
||||
ArduIMU
|
||||
XBee modem
|
||||
LEA 5H GPS
|
||||
Airspeed sensor
|
||||
Altitude sensor
|
||||
-->
|
||||
|
||||
<airframe name="Funjet Tiny 2.11">
|
||||
|
||||
<modules target="jsbsim">
|
||||
<load name="ins_arduimu_basic.xml"/>
|
||||
<!--load name="airspeed_ets.xml">
|
||||
<define name="USE_AIRSPEED"/>
|
||||
</load>
|
||||
<load name="baro_ets.xml">
|
||||
<define name="USE_BARO_ETS"/>
|
||||
</load-->
|
||||
<!--load name="alt_filter.xml"/-->
|
||||
<load name="generic_com.xml"/>
|
||||
</modules>
|
||||
|
||||
<firmware name="fixedwing">
|
||||
<define name="USE_I2C0"/>
|
||||
<define name="I2C_TRANSACTION_QUEUE_LEN" value="16"/>
|
||||
<!--define name="AGR_CLIMB"/-->
|
||||
<define name="ALT_KALMAN"/>
|
||||
<define name="USE_AIRSPEED"/>
|
||||
<!--define name="LOITER_TRIM"/-->
|
||||
<!--define name="PITCH_TRIM"/-->
|
||||
|
||||
<target name="sim" board="pc"/>
|
||||
<target name="jsbsim" board="pc"/>
|
||||
<target name="ap" board="tiny_2.11">
|
||||
<configure name="FLASH_MODE" value="IAP"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="radio_control" type="datalink"/>
|
||||
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" type="xbee_api"/>
|
||||
|
||||
<!-- Actuators are automatically chosen according to board-->
|
||||
<subsystem name="control" type="new"/>
|
||||
<subsystem name="navigation"/>
|
||||
<!-- Sensors -->
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
</firmware>
|
||||
|
||||
|
||||
<firmware name="setup">
|
||||
<target name="tunnel" board="tiny_2.11"/>
|
||||
<target name="setup_actuators" board="tiny_2.11"/>
|
||||
</firmware>
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR" no="0" min="1040" neutral="1040" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1500" max="1100"/>
|
||||
<servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1500" max="1900"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.75"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="rad"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="rad"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
||||
|
||||
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
|
||||
</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="0.159999996424"/> <!-- -0.024 -->
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="5."/>
|
||||
|
||||
<!-- Cruise throttle + limits -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(20.)"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-RadOfDeg(20.)"/>
|
||||
|
||||
<!-- Climb loop (throttle) -->
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="0.004"/> <!-- -0.005 -->
|
||||
<define name="AUTO_THROTTLE_DGAIN" value="0.01"/> <!-- 0.005 -->
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.004"/> <!-- 0.005 -->
|
||||
|
||||
<!-- Climb loop (pitch) -->
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
|
||||
<define name="AUTO_PITCH_PGAIN" value="0.038"/> <!-- -0.03 -->
|
||||
<define name="AUTO_PITCH_DGAIN" value="0.036"/> <!-- -0.03 -->
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
|
||||
|
||||
<!-- airspeed control -->
|
||||
<define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
|
||||
<define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
|
||||
<define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
|
||||
<define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
|
||||
<define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
|
||||
<define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
|
||||
<define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
|
||||
<define name="AIRSPEED_MAX" value="30"/>
|
||||
<define name="AIRSPEED_MIN" value="10"/>
|
||||
|
||||
<!-- groundspeed control -->
|
||||
<define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
|
||||
<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
|
||||
<define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
|
||||
|
||||
<!-- pitch trim --> <!-- 5 deg -->
|
||||
<define name="PITCH_LOITER_TRIM" value="RadOfDeg(0.)"/>
|
||||
<define name="PITCH_DASH_TRIM" value="RadOfDeg(-0.)"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.1"/>
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="0.699999988079"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="6000."/>
|
||||
<define name="ROLL_RATE_GAIN" value="1000."/>
|
||||
<define name="ROLL_IGAIN" value="400."/>
|
||||
<define name="ROLL_KFFA" value="0"/>
|
||||
<define name="ROLL_KFFD" value="0"/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="20000."/>
|
||||
<define name="PITCH_DGAIN" value="0."/>
|
||||
<define name="PITCH_IGAIN" value="460."/>
|
||||
<define name="PITCH_KFFA" value="0."/>
|
||||
<define name="PITCH_KFFD" value="0."/>
|
||||
|
||||
<define name="PITCH_OF_ROLL" value="RadOfDeg(0.0)"/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<!--define name="ELEVATOR_OF_ROLL" value="1400"/-->
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<!--define name="ROLL_RESPONSE_FACTOR" value="10"/>
|
||||
<define name="MAX_ROLL_DOT" value="20" unit="rad/s"/-->
|
||||
<define name="JSBSIM_MODEL" value=""Malolo1""/>
|
||||
<!--define name="JSBSIM_INIT" value=""Malolo1-IC""/-->
|
||||
<define name="JSBSIM_LAUNCHSPEED" value="15.0"/>
|
||||
<define name="JSBSIM_IR_ROLL_NEUTRAL" value="0." unit="deg"/>
|
||||
<define name="JSBSIM_IR_PITCH_NEUTRAL" value="0." unit="deg"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -1,199 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
|
||||
|
||||
<!-- Merlin
|
||||
Tiny 2.11
|
||||
Tilted infrared sensor
|
||||
XBee modem
|
||||
LEA 5H
|
||||
-->
|
||||
|
||||
<airframe name="Merlin">
|
||||
|
||||
<firmware name="fixedwing">
|
||||
<define name="PITCH_TRIM"/>
|
||||
<define name="ALT_KALMAN"/>
|
||||
|
||||
<target name="ap" board="tiny_2.11"/>
|
||||
<target name="sim" board="pc"/>
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<subsystem name="control"/>
|
||||
<subsystem name="ahrs" type="infrared"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="navigation"/>
|
||||
</firmware>
|
||||
|
||||
<firmware name="setup">
|
||||
<target name="tunnel" board="tiny_2.11" />
|
||||
<target name="setup_actuators" board="tiny_2.11" />
|
||||
</firmware>
|
||||
|
||||
<modules>
|
||||
<load name="infrared_adc.xml"/>
|
||||
</modules>
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="AILERON_RIGHT" no="0" min="1900" neutral="1500" max="1100"/>
|
||||
<servo name="AILERON_LEFT" no="2" min="1900" neutral="1500" max="1100"/>
|
||||
<servo name="ELEVATOR" no="6" min="1100" neutral="1500" max="1900"/>
|
||||
<servo name="RUDDER" no="7" min="1100" neutral="1500" max="1900"/>
|
||||
<servo name="MOTOR" no="3" min="1000" neutral="1000" max="2000"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="YAW" value="@YAW"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILERON_DIFF" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
<set servo="RUDDER" value="@YAW"/>
|
||||
<let var="roll" value="@ROLL"/>
|
||||
<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
|
||||
<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ADC_IR1_NEUTRAL" value="512"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="512"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="512"/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="1"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR1_SIGN" value="1"/>
|
||||
<define name="IR2_SIGN" value="1"/>
|
||||
<define name="TOP_SIGN" value="1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<!-- 0.0247311828 -->
|
||||
<!-- 0.02432905 -->
|
||||
<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
|
||||
<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
|
||||
<define name="MAXIMUM_AIRSPEED" value="18." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
|
||||
<!-- <define name="XBEE_INIT" value=""ATPL2\rATRN1\rATTT80\r""/> -->
|
||||
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
|
||||
</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="0.06"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="0.023"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="0.06"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_DGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<!-- pitch trim -->
|
||||
<define name="PITCH_LOITER_TRIM" value="RadOfDeg(5.)"/>
|
||||
<define name="PITCH_DASH_TRIM" value="RadOfDeg(-5.)"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.1"/>
|
||||
|
||||
</section>
|
||||
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="1.0"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.60" unit="rad"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="5900"/>
|
||||
<define name="ROLL_RATE_GAIN" value="2900"/>
|
||||
<define name="ROLL_IGAIN" value="500"/>
|
||||
<define name="ROLL_KFFA" value="500"/>
|
||||
<define name="ROLL_KFFD" value="500"/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="9000."/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
<define name="PITCH_IGAIN" value="500"/>
|
||||
<define name="PITCH_KFFA" value="0."/>
|
||||
<define name="PITCH_KFFD" value="0."/>
|
||||
|
||||
<define name="PITCH_OF_ROLL" value="RadOfDeg(0.2)"/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<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="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.35"/><!-- 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="DELAY_WITHOUT_GPS" value="2" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
|
||||
@@ -1,195 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
|
||||
|
||||
<airframe name="MiniMag Tiny 2.11">
|
||||
|
||||
<firmware name="fixedwing">
|
||||
<define name="USE_I2C0"/>
|
||||
<define name="AGR_CLIMB" />
|
||||
<define name="LOITER_TRIM" />
|
||||
<define name="ALT_KALMAN" />
|
||||
|
||||
<target name="sim" board="pc" />
|
||||
<target name="ap" board="tiny_2.11">
|
||||
<define name="SPI_MASTER"/>
|
||||
<define name="USE_SPI_SLAVE0"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="spi"/>
|
||||
|
||||
<subsystem name="telemetry" type="transparent">
|
||||
<configure name="MODEM_BAUD" value="B9600" />
|
||||
</subsystem>
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="navigation" />
|
||||
<!-- <subsystem name="ahrs" type="infrared"/>-->
|
||||
<subsystem name="control"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
</firmware>
|
||||
|
||||
<firmware name="setup">
|
||||
<target name="tunnel" board="tiny_2.11" />
|
||||
<target name="setup_actuators" board="tiny_2.11" />
|
||||
</firmware>
|
||||
|
||||
<modules>
|
||||
<load name="ins_vn100.xml" />
|
||||
</modules>
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="THROTTLE" no="0" min="1200" neutral="1200" max="2000"/>
|
||||
<!-- Servo aileron gauche = couleur blanche -->
|
||||
<!-- Aileron gauche oppose de l'aileron droit -->
|
||||
<servo name="AILERON_LEFT" no="4" min="1775" neutral="1500" max="1050"/>
|
||||
<!-- max = valeur aileron vers le bas-->
|
||||
<servo name="AILERON_RIGHT" no="3" min="1875" neutral="1475" max="1225"/>
|
||||
<!-- Rudder = Couleur rouge droite gauche -->
|
||||
<servo name="RUDDER" no="6" min="1875" neutral="1500" max="1250"/>
|
||||
<servo name="ELEVATOR" no="7" min="1850" neutral="1586" max="1150"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="HATCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="YAW" value="@YAW"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILERON_DIFF" value="0.66"/>
|
||||
<define name="COMBI_SWITCH" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
|
||||
|
||||
<let var="roll" value="@ROLL"/>
|
||||
<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
|
||||
<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.6"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</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="INFRARED" prefix="IR_">
|
||||
<define name="ADC_IR1_NEUTRAL" value="512"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="512"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="512"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="1."/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1."/>
|
||||
<define name="VERTICAL_CORRECTION" value="1."/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="-6" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="12" unit="deg"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000"/>
|
||||
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
|
||||
<define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
|
||||
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="50."/>
|
||||
</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="0.07"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"/>
|
||||
<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="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-500"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="0.025"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="0.05"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.05"/>
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="1.2"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
