mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-06 07:53:43 +08:00
Pascal Brisset
260 lines
9.7 KiB
XML
260 lines
9.7 KiB
XML
<!DOCTYPE airframe SYSTEM "airframe.dtd">
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<airframe name="Twinjet">
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<servos>
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<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
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<servo name="AILEVON_RIGHT" no="1" min="1230" neutral="1710" max="2100"/>
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<servo name="AILEVON_LEFT" no="2" min="2120" neutral="1785" max="1300"/>
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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="1.00"/>
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</section>
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<command_laws>
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<set servo="THROTTLE" value="@THROTTLE"/>
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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="AILEVON_LEFT" value="$aileron + $elevator"/>
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<set servo="AILEVON_RIGHT" value="-$aileron + $elevator"/>
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="0.6"/>
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<define name="MAX_PITCH" value="0.6"/>
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</section>
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<section name="adc" prefix="ADC_CHANNEL_">
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<define name="IR1" value="AdcBank0(1)"/>
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<define name="IR2" value="AdcBank0(2)"/>
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<define name="IR_TOP" value="AdcBank0(3)"/>
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<define name="GYRO_ROLL" value="AdcBank1(2)"/>
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<define name="GYRO_TEMP" value="AdcBank1(3)"/>
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<define name="IR_NB_SAMPLES" value="16"/>
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<define name="GYRO_NB_SAMPLES" value="16"/>
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<define name="VSUPPLY" value="AdcBank0(6)"/>
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</section>
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<section name="INFRARED" prefix="IR_">
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<define name="ADC_IR1_NEUTRAL" value="512"/>
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<define name="ADC_IR2_NEUTRAL" value="512"/>
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<define name="ADC_TOP_NEUTRAL" value="512"/>
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<define name="HORIZ_SENSOR_ALIGNED" 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="ROLL_NEUTRAL_DEFAULT" value="5" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="10" unit="deg"/>
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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="1.25"/>
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<define name="CORRECTION_UP" value="1."/>
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<define name="CORRECTION_DOWN" value="1."/>
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<define name="CORRECTION_LEFT" value="1."/>
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<define name="CORRECTION_RIGHT" value="1."/>
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</section>
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<section name="GYRO" prefix="GYRO_">
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<define name="ADC_ROLL_NEUTRAL" value="316"/>
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<define name="ADC_TEMP_NEUTRAL" value="328"/>
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<define name="ADC_TEMP_SLOPE" value="-0.36"/>
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<define name="ROLL_DIRECTION" value="1."/>
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<define name="ROLL_SCALE" value="0.44"/>
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</section>
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="-0.9"/>
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<define name="ROLL_MAX_SETPOINT" value="0.53" unit="radians"/>
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<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
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<define name="PITCH_PGAIN" value="-6000."/>
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<define name="PITCH_DGAIN" value="0."/>
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<define name="ELEVATOR_OF_ROLL" value="0"/>
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<!-- roll rate loop -->
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<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
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<define name="ROLL_RATE_GAIN" value="-1500"/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="-0.05"/>
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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="0.40"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".3"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.8"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="2000"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-1500"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="-0.008"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.25"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.14"/>
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<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
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</section>
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<section name="NAV">
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<define name="NAV_PITCH" value="0."/>
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<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="1000"/>
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<define name="VOLTAGE_ADC_A" value="0.0156"/>
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<define name="VOLTAGE_ADC_B" value="-0.029"/>
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<define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)" unit="s"/>
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<define name="LIGHT_LED_1" value="3"/>
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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="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE+0.05" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
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<define name="HOME_RADIUS" value="50" unit="m"/>
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</section>
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<section name="AGGRESSIVE" prefix="AGR_">
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<define name="CLIMB_THROTTLE" value="0.65"/><!-- Throttle for Aggressive Climb -->
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<define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive Decent -->
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<define name="CLIMB_PITCH" value="0.2"/><!-- Pitch for Aggressive Climb -->
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<define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
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<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
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<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
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<define name="CLIMB_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="DATALINK" prefix="DATALINK_">
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<define name="DEVICE_TYPE" value="AEROCOMM"/>
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<define name="DEVICE_ADDRESS" value="0x005067361851"/>
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</section>
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<makefile>
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include $(PAPARAZZI_SRC)/conf/autopilot/classix.makefile
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# FLASH_MODE=ISP
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FLASH_MODE=IAP
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fbw.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DLED -DTIME_LED=1
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fbw.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main.c
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fbw.srcs += commands.c
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fbw.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK_FALLING
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fbw.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
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fbw.CFLAGS += -DRADIO_CONTROL
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fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
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fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DUART0_BAUD=B9600
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fbw.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/uart_hw.c
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fbw.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_SLAVE
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fbw.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c
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fbw.CFLAGS += -DADC -DUSE_AD0
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fbw.srcs += $(SRC_ARCH)/adc_hw.c
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ap.CFLAGS += -DAP -DRADIO_CONTROL_AUTO1 -DBOARD_CONFIG=\"classix.h\" -DLED -DTIME_LED=2
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ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_ap.c main.c
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#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
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#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c traffic_info.c xbee.c
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ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
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ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
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ap.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0
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ap.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c
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ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
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ap.srcs += gps_ubx.c gps.c latlong.c
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# ADCs for infrared
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ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_1 -DUSE_AD0_2 -DUSE_AD0_3
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# ADCs for gyro
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ap.CFLAGS += -DUSE_AD1 -DUSE_AD1_2 -DUSE_AD1_3
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ap.srcs += $(SRC_ARCH)/adc_hw.c
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ap.CFLAGS += -DINFRARED
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ap.srcs += infrared.c estimator.c
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ap.CFLAGS += -DGYRO -DADXRS150
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ap.srcs += gyro.c
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ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DWIND_INFO
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ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
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ap.srcs += nav_line.c
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# chemotaxis.c anemotaxis.c discsurvey.c
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ap.srcs += nav_survey_rectangle.c snav.c
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ap.srcs += light.c
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ap.CFLAGS += -DUSE_LIGHT
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# ap.CFLAGS += -DUSE_JOYSTICK
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test.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK_FALLING -DUSE_UART0 -DDATALINK -DPPRZ_INPUT -DPPRZ_UART=Uart0 -DUART0_BAUD=B9600
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test.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4017_hw.c main.c
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# Config for SITL simulation
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include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
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sim.CFLAGS += -DBOARD_CONFIG=\"classix.h\" -DAGR_CLIMB -DLOITER_TRIM
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#sim.srcs += traffic_info.c
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#sim.srcs += nav_line.c chemotaxis.c anemotaxis.c discsurvey.c bomb.c nav_survey_rectangle.c
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sim.srcs += nav_survey_rectangle.c nav_line.c light.c snav.c
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sim.CFLAGS += -DUSE_LIGHT
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sim.CFLAGS += -DUSE_ADC_GENERIC
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sim.srcs += joystick.c
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sim.CFLAGS += -DUSE_JOYSTICK
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</makefile>
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</airframe>
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