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[airframes] cleaning Enac airframes

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This commit is contained in:
Gautier Hattenberger
2012-07-12 11:10:35 +02:00
parent 81e8d2f75a
commit fc35e21a9d
21 changed files with 98 additions and 4467 deletions
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conf/airframes/ENAC/fixed-wing/funjet2.xml
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<!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"/>
</modules>
<firmware name="fixedwing">
<define name="USE_I2C0"/>
<define name="AGR_CLIMB"/>
<define name="ALT_KALMAN"/>
<define name="LOITER_TRIM"/>
<target name="sim" board="pc"/>
<target name="ap" board="tiny_2.11"/>
<subsystem name="radio_control" type="ppm"/>
<!--subsystem name="joystick"/-->
<!-- Communication -->
<subsystem name="telemetry" type="transparent"/>
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/>
<subsystem name="ahrs" type="infrared"/>
<!-- Sensors -->
<subsystem name="gps" type="ublox"/>
<subsystem name="imu" type="analog">
<configure name="GYRO_P" 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>
<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="-15"/>
<define name="IR2_NEUTRAL" value="10"/>
<define name="TOP_NEUTRAL" value="-15"/>
<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>
<!-- Gyro sensitivity : -->
<!-- GYRO_ADXRS300_RESISTOR_BRIDGE value="(3.3/(3.3+1.8))" -->
<!-- GYRO_ADXRS300_SENSITIVITY value="5" unit="mV/(deg/s)" -->
<!-- ROLL_SCALE value="RadOfDeg(3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE))" unit="rad/s/adc_unit" -->
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_P_NEUTRAL" value="487"/>
<define name="GYRO_P_SENS" value="0.0173851" integer="16"/>
</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_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"/>
<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="PITCH_PGAIN" value="20000."/>
<define name="PITCH_DGAIN" value="0.4"/>
<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="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="0.7"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.2"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.2"/><!-- 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="0.3" 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>