|
||||
|
||||
|
||||
<define name="ROLL_PGAIN" value="12000."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="9000."/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="1250"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" 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="0.8"/><!-- 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="DELAY_WITHOUT_GPS" value="1" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
|
||||
@@ -1,275 +0,0 @@
|
||||
on<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<!-- Twinstar II, 2x Jeti 12 advance
|
||||
Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
|
||||
PerkinElmer TPS334 IR Sensors
|
||||
Tilted infrared sensor
|
||||
XBee modem
|
||||
K66, LEA 5H
|
||||
-->
|
||||
|
||||
<airframe name="Drops K66">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR_LEFT" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILERON_LEFT" no="1" min="1900" neutral="1500" max="1100"/>
|
||||
<servo name="ELEVATOR" no="2" min="1900" neutral="1500" max="1100"/>
|
||||
<servo name="RUDDER" no="3" min="1100" neutral="1500" max="1900"/>
|
||||
<servo name="AILERON_RIGHT" no="4" min="1900" neutral="1500" max="1100"/>
|
||||
<servo name="HATCH" no="5" min="1860" neutral="1860" max="1022"/>
|
||||
<servo name="MOTOR_RIGHT" no="6" min="1000" neutral="1000" max="2000"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="HATCH" failsafe_value="0"/>
|
||||
<axis name="GAIN1" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="YAW" value="@YAW"/>
|
||||
<set command="HATCH" value="@CALIB"/>
|
||||
<set command="GAIN1" value="@GAIN1"/>
|
||||
</rc_commands>
|
||||
|
||||
<auto_rc_commands>
|
||||
<set command="YAW" value="@YAW"/>
|
||||
<set command="GAIN1" value="@GAIN1"/>
|
||||
</auto_rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILERON_DIFF" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="MOTOR_LEFT" value="@THROTTLE"/>
|
||||
<set servo="MOTOR_RIGHT" value="(@GAIN1 > 0 ? @THROTTLE : 0)"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
<set servo="RUDDER" value="@YAW"/>
|
||||
<let var="roll" value="@ROLL"/>
|
||||
<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
|
||||
<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
|
||||
<set servo="HATCH" value="@HATCH"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_2"/>
|
||||
<define name="IR_TOP" value="ADC_0"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
<define name="GYRO_ROLL" value="ADC_3"/>
|
||||
<define name="GYRO_NB_SAMPLES" value="32"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ADC_IR1_NEUTRAL" value="512"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="512"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="512"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="-1"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.7"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR1_SIGN" value="1"/>
|
||||
<define name="IR2_SIGN" value="-1"/>
|
||||
<define name="TOP_SIGN" value="-1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="520"/>
|
||||
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
|
||||
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
|
||||
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
|
||||
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
|
||||
<define name="ROLL_DIRECTION" value="-1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<!-- 0.0247311828 -->
|
||||
<!-- 0.02432905 -->
|
||||
<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
|
||||
<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
|
||||
<define name="MAXIMUM_AIRSPEED" value="18." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
|
||||
<!-- <define name="XBEE_INIT" value=""ATPL2\rATRN1\rATTT80\r""/> -->
|
||||
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
|
||||
</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="0.06"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="0.023"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.101000003517"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="0.06"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.1"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="1.0340000391"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.60" unit="rad"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
|
||||
|
||||
<define name="ROLL_PGAIN" value="6000."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="8898.3046875"/>
|
||||
<define name="PITCH_DGAIN" value="1694.91503906"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="1520.73706055"/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="5847.45800781"/>
|
||||
<define name="ROLL_RATE_GAIN" value="2923.72900391"/>
|
||||
|
||||
<define name="ROLL_KFF" value="-500"/>
|
||||
<define name="ROLL_IGAIN" value="5000"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<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="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.35"/><!-- 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="GYRO_GAINS">
|
||||
<define name="GYRO_MAX_RATE" value="200."/>
|
||||
<define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
|
||||
<define name="ALT_ROLL__PGAIN" value="1.0"/>
|
||||
<define name="ROLL_RATE_PGAIN" value="1000.0"/>
|
||||
<define name="ROLL_RATE_IGAIN" value="0.0"/>
|
||||
<define name="ROLL_RATE_DGAIN" value="0.0"/>
|
||||
</section>
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
CONFIG = \"tiny_2_1.h\"
|
||||
|
||||
include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
|
||||
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
|
||||
|
||||
ap.srcs += commands.c
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
|
||||
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_AUTO1
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
|
||||
ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c
|
||||
|
||||
#TRANSPARENT
|
||||
#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
|
||||
#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
ap.srcs += inter_mcu.c
|
||||
|
||||
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
ap.CFLAGS += -DUSE_GYRO -DADXRS150
|
||||
ap.srcs += gyro.c
|
||||
|
||||
ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
|
||||
# -DGPS_LED=2
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += subsystems/nav.c fw_h_ctl_a.c fw_v_ctl.c
|
||||
|
||||
ap.srcs += subsystems/navigation/nav_line.c
|
||||
ap.srcs += subsystems/navigation/nav_survey_rectangle.c
|
||||
|
||||
ap.srcs += subsystems/navigation/bomb.c
|
||||
|
||||
ap.srcs += subsystems/navigation/snav.c
|
||||
|
||||
# Config for SITL simulation
|
||||
# include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
|
||||
sim.ARCHDIR = $(ARCHI)
|
||||
sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.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
|
||||
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
|
||||
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
|
||||
|
||||
sim.srcs += subsystems/navigation/bomb.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -1,312 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
|
||||
|
||||
<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
|
||||
Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
|
||||
Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
|
||||
Radiotronix modem
|
||||
Digital camera
|
||||
-->
|
||||
|
||||
<airframe name="Funjet 1 Tiny 2.1">
|
||||
|
||||
<modules>
|
||||
<!-- <load name="poles.xml"/> -->
|
||||
<!-- <load name="infrared_i2c.xml"/> -->
|
||||
</modules>
|
||||
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="2" min="1130" neutral="1570" max="1880"/>
|
||||
<servo name="AILEVON_RIGHT" no="6" min="1980" neutral="1450" max="1170"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="HATCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.75"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ADC_IR1_NEUTRAL" value="512"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="512"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="512"/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="1."/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1."/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.5"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR2_SIGN" value="-1"/>
|
||||
<define name="TOP_SIGN" value="-1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="1.14591562748" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="3.38045096397" unit="deg"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
|
||||
<define name="I2C_DEFAULT_CONF" value="0x1"/>
|
||||
</section>
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="520"/>
|
||||
<define name="ADC_TEMP_NEUTRAL" value="476"/>
|
||||
<define name="ADC_TEMP_SLOPE" value="0"/>
|
||||
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
|
||||
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
|
||||
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
|
||||
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
|
||||
<define name="ROLL_DIRECTION" value="-1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="2000"/>
|
||||
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
|
||||
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
|
||||
<define name="MAXIMUM_AIRSPEED" value="25." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
|
||||
<!-- define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/ -->
|
||||
<!-- define name="NO_XBEE_API_INIT" value="TRUE"/ -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
||||
|
||||
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
|
||||
</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="0.104000002146"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.3"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="0.0149999996647"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.0460000000894"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="0.0209999997169"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.203999996185"/>
|
||||
<define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.148000001907"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.5"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="1.20599997044"/>
|
||||
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="rad"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="14814.8154297"/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="2500"/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="8055.55615234"/>
|
||||
<define name="ROLL_RATE_GAIN" value="1527.7779541"/>
|
||||
|
||||
<define name="ROLL_KFF" value="-500"/>
|
||||
<define name="ROLL_IGAIN" value="500"/>
|
||||
<define name="PITCH_IGAIN" value="500"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" 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="0.75"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.20"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.15"/><!-- 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="GYRO_GAINS">
|
||||
<define name="GYRO_MAX_RATE" value="200."/>
|
||||
<define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
|
||||
<define name="ALT_ROLL__PGAIN" value="1.0"/>
|
||||
<define name="ROLL_RATE_PGAIN" value="1000.0"/>
|
||||
<define name="ROLL_RATE_IGAIN" value="0.0"/>
|
||||
<define name="ROLL_RATE_DGAIN" value="0.0"/>
|
||||
</section>
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
<section name="SIMU">
|
||||
<define name="ROLL_RESPONSE_FACTOR" value="15"/>
|
||||
<define name="MAX_ROLL_DOT" value="10" unit="rad/s"/>
|
||||
</section>
|
||||
|
||||
<!--
|
||||
<section name="Digital camera telecommand">
|
||||
<!-- IOs are seen as LEDs --
|
||||
|
||||
<define name="LED_6_BANK" value="0"/>
|
||||
<define name="LED_6_PIN" value="2"/> <!-- I2C SCL --
|
||||
|
||||
<!-- ADC 5 --
|
||||
<define name="LED_7_BANK" value="0"/>
|
||||
<define name="LED_7_PIN" value="3"/> <!-- I2C SDA --
|
||||
|
||||
<define name="DC_SHUTTER_LED" value="6"/> <!-- Grey wire --
|
||||
<define name="DC_ZOOM_LED" value="7"/>
|
||||
</section>
|
||||
-->
|
||||
<makefile>
|
||||
CONFIG = \"tiny_2_1.h\"
|
||||
|
||||
include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
|
||||
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
|
||||
|
||||
ap.srcs += commands.c
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
|
||||
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B9600
|
||||
#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c
|
||||
|
||||
#TRANSPARENT
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
|
||||
ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
ap.srcs += inter_mcu.c
|
||||
|
||||
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
|
||||
# -DGPS_LED=2
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DUSE_GYRO -DADXRS150
|
||||
ap.srcs += gyro.c subsystems/navigation/nav_line.c
|
||||
ap.srcs += subsystems/navigation/nav_survey_rectangle.c
|
||||
# chemotaxis.c anemotaxis.c subsystems/navigation/discsurvey.c
|
||||
|
||||
########## Barometer (SPI)
|
||||
#ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
|
||||
#ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
|
||||
|
||||
########## Chemo sensor (I2C)
|
||||
#ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
|
||||
#ap.CFLAGS += -DUSE_I2C -DUSE_I2C0
|
||||
|
||||
# Digital camera
|
||||
# Shutter: I2C SCL
|
||||
# Zoom: I2C SDA
|
||||
# ap.CFLAGS += -DDIGITAL_CAM
|
||||
# ap.srcs += dc.c
|
||||
|
||||
ap.CFLAGS += -DUSE_MODULES
|
||||
sim.CFLAGS += -DUSE_MODULES
|
||||
|
||||
# for infrared
|
||||
ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
|
||||
ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150
|
||||
|
||||
|
||||
# Config for SITL simulation
|
||||
#include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
|
||||
sim.ARCHDIR = $(ARCHI)
|
||||
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
|
||||
sim.srcs = latlong.c radio_control.c subsystems/datalink/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
|
||||
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
|
||||
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
|
||||
# -DENOSE
|
||||
#sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
|
||||
#sim.CFLAGS += -DUSE_I2C -DUSE_I2C0
|
||||
# chemotaxis.c anemotaxis.c subsystems/navigation/discsurvey.c $(SRC_ARCH)/sim_enose.c chemo_detect.c
|
||||
|
||||
#sim.CFLAGS += -DDIGITAL_CAM -DPOWER_SWITCH_LED=4
|
||||
#sim.srcs += dc.c
|
||||
|
||||
|
||||
|
||||
# a test program to setup actuators
|
||||
setup_actuators.ARCHDIR = $(ARCHI)
|
||||
|
||||
setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART1 -DUART1_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart1
|
||||
setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c subsystems/datalink/pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4015_hw.c main.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -1,216 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
|
||||
<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
|
||||
Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
|
||||
Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
|
||||
Radiotronix modem
|
||||
-->
|
||||
|
||||
<airframe name="JSBSim test file (from funjet file)">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="2" min="1130" neutral="1500" max="1880"/>
|
||||
<servo name="AILEVON_RIGHT" no="6" min="1980" neutral="1515" max="1170"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.75"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_2"/>
|
||||
<define name="IR_TOP" value="ADC_0"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
|
||||
<define name="GYRO_ROLL" value="ADC_3"/>
|
||||
<define name="GYRO_NB_SAMPLES" value="16"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ADC_IR1_NEUTRAL" value="512"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="512"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="512"/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="1."/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1."/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.5"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR2_SIGN" value="-1"/>
|
||||
<define name="TOP_SIGN" value="-1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="-3.6" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="6" unit="deg"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="520"/>
|
||||
<define name="ADC_TEMP_NEUTRAL" value="476"/>
|
||||
<define name="ADC_TEMP_SLOPE" value="0"/>
|
||||
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
|
||||
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
|
||||
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
|
||||
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
|
||||
<define name="ROLL_DIRECTION" value="-1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="17." unit="m/s"/>
|
||||
<define name="MINIMUM_AIRSPEED" value="17." unit="m/s"/>
|
||||
<define name="MAXIMUM_AIRSPEED" value="17." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
|
||||
<!-- <define name="XBEE_INIT" value=""ATPL2\rATRN1\rATTT80\r""/> -->
|
||||
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="150."/>
|
||||
</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="0.04"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.300000011921"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.3"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="0.02"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.37"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="0.05"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.5"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="1."/>
|
||||
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.7" unit="rad"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="50000"/>
|
||||
<define name="PITCH_DGAIN" value="0"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="2500"/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="20000"/>
|
||||
<define name="ROLL_RATE_GAIN" value="0"/>
|
||||
|
||||
<define name="ROLL_KFFP" value="-500"/>
|
||||
<define name="ROLL_KFFD" value="0"/>
|
||||
<define name="ROLL_IGAIN" value="5000"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" 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="0.7"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.25"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.15"/><!-- 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="GYRO_GAINS">
|
||||
<define name="GYRO_MAX_RATE" value="200."/>
|
||||
<define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
|
||||
<define name="ALT_ROLL__PGAIN" value="1.0"/>
|
||||
<define name="ROLL_RATE_PGAIN" value="1000.0"/>
|
||||
<define name="ROLL_RATE_IGAIN" value="0.0"/>
|
||||
<define name="ROLL_RATE_DGAIN" value="0.0"/>
|
||||
</section>
|
||||
-->
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<!--define name="JSBSIM_MODEL" value=""fulmar""/-->
|
||||
<define name="JSBSIM_MODEL" value=""Malolo1""/>
|
||||
<define name="JSBSIM_IR_ROLL_NEUTRAL" value="0." unit="deg"/>
|
||||
<define name="JSBSIM_IR_PITCH_NEUTRAL" value="0." unit="deg"/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
|
||||
# Config for SITL simulation with JSBSim
|
||||
include $(PAPARAZZI_SRC)/conf/firmwares/sitl_jsbsim.makefile
|
||||
|
||||
sim.CFLAGS += -I/home/cocoleon/usr/include/JSBSim
|
||||
sim.LDFLAGS += -L/home/cocoleon/usr/lib/
|
||||
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
|
||||
sim.srcs += $(SIMDIR)/sim_ac_fw.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -1,275 +0,0 @@
|
||||
<airframe name="Miraterre Slayer 2">
|
||||
<!-- Slayer (http://www.recherche.enac.fr/wiki/index.php/Image:DragonSlayer_0948sm.jpg)
|
||||
Two ailevons
|
||||
Baro
|
||||
Tilted infrared sensor, gyro
|
||||
Still camera
|
||||
Tiny 0.99
|
||||
-->
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="AILEVON_RIGHT" no="1" min="1000" neutral="1500" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="0" min="2000" neutral="1480" max="900"/>
|
||||
<servo name="THROTTLE" no="4" min="1250" neutral="1250" max="1850"/>
|
||||
<servo name="HATCH" no="3" min="2000" neutral="2000" max="1000"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="HATCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.8"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
<set servo="HATCH" value="@HATCH"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.96"/>
|
||||
<define name="MAX_PITCH" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_0"/>
|
||||
<define name="IR_TOP" value="ADC_4"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
<define name="GYRO_ROLL" value="ADC_5"/>
|
||||
<!-- <define name="GYRO_TEMP" value="ADC_6"/> -->
|
||||
<define name="GYRO_NB_SAMPLES" value="16"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ADC_IR1_NEUTRAL" value="512"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="512"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="510"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR2_SIGN" value="1"/>
|
||||
<define name="TOP_SIGN" value="-1"/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="0.356000006199"/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="0.381000012159"/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.5"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="-9" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="3" unit="deg"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1.5"/>
|
||||
<define name="CORRECTION_DOWN" value="1.5"/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="484"/>
|
||||
<!-- <define name="ADC_TEMP_NEUTRAL" value="476"/>
|
||||
<define name="ADC_TEMP_SLOPE" value="0"/>
|
||||
-->
|
||||
<define name="ROLL_SCALE" value="1.3846"/>
|
||||
<define name="ROLL_DIRECTION" value="-1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="5000"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<define name="VoltageOfAdc(adc)" value="(0.0183*adc)"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
|
||||
<define name="MAXIMUM_AIRSPEED" value="25." unit="m/s"/>
|
||||
<define name="MINIMUM_AIRSPEED" value="15." unit="m/s"/>
|
||||
<define name="CARROT" value="3." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="90"/>
|
||||
|
||||
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
|
||||
<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
|
||||
|
||||
|
||||
<define name="TELEMETRY_MODE_AP" value="1"/>
|
||||
</section>
|
||||
|
||||
<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="0.5"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".47"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1250"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/>
|
||||
<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="0.15"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.15"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_DGAIN" value="-1"/>
|
||||
|
||||
<!-- 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="2.6"/>
|
||||
<define name="COURSE_DGAIN" value="1"/>
|
||||
<define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.73" unit="rad"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="9000."/>
|
||||
<define name="PITCH_DGAIN" value="0."/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="1000"/>
|
||||
|
||||
<!-- roll rate loop -->
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
|
||||
<define name="ROLL_RATE_GAIN" value="1500"/>
|
||||
|
||||
<define name="COURSE_SLEW_INCREMENT" value="RadOfDeg(3)"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<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="CLIMB_THROTTLE" value="1."/><!-- Throttle for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.42"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.5"/><!-- Pitch for Aggressive Decent -->
|
||||
<define name="CLIMB_NAV_RATIO" value="0.4"/><!-- 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="DELAY_WITHOUT_GPS" value="1" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.2" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
|
||||
<makefile>
|
||||
include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.h\" -DUSE_LED -DTIME_LED=1
|
||||
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
|
||||
|
||||
ap.srcs += commands.c
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
#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 += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c
|
||||
|
||||
# AEROCOMM
|
||||
# ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
|
||||
|
||||
# RADIOTRONIX
|
||||
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.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
ap.srcs += inter_mcu.c
|
||||
|
||||
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.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
|
||||
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/traffic_info.c subsystems/navigation/nav_line.c
|
||||
|
||||
# Camera power switch on ADC_7 pin
|
||||
ap.CFLAGS += -DUSE_LED_3_BANK=0 -DUSE_LED_3_PIN=10 -DPOWER_SWITCH_LED=3
|
||||
|
||||
|
||||
ap.CFLAGS += -DUSE_GYRO -DADXRS150
|
||||
# -DIDG300
|
||||
ap.srcs += gyro.c
|
||||
# ap.srcs += subsystems/navigation/bomb.c
|
||||
|
||||
# Hack to use the same tuning file than slayer1
|
||||
ap.CFLAGS += -DUSE_GPIO
|
||||
ap.srcs += $(SRC_ARCH)/gpio.c
|
||||
|
||||
# Harware In The Loop
|
||||
|
||||
#ap.CFLAGS += -DHITL
|
||||
|
||||
|
||||
# ap.CFLAGS += -DTELEMETRY_MODE_FBW=1
|
||||
|
||||
ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
|
||||
ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
|
||||
ap.CFLAGS += -D BARO_MS5534A_W1=0xAC20 -D BARO_MS5534A_W2=0x87D9 -D BARO_MS5534A_W3=0X8D9C -D BARO_MS5534A_W4=0xB080
|
||||
# C1 = 22032 UT1=24568
|
||||
|
||||
|
||||
|
||||
# Config for SITL simulation
|
||||
# Config for SITL simulation
|
||||
#include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
|
||||
sim.ARCHDIR = $(ARCHI)
|
||||
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
|
||||
sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.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
|
||||
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DUSE_BARO_MS5534A
|
||||
|
||||
sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c $(SRC_ARCH)/sim_baro.c
|
||||
|
||||
sim.srcs += fw_h_ctl.c
|
||||
# sim.srcs += fw_h_ctl_a.c
|
||||
# sim.CFLAGS += -DH_CTL_ROLL_IGAIN=-500 -DH_CTL_ROLL_KFF=-500
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -1,264 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
|
||||
|
||||
<!-- Solar Storm
|
||||
Tiny 1.1
|
||||
Tilted infrared sensor
|
||||
Radiotronix modem
|
||||
MPTT tracker
|
||||
Drop servo -->
|
||||
|
||||
<airframe name="SolarStorm">
|
||||
|
||||
<modules>
|
||||
<load name="poles.xml"/>
|
||||
<load name="MPPT.xml"/>
|
||||
</modules>
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR" no="3" min="1250" neutral="1250" max="1800"/>
|
||||
<servo name="AILEVON_LEFT" no="4" min="1850" neutral="1470" max="1100"/>
|
||||
<servo name="AILEVON_RIGHT" no="5" min="1100" neutral="1545" max="1870"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="HATCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.75"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
|
||||
<define name="AILERON_DIFF" value="0.5"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + ($aileron > 0 ? 1 : AILERON_DIFF) * $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - ($aileron > 0 ? AILERON_DIFF : 1) * $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_2"/>
|
||||
<define name="IR2" value="ADC_1"/>
|
||||
<define name="IR_TOP" value="ADC_0"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
|
||||
<define name="GYRO_ROLL" value="ADC_3"/>
|
||||
<define name="GYRO_NB_SAMPLES" value="16"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ADC_IR1_NEUTRAL" value="512"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="512"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="512"/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="1."/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1."/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.2"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR1_SIGN" value="-1"/>
|
||||
<define name="IR2_SIGN" value="1"/>
|
||||
<define name="TOP_SIGN" value="-1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="3.49504256248" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="8.42247962952" unit="deg"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="512"/>
|
||||
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
|
||||
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
|
||||
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
|
||||
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
|
||||
<define name="ROLL_DIRECTION" value="-1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="MINIMUM_AIRSPEED" value="13." unit="m/s"/>
|
||||
<define name="NOMINAL_AIRSPEED" value="16." unit="m/s"/>
|
||||
<define name="MAXIMUM_AIRSPEED" value="24." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
||||
|
||||
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
|
||||
</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="0.04"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.356000006199"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2500"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="0.02"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.15"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="0.05"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.5"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="0.885999977589"/>
|
||||
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.7" unit="rad"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="14255.3193359"/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="2000."/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="12000"/>
|
||||
<define name="ROLL_RATE_GAIN" value="2500"/>
|
||||
|
||||
<define name="ROLL_KFF" value="-500"/>
|
||||
<define name="ROLL_IGAIN" value="00"/>
|
||||
<define name="PITCH_IGAIN" value="500"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
<define name="NAV_GROUND_SPEED_PGAIN" value="0.01"/>
|
||||
</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="0.75"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.20"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.15"/><!-- 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="GYRO_GAINS">
|
||||
<define name="GYRO_MAX_RATE" value="200."/>
|
||||
<define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
|
||||
<define name="ALT_ROLL__PGAIN" value="1.0"/>
|
||||
<define name="ROLL_RATE_PGAIN" value="1000.0"/>
|
||||
<define name="ROLL_RATE_IGAIN" value="0.0"/>
|
||||
<define name="ROLL_RATE_DGAIN" value="0.0"/>
|
||||
</section>
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
|
||||
<makefile>
|
||||
CONFIG = \"tiny_1_1.h\"
|
||||
|
||||
include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
|
||||
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
|
||||
|
||||
ap.srcs += commands.c
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
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.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
ap.srcs += inter_mcu.c
|
||||
|
||||
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DGPS_LED=2
|
||||
#ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DGPS_LED=2
|
||||
ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
|
||||
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DUSE_GYRO -DADXRS150
|
||||
ap.srcs += gyro.c subsystems/navigation/nav_line.c
|
||||
ap.srcs += subsystems/navigation/nav_survey_rectangle.c
|
||||
|
||||
########## MPTT
|
||||
ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
|
||||
ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150
|
||||
|
||||
|
||||
ap.CFLAGS += -DUSE_MODULES
|
||||
|
||||
# Config for SITL simulation
|
||||
#include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
|
||||
sim.ARCHDIR = $(ARCHI)
|
||||
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
|
||||
sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.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 $(SRC_ARCH)/led_hw.c
|
||||
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
|
||||
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
|
||||
|
||||
sim.CFLAGS += -DUSE_MODULES
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -1,280 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
|
||||
|
||||
<!-- SPirit Of Corsica II
|
||||
Ailerons, elevator, NO rudder
|
||||
Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
|
||||
Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
|
||||
XBee modem (transparent)
|
||||
Current sensor
|
||||
-->
|
||||
|
||||
<airframe name="Spoc II Tiny 2.1">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILERON_LEFT" no="6" min="1900" neutral="1500" max="1100"/>
|
||||
<servo name="AILERON_RIGHT" no="2" min="1900" neutral="1500" max="1100"/>
|
||||
<servo name="ELEVATOR" no="7" min="1980" neutral="1420" max="1170"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILERON_DIFF" value="0.66"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
<let var="roll" value="@ROLL"/>
|
||||
<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
|
||||
<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_2"/>
|
||||
<define name="IR2" value="ADC_1"/>
|
||||
<define name="IR_TOP" value="ADC_0"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
|
||||
<define name="GYRO_ROLL" value="ADC_5"/>
|
||||
<define name="GYRO_NB_SAMPLES" value="16"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ADC_IR1_NEUTRAL" value="512"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="512"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="512"/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="1."/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1."/>
|
||||
<define name="VERTICAL_CORRECTION" value="1."/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR2_SIGN" value="-1"/>
|
||||
<define name="TOP_SIGN" value="-1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="GYRO" prefix="GYRO_">
|
||||
<define name="ADC_ROLL_NEUTRAL" value="490"/>
|
||||
<define name="ADC_TEMP_NEUTRAL" value="512"/>
|
||||
<define name="ADC_TEMP_SLOPE" value="0"/>
|
||||
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
|
||||
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
|
||||
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
|
||||
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
|
||||
<define name="ROLL_DIRECTION" value="(-1)"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000"/>
|
||||
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
|
||||
<define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
|
||||
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
|
||||
<define name="MAXIMUM_AIRSPEED" value="25." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
|
||||
<!-- define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/ -->
|
||||
<!-- define name="NO_XBEE_API_INIT" value="TRUE"/ -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
||||
|
||||
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
|
||||
</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="0.04"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.305000007153"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="0.02"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="0.05"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.5"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="1.20599997044"/>
|
||||
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="rad"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="7627.11914062"/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="2500"/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="12584.7460938"/>
|
||||
<define name="ROLL_RATE_GAIN" value="1779.66101074"/>
|
||||
|
||||
<define name="ROLL_KFF" value="-500"/>
|
||||
<define name="ROLL_IGAIN" value="500"/>
|
||||
<define name="PITCH_IGAIN" value="500"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" 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="0.6"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.20"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.15"/><!-- 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="GYRO_GAINS">
|
||||
<define name="GYRO_MAX_RATE" value="200."/>
|
||||
<define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
|
||||
<define name="ALT_ROLL__PGAIN" value="1.0"/>
|
||||
<define name="ROLL_RATE_PGAIN" value="1000.0"/>
|
||||
<define name="ROLL_RATE_IGAIN" value="0.0"/>
|
||||
<define name="ROLL_RATE_DGAIN" value="0.0"/>
|
||||
</section>
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="JSBSIM_MODEL" value=""Corsica""/>
|
||||
<define name="JSBSIM_IR_ROLL_NEUTRAL" value="0." unit="deg"/>
|
||||
<define name="JSBSIM_IR_PITCH_NEUTRAL" value="0." unit="deg"/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
CONFIG = \"tiny_2_1_1.h\"
|
||||
|
||||
include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
|
||||
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
|
||||
|
||||
ap.srcs += commands.c
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
|
||||
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
#TRANSPARENT
|
||||
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B57600
|
||||
ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
ap.srcs += inter_mcu.c
|
||||
|
||||
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_5
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
|
||||
# -DGPS_LED=2
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
ap.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
|
||||
|
||||
ap.CFLAGS += -DUSE_GYRO -DADXRS150
|
||||
ap.srcs += gyro.c
|
||||
|
||||
# Current sensor
|
||||
ap.CFLAGS += -DUSE_ADC_3 -DADC_CHANNEL_CURRENT=ADC_3
|
||||
|
||||
# Config for SITL simulation
|
||||
#include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
|
||||
sim.ARCHDIR = $(ARCHI)
|
||||
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
|
||||
sim.srcs = latlong.c radio_control.c subsystems/datalink/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
|
||||
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
|
||||
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
|
||||
|
||||
# Config for JSBSim simulation
|
||||
include $(PAPARAZZI_SRC)/conf/firmwares/sitl_jsbsim.makefile
|
||||
|
||||
jsbsim.CFLAGS += -I/home/cocoleon/usr/include/JSBSim
|
||||
jsbsim.LDFLAGS += -L/home/cocoleon/usr/lib/
|
||||
|
||||
jsbsim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
jsbsim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
|
||||
jsbsim.srcs += $(SIMDIR)/sim_ac_fw.c
|
||||
|
||||
|
||||
# a test program to setup actuators
|
||||
setup_actuators.ARCHDIR = $(ARCHI)
|
||||
|
||||
setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART1 -DUART1_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart1
|
||||
setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c subsystems/datalink/pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4015_hw.c main.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -1,186 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
|
||||
|
||||
<!-- Twinstar II, 2x Jeti 18 advance plus, AXI 2212/26
|
||||
Tiny 2.11
|
||||
ArduIMU
|
||||
XBee modem with API Mode
|
||||
LEA 5H GPS
|
||||
-->
|
||||
|
||||
<airframe name="Twinstar">
|
||||
|
||||
<modules>
|
||||
<load name="ins_arduimu_basic.xml">
|
||||
<define name="USE_HIGH_ACCEL_FLAG"/>
|
||||
</load>
|
||||
<load name="cam_point.xml">
|
||||
<define name="POINT_CAM_ROLL"/>
|
||||
</load>
|
||||
<!--load name="cam_segment.xml"/-->
|
||||
</modules>
|
||||
|
||||
<firmware name="fixedwing">
|
||||
<target name="ap" board="tiny_2.11"/>
|
||||
<target name="sim" board="pc"/>
|
||||
|
||||
<define name="LOITER_TRIM"/>
|
||||
<define name="ALT_KALMAN"/>
|
||||
<define name="AGR_CLIMB"/>
|
||||
<define name="USE_I2C0"/>
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="telemetry" type="xbee_api"/>
|
||||
<subsystem name="control"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="navigation"/>
|
||||
</firmware>
|
||||
|
||||
<firmware name="setup">
|
||||
<target name="tunnel" board="tiny_2.11"/>
|
||||
<target name="setup_actuators" board="tiny_2.11"/>
|
||||
</firmware>
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR" no="2" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILERON_RIGHT" no="7" min="1000" neutral="1500" max="2000"/>
|
||||
<servo name="AILERON_LEFT" no="6" min="1000" neutral="1500" max="2000"/>
|
||||
<servo name="ELEVATOR" no="3" min="2000" neutral="1500" max="1000"/>
|
||||
<servo name="RUDDER" no="4" min="1000" neutral="1500" max="2000"/>
|
||||
<servo name="CAM_TILT" no="1" min="1000" neutral="1500" max="2000"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="CAM_TILT" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="YAW" value="@YAW"/>
|
||||
<set command="CAM_TILT" value="@GAIN1"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILERON_DIFF" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
<let var="roll" value="@ROLL"/>
|
||||
<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
|
||||
<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
|
||||
<set servo="RUDDER" value="@YAW"/>
|
||||
<set servo="CAM_TILT" value="@CAM_TILT"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="rad"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="rad"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="CAM" prefix="CAM_">
|
||||
<define name="TILT_MAX" value="45" unit="deg" code_unit="deg"/>
|
||||
<define name="TILT_NEUTRAL" value="0" unit="deg" code_unit="deg"/>
|
||||
<define name="TILT_MIN" value="-45" unit="deg" code_unit="deg"/>
|
||||
<define name="TILT0" value="0" unit="deg" code_unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
|
||||
<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
|
||||
<define name="MAXIMUM_AIRSPEED" value="18." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
|
||||
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
||||
</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="0.06"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="0.023"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="0.06"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.1"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="1.0"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.60" unit="rad"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="9000."/>
|
||||
<define name="ROLL_RATE_GAIN" value="3000."/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="9000."/>
|
||||
<define name="PITCH_DGAIN" value="0.4"/>
|
||||
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="1500"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<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="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.35"/><!-- 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="DELAY_WITHOUT_GPS" value="2" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -1,225 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
|
||||
|
||||
<airframe name="Soarzy Tiny 0.99">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="THROTTLE" no="3" min="1200" neutral="1200" max="2000"/>
|
||||
<!-- Servo aileron gauche = couleur blanche -->
|
||||
<!-- Aileron gauche oppose de l'aileron droit -->
|
||||
<servo name="AILERON_RIGHT" no="5" min="1250" neutral="1445" max="1650"/>
|
||||
<!-- max = valeur aileron vers le bas-->
|
||||
<servo name="AILERON_LEFT" no="4" min="1350" neutral="1565" max="1750"/>
|
||||
<!-- Rudder = Couleur rouge droite gauche -->
|
||||
<servo name="RUDDER" no="0" min="1000" neutral="1200" max="1900"/>
|
||||
<servo name="ELEVATOR" no="1" min="1180" neutral="1445" max="1820"/>
|
||||
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="HATCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="YAW" value="@YAW"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILERON_DIFF" value="0.66"/>
|
||||
<define name="COMBI_SWITCH" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="THROTTLE" value="@THROTTLE"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
|
||||
|
||||
<let var="roll" value="@ROLL"/>
|
||||
<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
|
||||
<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.6"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR2" value="ADC_0"/>
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<!-- ADC_2 IS NOT WORKING -->
|
||||
<define name="IR_TOP" value="ADC_4"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ADC_IR1_NEUTRAL" value="512"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="512"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="512"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR1_SIGN" value="-1"/>
|
||||
<define name="TOP_SIGN" value="-1"/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="1."/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1."/>
|
||||
<define name="VERTICAL_CORRECTION" value="1."/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="-6" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="12" unit="deg"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000"/>
|
||||
|
||||
<define name="MilliAmpereOfAdc(_adc)" value="(_adc-162)*17.4"/>
|
||||
|
||||
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="6." unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="6.5" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="7.0" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="8." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
|
||||
<define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
|
||||
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="50."/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
|
||||
<define name="POWER_CTL_BAT_NOMINAL" value="7.4" unit="volt"/>
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="0.07"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"/>
|
||||
<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="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-500"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="0.025"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="0.05"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.05"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="1.2"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
|
||||
|
||||
|
||||
<define name="ROLL_PGAIN" value="12000."/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="PITCH_PGAIN" value="9000."/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="1250"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" 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="0.8"/><!-- 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="DELAY_WITHOUT_GPS" value="1" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
|
||||
|
||||
FLASH_MODE=IAP
|
||||
|
||||
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.h\" -DUSE_LED -DSYS_TIME_LED=1
|
||||
ap.srcs = mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
|
||||
|
||||
ap.srcs += commands.c
|
||||
|
||||
ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
|
||||
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
|
||||
|
||||
ap.CFLAGS += -DRADIO_CONTROL
|
||||
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
#XBEE ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
|
||||
#XBEE ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.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.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c
|
||||
|
||||
|
||||
ap.CFLAGS += -DINTER_MCU
|
||||
ap.srcs += inter_mcu.c
|
||||
|
||||
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4
|
||||
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
# ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
|
||||
ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DGPS_LED=2
|
||||
ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
|
||||
|
||||
ap.srcs += gps_ubx.c gps.c latlong.c
|
||||
|
||||
ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
|
||||
|
||||
ap.CFLAGS += -DUSE_ADC_6 -DADC_CHANNEL_CURRENT=ADC_6
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -1,187 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
|
||||
|
||||
<!-- SPirit Of Corsica III
|
||||
Ailerons, elevator, NO rudder
|
||||
Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
|
||||
arduIMU i2c
|
||||
XBee modem (transparent)
|
||||
Current sensor
|
||||
-->
|
||||
|
||||
<airframe name="Spoc III Tiny 2.1">
|
||||
|
||||
<modules>
|
||||
<load name="ins_arduimu_basic.xml"/>
|
||||
</modules>
|
||||
|
||||
<firmware name="fixedwing">
|
||||
<define name="ALT_KALMAN"/>
|
||||
<define name="LOITER_TRIM"/>
|
||||
|
||||
<target name="sim" board="pc"/>
|
||||
<target name="ap" board="tiny_2.11">
|
||||
<configure name="FLASH_MODE" value="IAP"/>
|
||||
<define name="USE_I2C0"/>
|
||||
</target>
|
||||
|
||||
|
||||
<subsystem name="radio_control" type="datalink"/>
|
||||
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" type="xbee_api"/>
|
||||
|
||||
<!-- Actuators are automatically chosen according to board-->
|
||||
<subsystem name="control"/>
|
||||
<!-- Sensors -->
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
|
||||
<!--subsystem name="current_sensor">
|
||||
<configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
|
||||
</subsystem-->
|
||||
|
||||
<subsystem name="navigation"/>
|
||||
</firmware>
|
||||
|
||||
|
||||
<firmware name="setup">
|
||||
<target name="tunnel" board="tiny_2.11"/>
|
||||
<target name="setup_actuators" board="tiny_2.11"/>
|
||||
</firmware>
|
||||
|
||||
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR" no="7" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="ELEVATOR" no="0" min="1900" neutral="1500" max="1100"/>
|
||||
<!-- Wing 1 -->
|
||||
<servo name="AILERON_LEFT" no="2" min="1900" neutral="1526" max="1100"/>
|
||||
<servo name="AILERON_RIGHT" no="6" min="1900" neutral="1537" max="1100"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILERON_DIFF" value="0.66"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
<let var="roll" value="@ROLL"/>
|
||||
<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
|
||||
<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="rad" />
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="-0.26" unit="rad" />
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
|
||||
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
|
||||
<define name="MAXIMUM_AIRSPEED" value="25." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
|
||||
<!-- define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/ -->
|
||||
<!-- define name="NO_XBEE_API_INIT" value="TRUE"/ -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
||||
|
||||
<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
|
||||
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
|
||||
</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="0.04"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="0.02"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="0.05"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.5"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="1.20599997044"/>
|
||||
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="rad"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="8200"/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="2500"/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="8500"/>
|
||||
<define name="ROLL_RATE_GAIN" value="2700"/>
|
||||
|
||||
<define name="ROLL_KFF" value="-500"/>
|
||||
<define name="ROLL_IGAIN" value="500"/>
|
||||
<define name="PITCH_IGAIN" value="500"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="JSBSIM_MODEL" value=""Corsica""/>
|
||||
<define name="JSBSIM_IR_ROLL_NEUTRAL" value="0." unit="deg"/>
|
||||
<define name="JSBSIM_IR_PITCH_NEUTRAL" value="0." unit="deg"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -1,218 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
|
||||
|
||||
<!-- SPirit Of Corsica III
|
||||
Ailerons, elevator, NO rudder
|
||||
Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
|
||||
arduIMU i2c
|
||||
XBee modem (transparent)
|
||||
Current sensor
|
||||
-->
|
||||
|
||||
<airframe name="Spoc III Tiny 2.1">
|
||||
|
||||
<modules>
|
||||
<load name="ins_arduimu_basic.xml"/>
|
||||
<load name="airspeed_ets.xml">
|
||||
<define name="SENSOR_SYNC_SEND"/>
|
||||
<define name="USE_AIRSPEED"/>
|
||||
<define name="AIRSPEED_ETS_SCALE" value="1.53"/>
|
||||
<define name="AIRSPEED_ETS_REVERSE"/>
|
||||
</load>
|
||||
</modules>
|
||||
|
||||
<firmware name="fixedwing">
|
||||
<define name="ALT_KALMAN"/>
|
||||
<define name="LOITER_TRIM"/>
|
||||
<define name="USE_GYRO_PITCH_RATE"/>
|
||||
|
||||
<target name="sim" board="pc"/>
|
||||
<target name="ap" board="tiny_2.11">
|
||||
<configure name="FLASH_MODE" value="IAP"/>
|
||||
<define name="USE_I2C0"/>
|
||||
</target>
|
||||
|
||||
|
||||
<!-- Control -->
|
||||
<subsystem name="control" type="new"/>
|
||||
<subsystem name="navigation"/>
|
||||
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" type="xbee_api"/>
|
||||
<subsystem name="radio_control" type="datalink"/>
|
||||
|
||||
<!-- Sensors -->
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
|
||||
<!--subsystem name="current_sensor">
|
||||
<configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
|
||||
</subsystem-->
|
||||
|
||||
</firmware>
|
||||
|
||||
<firmware name="setup">
|
||||
<target name="tunnel" board="tiny_2.11"/>
|
||||
<target name="setup_actuators" board="tiny_2.11"/>
|
||||
</firmware>
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="ELEVATOR" no="7" min="1900" neutral="1590" max="1100"/>
|
||||
<!-- Wing 2 -->
|
||||
<servo name="AILERON_LEFT" no="6" min="1900" neutral="1486" max="1100"/>
|
||||
<servo name="AILERON_RIGHT" no="2" min="1900" neutral="1400" max="1100"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILERON_DIFF" value="0.66"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
<let var="roll" value="@ROLL"/>
|
||||
<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
|
||||
<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="rad" />
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="rad" />
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="4" unit="V"/>
|
||||
<define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="MINIMUM_AIRSPEED" value="14." unit="m/s"/>
|
||||
<define name="NOMINAL_AIRSPEED" value="17." unit="m/s"/>
|
||||
<define name="MAXIMUM_AIRSPEED" value="25." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
|
||||
<!-- define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/ -->
|
||||
<!-- define name="NO_XBEE_API_INIT" value="TRUE"/ -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
||||
|
||||
<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
|
||||
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="0.04"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- Cruise throttle + limits -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(20.)"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-RadOfDeg(20.)"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="0."/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="0."/>
|
||||
|
||||
<!-- Climb loop (throttle) -->
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.08" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
|
||||
<define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.001"/>
|
||||
|
||||
<!-- Climb loop (pitch) -->
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.08"/>
|
||||
<define name="AUTO_PITCH_PGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_DGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
|
||||
|
||||
<!-- airspeed control -->
|
||||
<define name="AUTO_AIRSPEED_SETPOINT" value="17."/>
|
||||
<define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
|
||||
<define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
|
||||
<define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
|
||||
<define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
|
||||
<define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
|
||||
<define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
|
||||
<define name="AIRSPEED_MAX" value="25"/>
|
||||
<define name="AIRSPEED_MIN" value="14"/>
|
||||
|
||||
<!-- groundspeed control -->
|
||||
<define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
|
||||
<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
|
||||
<define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
|
||||
|
||||
<!-- pitch trim --> <!-- 5 deg -->
|
||||
<define name="PITCH_LOITER_TRIM" value="RadOfDeg(0.)"/>
|
||||
<define name="PITCH_DASH_TRIM" value="RadOfDeg(-0.)"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.005"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="1.20599997044"/>
|
||||
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="8500."/>
|
||||
<define name="ROLL_RATE_GAIN" value="2400."/>
|
||||
<define name="ROLL_IGAIN" value="0."/>
|
||||
<define name="ROLL_KFFA" value="0"/>
|
||||
<define name="ROLL_KFFD" value="0"/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="7000."/>
|
||||
<define name="PITCH_DGAIN" value="2400."/>
|
||||
<define name="PITCH_IGAIN" value="300."/>
|
||||
<define name="PITCH_KFFA" value="0."/>
|
||||
<define name="PITCH_KFFD" value="0."/>
|
||||
|
||||
<define name="PITCH_OF_ROLL" value="0.043"/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.5" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.0" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="JSBSIM_MODEL" value=""Corsica""/>
|
||||
<define name="JSBSIM_IR_ROLL_NEUTRAL" value="0." unit="deg"/>
|
||||
<define name="JSBSIM_IR_PITCH_NEUTRAL" value="0." unit="deg"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -1,221 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
|
||||
|
||||
<!-- SPirit Of Corsica III
|
||||
Ailerons, elevator, NO rudder
|
||||
Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
|
||||
arduIMU i2c
|
||||
XBee modem (transparent)
|
||||
Current sensor
|
||||
-->
|
||||
|
||||
<airframe name="Spoc III Tiny 2.1">
|
||||
|
||||
<modules>
|
||||
<load name="ins_arduimu_basic.xml"/>
|
||||
<load name="airspeed_ets.xml">
|
||||
<define name="SENSOR_SYNC_SEND"/>
|
||||
<define name="USE_AIRSPEED"/>
|
||||
<define name="AIRSPEED_ETS_SCALE" value="1.53"/>
|
||||
<!--define name="AIRSPEED_ETS_REVERSE"/-->
|
||||
</load>
|
||||
<load name="generic_com.xml"/>
|
||||
</modules>
|
||||
|
||||
<firmware name="fixedwing">
|
||||
<define name="ALT_KALMAN"/>
|
||||
<define name="LOITER_TRIM"/>
|
||||
<define name="USE_GYRO_PITCH_RATE"/>
|
||||
|
||||
<target name="sim" board="pc"/>
|
||||
<target name="ap" board="tiny_2.11">
|
||||
<configure name="FLASH_MODE" value="IAP"/>
|
||||
<define name="USE_I2C0"/>
|
||||
</target>
|
||||
|
||||
|
||||
<!-- Control -->
|
||||
<subsystem name="control" type="new"/>
|
||||
<subsystem name="navigation"/>
|
||||
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" type="xbee_api"/>
|
||||
<subsystem name="radio_control" type="datalink"/>
|
||||
|
||||
<!-- Sensors -->
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
|
||||
<subsystem name="current_sensor">
|
||||
<configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
|
||||
</subsystem>
|
||||
|
||||
</firmware>
|
||||
|
||||
<firmware name="setup">
|
||||
<target name="tunnel" board="tiny_2.11"/>
|
||||
<target name="setup_actuators" board="tiny_2.11"/>
|
||||
</firmware>
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="ELEVATOR" no="7" min="1900" neutral="1600" max="1100"/>
|
||||
<!-- Wing 4 -->
|
||||
<!--servo name="AILERON_LEFT" no="6" min="1900" neutral="1500" max="1100"/>
|
||||
<servo name="AILERON_RIGHT" no="2" min="1900" neutral="1590" max="1100"/-->
|
||||
<!-- Wing 1 -->
|
||||
<servo name="AILERON_LEFT" no="2" min="1900" neutral="1526" max="1100"/>
|
||||
<servo name="AILERON_RIGHT" no="6" min="1900" neutral="1537" max="1100"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILERON_DIFF" value="0.66"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
<let var="roll" value="@ROLL"/>
|
||||
<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
|
||||
<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="rad" />
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="rad" />
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="4" unit="V"/>
|
||||
<define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*18.2"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="MINIMUM_AIRSPEED" value="14." unit="m/s"/>
|
||||
<define name="NOMINAL_AIRSPEED" value="17." unit="m/s"/>
|
||||
<define name="MAXIMUM_AIRSPEED" value="25." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
|
||||
<!-- define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/ -->
|
||||
<!-- define name="NO_XBEE_API_INIT" value="TRUE"/ -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
||||
|
||||
<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
|
||||
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="0.04"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- Cruise throttle + limits -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(20.)"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-RadOfDeg(20.)"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="0."/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="0."/>
|
||||
|
||||
<!-- Climb loop (throttle) -->
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.08" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
|
||||
<define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.001"/>
|
||||
|
||||
<!-- Climb loop (pitch) -->
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.08"/>
|
||||
<define name="AUTO_PITCH_PGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_DGAIN" value="0.0"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
|
||||
|
||||
<!-- airspeed control -->
|
||||
<define name="AUTO_AIRSPEED_SETPOINT" value="17."/>
|
||||
<define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
|
||||
<define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
|
||||
<define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
|
||||
<define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
|
||||
<define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
|
||||
<define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
|
||||
<define name="AIRSPEED_MAX" value="25"/>
|
||||
<define name="AIRSPEED_MIN" value="14"/>
|
||||
|
||||
<!-- groundspeed control -->
|
||||
<define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
|
||||
<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
|
||||
<define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
|
||||
|
||||
<!-- pitch trim --> <!-- 5 deg -->
|
||||
<define name="PITCH_LOITER_TRIM" value="RadOfDeg(0.)"/>
|
||||
<define name="PITCH_DASH_TRIM" value="RadOfDeg(-0.)"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.005"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="1.20599997044"/>
|
||||
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="8500."/>
|
||||
<define name="ROLL_RATE_GAIN" value="2400."/>
|
||||
<define name="ROLL_IGAIN" value="0."/>
|
||||
<define name="ROLL_KFFA" value="0"/>
|
||||
<define name="ROLL_KFFD" value="0"/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="7000."/>
|
||||
<define name="PITCH_DGAIN" value="2400."/>
|
||||
<define name="PITCH_IGAIN" value="300."/>
|
||||
<define name="PITCH_KFFA" value="0."/>
|
||||
<define name="PITCH_KFFD" value="0."/>
|
||||
|
||||
<define name="PITCH_OF_ROLL" value="0.043"/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.5" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.0" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="JSBSIM_MODEL" value=""Corsica""/>
|
||||
<define name="JSBSIM_IR_ROLL_NEUTRAL" value="0." unit="deg"/>
|
||||
<define name="JSBSIM_IR_PITCH_NEUTRAL" value="0." unit="deg"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -1,219 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
|
||||
|
||||
<!-- Twinjet Multiplex (http://www.multiplex-rc.de/)
|
||||
Tiny 2.12 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
|
||||
Tilted infrared sensor
|
||||
-->
|
||||
|
||||
<airframe name="Twinjet 2 Tiny 2.12">
|
||||
|
||||
<modules>
|
||||
<!--load name="adp_roll.xml"/-->
|
||||
<!--load name="ins_vn100.xml"/-->
|
||||
<!--load name="ets_module_sensors.xml"/-->
|
||||
<!--load name="infrared_i2c.xml"/-->
|
||||
<!--load name="max3100.xml"/>
|
||||
<load name="gsm.xml"/-->
|
||||
<!--load name="demo_module.xml">
|
||||
<define name="TEST" value="1"/>
|
||||
<define name="TEST_FLAG"/>
|
||||
</load-->
|
||||
<!--load name="enose.xml"/-->
|
||||
<load name="light.xml"/>
|
||||
<load name="infrared_adc.xml"/>
|
||||
</modules>
|
||||
|
||||
<firmware name="fixedwing">
|
||||
<define name="PITCH_TRIM"/>
|
||||
<define name="ALT_KALMAN"/>
|
||||
<define name="USE_I2C0"/>
|
||||
|
||||
<target name="ap" board="tiny_2.11"/>
|
||||
<target name="sim" board="pc"/>
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="telemetry" type="xbee_api"/>
|
||||
<subsystem name="control" type="adaptive"/>
|
||||
<subsystem name="ahrs" type="infrared"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="navigation"/>
|
||||
</firmware>
|
||||
|
||||
<firmware name="setup">
|
||||
<target name="tunnel" board="tiny_2.11" />
|
||||
<target name="setup_actuators" board="tiny_2.11" />
|
||||
</firmware>
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR_LEFT" no="3" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="MOTOR_RIGHT" no="4" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="6" min="1900" neutral="1515" max="1100"/>
|
||||
<servo name="AILEVON_RIGHT" no="7" min="1100" neutral="1500" max="1900"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
<set command="YAW" value="@YAW"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.75"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
|
||||
<define name="MOTOR_YAW_RATE" value="0.0"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<let var="yaw" value="@YAW * MOTOR_YAW_RATE"/>
|
||||
<set servo="MOTOR_LEFT" value="@THROTTLE - $yaw"/>
|
||||
<set servo="MOTOR_RIGHT" value="@THROTTLE + $yaw"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ADC_IR1_NEUTRAL" value="512"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="512"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="512"/>
|
||||
|
||||
<define name="LATERAL_CORRECTION" value="1."/>
|
||||
<define name="LONGITUDINAL_CORRECTION" value="1."/>
|
||||
<define name="VERTICAL_CORRECTION" value="1.25"/>
|
||||
|
||||
<define name="HORIZ_SENSOR_TILTED" value="1"/>
|
||||
<define name="IR1_SIGN" value="-1"/>
|
||||
<define name="IR2_SIGN" value="1"/>
|
||||
<define name="TOP_SIGN" value="1"/>
|
||||
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="-1.146" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0.15" unit="deg"/>
|
||||
|
||||
<define name="I2C_DEFAULT_CONF" value="1"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
|
||||
<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
|
||||
<define name="MAXIMUM_AIRSPEED" value="20." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
|
||||
<!-- <define name="XBEE_INIT" value=""ATPL2\rATRN1\rATTT80\r""/> -->
|
||||
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
||||
<define name="LIGHT_LED_1" value="3"/>
|
||||
<define name="LIGHT_LED_2" value="5"/>
|
||||
</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="0.0450000017881"/>
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.319999992847"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="0.035000000149"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
|
||||
<define name="AUTO_THROTTLE_DGAIN" value="0"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.12"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="0.035000000149"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="0.01"/>
|
||||
<define name="AUTO_PITCH_DGAIN" value="0"/>
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
<define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.15"/>
|
||||
|
||||
<!-- pitch trim -->
|
||||
<define name="PITCH_LOITER_TRIM" value="RadOfDeg(5.)"/>
|
||||
<define name="PITCH_DASH_TRIM" value="RadOfDeg(-5.)"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.3"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="0.995000004768"/>
|
||||
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="3553.89208984"/>
|
||||
<define name="ROLL_RATE_GAIN" value="0."/>
|
||||
<define name="ROLL_IGAIN" value="500"/>
|
||||
<define name="ROLL_KFFA" value="500"/>
|
||||
<define name="ROLL_KFFD" value="500"/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="14522.4716797"/>
|
||||
<define name="PITCH_DGAIN" value="0."/>
|
||||
<define name="PITCH_IGAIN" value="500"/>
|
||||
<define name="PITCH_KFFA" value="0."/>
|
||||
<define name="PITCH_KFFD" value="0."/>
|
||||
|
||||
<!--define name="ELEVATOR_OF_ROLL" value="1541."/-->
|
||||
<define name="PITCH_OF_ROLL" value="RadOfDeg(0.2)"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
<define name="NAV_CROSS_TRACK_ERROR_IGAIN" value="0."/>
|
||||
<define name="NAV_CROSS_TRACK_ERROR_MAX" value="10." unit="deg"/>
|
||||
</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="0.7"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.25"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.15"/><!-- 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="DELAY_WITHOUT_GPS" value="1" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="YAW_RESPONSE_FACTOR" value="1."/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -1,11 +1,15 @@
|
||||
<airframe name="Blender">
|
||||
|
||||
<modules main_freq="512">
|
||||
<!--load name="booz_pwm.xml">
|
||||
<define name="USE_PWM1"/>
|
||||
<load name="booz_pwm.xml">
|
||||
<define name="USE_PWM0"/>
|
||||
</load>
|
||||
<load name="booz_drop.xml"/>
|
||||
<load name="booz_cam.xml"/>
|
||||
<load name="sonar_maxbotix_booz.xml"/>
|
||||
<!--load name="adc_generic.xml">
|
||||
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_0"/>
|
||||
</load-->
|
||||
<!--load name="booz_drop.xml"/>
|
||||
<load name="booz_cam.xml"/-->
|
||||
</modules>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
@@ -18,7 +22,7 @@
|
||||
<define name="ACTUATORS_START_DELAY" value="3"/>
|
||||
</target>
|
||||
<target name="nps" board="pc">
|
||||
<subsystem name="fdm" type="jsbsim"/>
|
||||
<subsystem name="fdm" type="nps"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
@@ -31,7 +35,8 @@
|
||||
<configure name="GPS_BAUD" value="B57600"/>
|
||||
</subsystem>
|
||||
<subsystem name="stabilization" type="euler"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_euler"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_quat"/>
|
||||
<subsystem name="ins" type="extended"/>
|
||||
<subsystem name="ins" type="hff"/>
|
||||
</firmware>
|
||||
|
||||
@@ -57,9 +62,9 @@
|
||||
<section name="SUPERVISION" prefix="SUPERVISION_">
|
||||
<define name="MIN_MOTOR" value="20"/>
|
||||
<define name="MAX_MOTOR" value="255"/>
|
||||
<define name="TRIM_A" value="-3"/>
|
||||
<define name="TRIM_E" value="-3"/>
|
||||
<define name="TRIM_R" value="0"/>
|
||||
<define name="TRIM_A" value="-50"/>
|
||||
<define name="TRIM_E" value="-150"/>
|
||||
<define name="TRIM_R" value="-100"/>
|
||||
<define name="NB_MOTOR" value="4"/>
|
||||
<define name="SCALE" value="256"/>
|
||||
<define name="ROLL_COEF" value="{ 0, 0, -256, 256}"/>
|
||||
@@ -88,13 +93,21 @@
|
||||
<define name="ACCEL_Y_SENS" value="38.7212932023" integer="16"/>
|
||||
<define name="ACCEL_Z_SENS" value="39.403098907" integer="16"/>
|
||||
|
||||
<define name="MAG_X_NEUTRAL" value="80"/>
|
||||
<!-- Calib Toulouse -->
|
||||
<!--define name="MAG_X_NEUTRAL" value="80"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="-271"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="112"/>
|
||||
|
||||
<define name="MAG_X_SENS" value="4.44131219218" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="4.56234629213" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="5.298653926" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="5.298653926" integer="16"/-->
|
||||
|
||||
<!-- Calid IMAV -->
|
||||
<define name="MAG_X_NEUTRAL" value="308"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="-395"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="156"/>
|
||||
<define name="MAG_X_SENS" value="4.04127878147" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="3.99918458069" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="4.79859595184" integer="16"/>
|
||||
|
||||
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
|
||||
@@ -103,18 +116,32 @@
|
||||
</section>
|
||||
|
||||
<!-- Magnetic field for Toulouse (declination -16°) -->
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<define name="MAG_UPDATE_YAW_ONLY" value="1"/>
|
||||
<!--section name="AHRS" prefix="AHRS_">
|
||||
<define name="PROPAGATE_FREQUENCY" value="512"/>
|
||||
<define name="PROPAGATE_LOW_PASS_RATES" value="1"/>
|
||||
<define name="H_X" value=" 0.513081"/>
|
||||
<define name="H_Y" value="-0.00242783"/>
|
||||
<define name="H_Z" value=" 0.858336"/>
|
||||
</section-->
|
||||
|
||||
<!-- Magnetic field for Gifhorn (declination 2°) -->
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<define name="PROPAGATE_FREQUENCY" value="512"/>
|
||||
<define name="PROPAGATE_LOW_PASS_RATES" value="1"/>
|
||||
<define name="H_X" value="0.3794131"/>
|
||||
<define name="H_Y" value="0.0141005"/>
|
||||
<define name="H_Z" value="0.9251199"/>
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<!-- datasheet 1.4 mm/LSB : 0.0014*2^8 = 0.3584 -->
|
||||
<!-- calibration SENS = 1.156 :( -->
|
||||
<define name="BARO_SENS" value="1.156" integer="16"/>
|
||||
<define name="SONAR_SENS" value="0.0128633" integer="16"/>
|
||||
<define name="SONAR_OFFSET" value="7"/>
|
||||
<define name="SONAR_MAX_RANGE" value="4.0"/>
|
||||
<define name="SONAR_THROTTLE_THRESHOLD" value="6000"/>
|
||||
<define name="SONAR_BARO_THRESHOLD" value="20."/>
|
||||
</section>
|
||||
|
||||
|
||||
@@ -138,7 +165,7 @@
|
||||
<define name="SP_MAX_R" value="90." unit="deg/s"/>
|
||||
<define name="DEADBAND_R" value="250"/>
|
||||
|
||||
<!-- reference -->
|
||||
<!-- reference -->
|
||||
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
|
||||
<define name="REF_ZETA_P" value="0.85"/>
|
||||
<define name="REF_MAX_P" value="300." unit="deg/s"/>
|
||||
@@ -155,23 +182,26 @@
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="PHI_PGAIN" value="450"/>
|
||||
<define name="PHI_DGAIN" value="190"/>
|
||||
<define name="PHI_IGAIN" value="100"/>
|
||||
<define name="PHI_PGAIN" value="1800"/>
|
||||
<define name="PHI_DGAIN" value="240"/>
|
||||
<define name="PHI_IGAIN" value="200"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="450"/>
|
||||
<define name="THETA_DGAIN" value="190"/>
|
||||
<define name="THETA_IGAIN" value="100"/>
|
||||
<define name="THETA_PGAIN" value="1800"/>
|
||||
<define name="THETA_DGAIN" value="240"/>
|
||||
<define name="THETA_IGAIN" value="200"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="700"/>
|
||||
<define name="PSI_DGAIN" value="250"/>
|
||||
<define name="PSI_PGAIN" value="1000"/>
|
||||
<define name="PSI_DGAIN" value="350"/>
|
||||
<define name="PSI_IGAIN" value="20"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value=" 100"/>
|
||||
<define name="THETA_DDGAIN" value=" 100"/>
|
||||
<define name="PSI_DDGAIN" value=" 100"/>
|
||||
<define name="PHI_DDGAIN" value="170"/>
|
||||
<define name="THETA_DDGAIN" value="170"/>
|
||||
<define name="PSI_DDGAIN" value="170"/>
|
||||
|
||||
<define name="PHI_AGAIN" value="0"/>
|
||||
<define name="THETA_AGAIN" value="0"/>
|
||||
<define name="PSI_AGAIN" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
@@ -181,26 +211,28 @@
|
||||
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
|
||||
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
|
||||
<define name="MAX_SUM_ERR" value="2000000"/>
|
||||
<define name="REF_MIN_ZDD" value="-1.2*9.81"/>
|
||||
<define name="REF_MAX_ZDD" value=" 0.8*9.81"/>
|
||||
<define name="REF_MIN_ZDD" value="-0.5*9.81"/>
|
||||
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
|
||||
<define name="REF_MIN_ZD" value="-1.5"/>
|
||||
<define name="REF_MAX_ZD" value=" 1.5"/>
|
||||
<define name="HOVER_KP" value="300"/>
|
||||
<define name="HOVER_KD" value="160"/>
|
||||
<define name="HOVER_KP" value="130"/>
|
||||
<define name="HOVER_KD" value="80"/>
|
||||
<define name="HOVER_KI" value="0"/>
|
||||
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
|
||||
<define name="RC_CLIMB_COEF" value ="163"/>
|
||||
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
|
||||
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
|
||||
<define name="ADAPT_NOISE_FACTOR" value="1.5"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="PGAIN" value="140"/>
|
||||
<define name="DGAIN" value="90"/>
|
||||
<define name="IGAIN" value="30"/>
|
||||
<define name="MAX_BANK" value="30" unit="deg"/>
|
||||
<define name="PGAIN" value="50"/>
|
||||
<define name="DGAIN" value="80"/>
|
||||
<define name="IGAIN" value="20"/>
|
||||
<define name="NGAIN" value="0"/>
|
||||
<!-- feedforward -->
|
||||
<define name="AGAIN" value="100"/>
|
||||
<define name="AGAIN" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
@@ -210,8 +242,8 @@
|
||||
<section name="AUTOPILOT">
|
||||
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
|
||||
<!--define name="MODE_AUTO2" value="AP_MODE_NAV"/-->
|
||||
<!--define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/-->
|
||||
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
|
||||
</section>
|
||||
|
||||
<section name="FMS">
|
||||
@@ -219,23 +251,28 @@
|
||||
</section>
|
||||
|
||||
<section name="CAM" prefix="BOOZ_CAM_">
|
||||
<define name="TILT_NEUTRAL" value="1500"/>
|
||||
<!--define name="TILT_NEUTRAL" value="1500"/>
|
||||
<define name="TILT_MIN" value="1060"/>
|
||||
<define name="TILT_MAX" value="2250"/>
|
||||
<define name="TILT_ANGLE_MIN" value="-90." unit="deg"/>
|
||||
<define name="TILT_ANGLE_MAX" value=" 0." unit="deg"/>
|
||||
<define name="TILT_ANGLE_MAX" value=" 0." unit="deg"/-->
|
||||
<define name="PAN_NEUTRAL" value="0"/>
|
||||
<define name="PAN_MIN" value="0"/>
|
||||
<define name="PAN_MAX" value="25736"/> <!-- 360 deg (2^12) -->
|
||||
<define name="DEFAULT_MODE" value="BOOZ_CAM_MODE_MANUAL"/>
|
||||
<define name="ON" value="{}"/>
|
||||
<define name="OFF" value="{}"/>
|
||||
<!--define name="SetPwm(_v)" value="Booz2SetPwm1Value(_v)"/-->
|
||||
</section>
|
||||
|
||||
<section name="DROP">
|
||||
<define name="DROP_SERVO_CLOSED" value="2000"/>
|
||||
<define name="DROP_SERVO_OPEN" value="1000"/>
|
||||
<define name="BoozDropPwm(_v)" value="BoozSetPwm0Value(_v)"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
|
||||
<define name="BoozDropPwm(_v)" value="BoozSetPwm1Value(_v)"/>
|
||||
<!--define name="IMU_MAG_OFFSET" value="-9."/-->
|
||||
</section>
|
||||
|
||||
<section name="GCS">
|
||||
|
||||
@@ -6,9 +6,7 @@
|
||||
</load>
|
||||
<load name="booz_drop.xml"/>
|
||||
<load name="booz_cam.xml"/>
|
||||
<!--load name="sonar_maxbotix_booz.xml">
|
||||
<configure name="ADC_SONAR" value="ADC_0"/>
|
||||
</load-->
|
||||
<!--load name="sonar_maxbotix_booz.xml"/-->
|
||||
<!--load name="adc_generic_booz.xml"/-->
|
||||
<!--load name="sys_mon.xml"/-->
|
||||
</modules>
|
||||
@@ -23,7 +21,7 @@
|
||||
<define name="ACTUATORS_START_DELAY" value="3"/>
|
||||
</target>
|
||||
<target name="nps" board="pc">
|
||||
<subsystem name="fdm" type="jsbsim"/>
|
||||
<subsystem name="fdm" type="nps"/>
|
||||
<!--define name="NPS_NO_SUPERVISION"/-->
|
||||
</target>
|
||||
|
||||
@@ -36,6 +34,7 @@
|
||||
</subsystem>
|
||||
<subsystem name="stabilization" type="euler"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_euler"/>
|
||||
<subsystem name="ins"/>
|
||||
<subsystem name="ins" type="hff"/>
|
||||
</firmware>
|
||||
|
||||
@@ -135,28 +134,34 @@
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="PHI_PGAIN" value="2000"/>
|
||||
<define name="PHI_DGAIN" value="400"/>
|
||||
<define name="PHI_IGAIN" value="200"/>
|
||||
<define name="PHI_PGAIN" value="6000"/>
|
||||
<define name="PHI_DGAIN" value="800"/>
|
||||
<define name="PHI_IGAIN" value="500"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="2000"/>
|
||||
<define name="THETA_DGAIN" value="400"/>
|
||||
<define name="THETA_IGAIN" value="200"/>
|
||||
<define name="THETA_PGAIN" value="6000"/>
|
||||
<define name="THETA_DGAIN" value="800"/>
|
||||
<define name="THETA_IGAIN" value="500"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="2000"/>
|
||||
<define name="PSI_DGAIN" value="400"/>
|
||||
<define name="PSI_IGAIN" value="10"/>
|
||||
<define name="PSI_PGAIN" value="3000"/>
|
||||
<define name="PSI_DGAIN" value="600"/>
|
||||
<define name="PSI_IGAIN" value="100"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value=" 300"/>
|
||||
<define name="THETA_DDGAIN" value=" 300"/>
|
||||
<define name="PSI_DDGAIN" value=" 300"/>
|
||||
|
||||
<define name="PHI_AGAIN" value="0"/>
|
||||
<define name="THETA_AGAIN" value="0"/>
|
||||
<define name="PSI_AGAIN" value="0"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<define name="BARO_SENS" value="15." integer="16"/>
|
||||
<define name="SONAR_SENS" value="2.146" integer="16"/>
|
||||
<!--define name="SONAR_SENS" value="2.146" integer="16"/-->
|
||||
<define name="SONAR_SENS" value="0.0128633" integer="16"/>
|
||||
<define name="SONAR_MAX_RANGE" value="4.0"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
@@ -165,7 +170,7 @@
|
||||
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
|
||||
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
|
||||
<define name="MAX_SUM_ERR" value="2000000"/>
|
||||
<define name="REF_MIN_ZDD" value="-1.5*9.81"/>
|
||||
<define name="REF_MIN_ZDD" value="-0.8*9.81"/>
|
||||
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
|
||||
<define name="REF_MIN_ZD" value="-1.5"/>
|
||||
<define name="REF_MAX_ZD" value=" 1.5"/>
|
||||
@@ -181,6 +186,7 @@
|
||||
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="MAX_BANK" value="30" unit="deg"/>
|
||||
<define name="PGAIN" value="50"/>
|
||||
<define name="DGAIN" value="100"/>
|
||||
<define name="IGAIN" value="15"/>
|
||||
|
||||
@@ -1,246 +0,0 @@
|
||||
<airframe name="NavGo">
|
||||
|
||||
<modules main_freq="512">
|
||||
<!--load name="booz_pwm.xml">
|
||||
<define name="USE_PWM1"/>
|
||||
</load-->
|
||||
<!--load name="booz_drop.xml"/>
|
||||
<load name="booz_cam.xml"/-->
|
||||
</modules>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<define name="USE_INS_NAV_INIT"/>
|
||||
<define name="USE_ATTITUDE_REF" value="0"/>
|
||||
<!--define name="GUIDANCE_H_USE_REF"/-->
|
||||
|
||||
<target name="ap" board="navgo_1.0">
|
||||
<define name="FAILSAFE_GROUND_DETECT"/>
|
||||
<define name="USE_GPS_ACC4R"/>
|
||||
</target>
|
||||
<target name="nps" board="pc">
|
||||
<subsystem name="fdm" type="jsbsim"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<subsystem name="actuators" type="skiron">
|
||||
<define name="SKIRON_I2C_SCL_TIME" value="25"/>
|
||||
</subsystem>
|
||||
<subsystem name="imu" type="navgo"/>
|
||||
<subsystem name="gps" type="ublox">
|
||||
<configure name="GPS_BAUD" value="B57600"/>
|
||||
</subsystem>
|
||||
<subsystem name="stabilization" type="euler"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_euler"/>
|
||||
<subsystem name="ins" type="hff"/>
|
||||
</firmware>
|
||||
|
||||
<servos>
|
||||
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
|
||||
<servo name="BACK" no="2" min="0" neutral="0" max="255"/>
|
||||
<servo name="RIGHT" no="1" min="0" neutral="0" max="255"/>
|
||||
<servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="THRUST" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<section name="ACTUATORS_SKIRON" prefix="ACTUATORS_SKIRON_">
|
||||
<define name="NB" value="4"/>
|
||||
<define name="IDX" value="{ SERVO_FRONT, SERVO_BACK, SERVO_RIGHT, SERVO_LEFT }"/>
|
||||
</section>
|
||||
|
||||
<section name="SUPERVISION" prefix="SUPERVISION_">
|
||||
<define name="MIN_MOTOR" value="20"/>
|
||||
<define name="MAX_MOTOR" value="255"/>
|
||||
<define name="TRIM_A" value="6"/>
|
||||
<define name="TRIM_E" value="0"/>
|
||||
<define name="TRIM_R" value="0"/>
|
||||
<define name="NB_MOTOR" value="4"/>
|
||||
<define name="SCALE" value="256"/>
|
||||
<define name="ROLL_COEF" value="{ 0, 0, -256, 256}"/>
|
||||
<define name="PITCH_COEF" value="{ 256, -256, 0, 0}"/>
|
||||
<define name="YAW_COEF" value="{ -256, -256, 256, 256}"/>
|
||||
<define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
|
||||
</section>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
|
||||
<define name="GYRO_P_NEUTRAL" value="10"/>
|
||||
<define name="GYRO_Q_NEUTRAL" value="-32"/>
|
||||
<define name="GYRO_R_NEUTRAL" value="11"/>
|
||||
|
||||
<!-- SENS ITG3200 1/14.375 (deg/s)/LSB, rate frac 12bit => 1/14.375 * pi / 180 * 2^12 -->
|
||||
<define name="GYRO_P_SENS" value="4.97312" integer="16"/>
|
||||
<define name="GYRO_Q_SENS" value="4.97312" integer="16"/>
|
||||
<define name="GYRO_R_SENS" value="4.97312" integer="16"/>
|
||||
|
||||
<define name="ACCEL_X_NEUTRAL" value="9"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="14"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="-16"/>
|
||||
|
||||
<!-- SENS ADXL345 16G 31.2 mg/LSB, accel frac 10bit => 31.2 * 2^10 / 1000 = 31.9488-->
|
||||
<define name="ACCEL_X_SENS" value="38.5866088465" integer="16"/>
|
||||
<define name="ACCEL_Y_SENS" value="38.7212932023" integer="16"/>
|
||||
<define name="ACCEL_Z_SENS" value="39.403098907" integer="16"/>
|
||||
|
||||
<define name="MAG_X_NEUTRAL" value="80"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="-271"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="112"/>
|
||||
|
||||
<define name="MAG_X_SENS" value="4.44131219218" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="4.56234629213" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="5.298653926" integer="16"/>
|
||||
|
||||
<define name="BODY_TO_IMU_PHI" value="0."/>
|
||||
<define name="BODY_TO_IMU_THETA" value="0."/>
|
||||
<define name="BODY_TO_IMU_PSI" value="0."/>
|
||||
|
||||
</section>
|
||||
|
||||
<!-- Magnetic field for Toulouse (declination -16°) -->
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<define name="PROPAGATE_FREQUENCY" value="512"/>
|
||||
<define name="H_X" value=" 0.513081"/>
|
||||
<define name="H_Y" value="-0.00242783"/>
|
||||
<define name="H_Z" value=" 0.858336"/>
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<!-- datasheet 1.4 mm/LSB : 0.0014*2^8 = 0.3584 -->
|
||||
<!-- calibration SENS = 1.156 :( -->
|
||||
<define name="BARO_SENS" value="1.156" integer="16"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
|
||||
|
||||
<define name="SP_MAX_P" value="10000"/>
|
||||
<define name="SP_MAX_Q" value="10000"/>
|
||||
<define name="SP_MAX_R" value="10000"/>
|
||||
|
||||
<define name="GAIN_P" value="400"/>
|
||||
<define name="GAIN_Q" value="400"/>
|
||||
<define name="GAIN_R" value="350"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
||||
|
||||
<!-- setpoints -->
|
||||
<define name="SP_MAX_PHI" value="45." unit="deg"/>
|
||||
<define name="SP_MAX_THETA" value="45." unit="deg"/>
|
||||
<define name="SP_MAX_R" value="90." unit="deg/s"/>
|
||||
<define name="DEADBAND_R" value="250"/>
|
||||
|
||||
<!-- reference -->
|
||||
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
|
||||
<define name="REF_ZETA_P" value="0.85"/>
|
||||
<define name="REF_MAX_P" value="300." unit="deg/s"/>
|
||||
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
|
||||
<define name="REF_ZETA_Q" value="0.85"/>
|
||||
<define name="REF_MAX_Q" value="300." unit="deg/s"/>
|
||||
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
|
||||
<define name="REF_ZETA_R" value="0.85"/>
|
||||
<define name="REF_MAX_R" value="90." unit="deg/s"/>
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="PHI_PGAIN" value="350"/>
|
||||
<define name="PHI_DGAIN" value="190"/>
|
||||
<define name="PHI_IGAIN" value="100"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="350"/>
|
||||
<define name="THETA_DGAIN" value="190"/>
|
||||
<define name="THETA_IGAIN" value="100"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="700"/>
|
||||
<define name="PSI_DGAIN" value="250"/>
|
||||
<define name="PSI_IGAIN" value="20"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value=" 70"/>
|
||||
<define name="THETA_DDGAIN" value=" 70"/>
|
||||
<define name="PSI_DDGAIN" value=" 70"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
|
||||
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
|
||||
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
|
||||
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
|
||||
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
|
||||
<define name="MAX_SUM_ERR" value="2000000"/>
|
||||
<define name="REF_MIN_ZDD" value="-1.2*9.81"/>
|
||||
<define name="REF_MAX_ZDD" value=" 0.8*9.81"/>
|
||||
<define name="REF_MIN_ZD" value="-1.5"/>
|
||||
<define name="REF_MAX_ZD" value=" 1.5"/>
|
||||
<define name="HOVER_KP" value="350"/>
|
||||
<define name="HOVER_KD" value="160"/>
|
||||
<define name="HOVER_KI" value="0"/>
|
||||
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
|
||||
<define name="RC_CLIMB_COEF" value ="163"/>
|
||||
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
|
||||
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="PGAIN" value="140"/>
|
||||
<define name="DGAIN" value="90"/>
|
||||
<define name="IGAIN" value="30"/>
|
||||
<define name="NGAIN" value="0"/>
|
||||
<!-- feedforward -->
|
||||
<define name="AGAIN" value="100"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
|
||||
<!--define name="MODE_AUTO2" value="AP_MODE_NAV"/-->
|
||||
</section>
|
||||
|
||||
<section name="FMS">
|
||||
<define name="BOOZ_FMS_TIMEOUT" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="CAM" prefix="BOOZ_CAM_">
|
||||
<define name="TILT_NEUTRAL" value="1500"/>
|
||||
<define name="TILT_MIN" value="1060"/>
|
||||
<define name="TILT_MAX" value="2250"/>
|
||||
<define name="TILT_ANGLE_MIN" value="-90." unit="deg"/>
|
||||
<define name="TILT_ANGLE_MAX" value=" 0." unit="deg"/>
|
||||
<define name="PAN_NEUTRAL" value="0"/>
|
||||
<define name="PAN_MIN" value="0"/>
|
||||
<define name="PAN_MAX" value="25736"/> <!-- 360 deg (2^12) -->
|
||||
<define name="DEFAULT_MODE" value="BOOZ_CAM_MODE_MANUAL"/>
|
||||
<!--define name="SetPwm(_v)" value="Booz2SetPwm1Value(_v)"/-->
|
||||
</section>
|
||||
|
||||
|
||||
<section name="MISC">
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
|
||||
<define name="BoozDropPwm(_v)" value="BoozSetPwm1Value(_v)"/>
|
||||
<!--define name="IMU_MAG_OFFSET" value="-9."/-->
|
||||
</section>
|
||||
|
||||
<section name="GCS">
|
||||
<define name="ALT_SHIFT_PLUS_PLUS" value="5"/>
|
||||
<define name="ALT_SHIFT_PLUS" value="1"/>
|
||||
<define name="ALT_SHIFT_MINUS" value="-1"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
Reference in New Issue
Block a user