mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Pascal Brisset
234 lines
8.5 KiB
XML
234 lines
8.5 KiB
XML
<!DOCTYPE airframe SYSTEM "airframe.dtd">
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<airframe name="Microjet5">
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<!-- tiny test airframe -->
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<!-- commands section -->
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<servos>
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<servo name="GAZ" no="0" min="1000" neutral="1000" max="2000"/>
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<servo name="AILEVON_LEFT" no="1" max="1150" neutral="1560" min="1950"/>
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<servo name="AILEVON_RIGHT" no="2" max="1900" neutral="1440" min="1050"/>
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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="0.3"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.7"/>
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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="GAZ" 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="0.6"/>
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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="ADC_0"/>
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<define name="IR2" value="ADC_1"/>
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<define name="IR_TOP" value="ADC_6"/>
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<define name="IR_NB_SAMPLES" value="16"/>
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<define name="VSUPPLY" value="ADC_3"/>
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<define name="GYRO_ROLL" value="ADC_4"/>
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<define name="GYRO_TEMP" value="ADC_5"/>
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<define name="GYRO_NB_SAMPLES" value="16"/>
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</section>
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<section name="INFRARED" prefix="IR_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="6" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="9" unit="deg"/>
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<define name="DEFAULT_CONTRAST" value="200"/>
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<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
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<linear name="RollOfIrs" arity="2" coeff1="-0.7" coeff2="0.7"/>
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<linear name="PitchOfIrs" arity="2" coeff1="-0.7" coeff2="-0.7"/>
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<linear name="TopOfIr" arity="1" coeff1="-1"/>
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<define name="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
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<define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
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<define name="ADC_ROLL_NEUTRAL" value="0"/>
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<define name="ADC_PITCH_NEUTRAL" value="-716"/>
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<define name="ADC_TOP_NEUTRAL" value="512"/>
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</section>
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<section name="GYRO" prefix="GYRO_">
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<define name="ADC_ROLL_COEF" value="1"/>
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<define name="ADC_ROLL_NEUTRAL" value="500"/>
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<define name="ADC_TEMP_NEUTRAL" value="476"/>
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<define name="ADC_TEMP_SLOPE" value="0"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
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<define name="VOLTAGE_ADC_A" value="0.0177531"/>
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<define name="VOLTAGE_ADC_B" value="0.173626"/>
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<define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
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<define name="LOW_BATTERY" value="9.3" unit="V"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="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="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="CONTROL_RATE" value="60" unit="Hz"/>
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</section>
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<section name="PID">
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<define name="ROLL_PGAIN" value="5000."/>
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<define name="PITCH_OF_ROLL" value="0.25"/>
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<define name="PITCH_PGAIN" value="10000."/>
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<define name="MAX_ROLL" value="0.35"/>
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<define name="MAX_PITCH" value="0.35"/>
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<define name="MIN_PITCH" value="-0.35"/>
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<define name="AILERON_OF_GAZ" value="0.0"/>
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</section>
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<section name="ALT" prefix="CLIMB_">
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<define name="PITCH_PGAIN" value="-0.05"/>
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<define name="PITCH_IGAIN" value="0.075"/>
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<define name="PGAIN" value="-0.02"/>
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<define name="IGAIN" value="0.1"/>
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<define name="MAX" value="1."/>
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<define name="LEVEL_GAZ" value="0.45"/>
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<define name="PITCH_OF_VZ_PGAIN" value="0.05"/>
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<define name="GAZ_OF_CLIMB" value="0.15" unit="%/(m/s)"/>
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</section>
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<section name="NAV">
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<define name="COURSE_PGAIN" value="-0.5"/>
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<define name="ALTITUDE_PGAIN" value="-0.05"/>
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<define name="NAV_PITCH" value="0."/>
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</section>
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<section name="AGGRESSIVE" prefix="AGR_">
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<define name="CLIMB_GAZ" value="0.95"/><!-- Gaz for Aggressive Climb -->
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<define name="DESCENT_GAZ" value="0.1"/><!-- Gaz for Aggressive Decent -->
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<define name="CLIMB_PITCH" value="0.3"/><!-- 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="GYRO_GAINS">
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<define name="GYRO_MAX_RATE" value="200."/>
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<define name="ROLLRATESUM_NB_SAMPLES" value="60"/>
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<define name="ATTITUDE_PGAIN" value="120.0"/>
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<define name="ROLL_RATE_PGAIN" value="85.0"/>
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<define name="ROLL_RATE_IGAIN" value="0.0"/>
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<define name="ROLL_RATE_DGAIN" value="0.0"/>
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<define name="ROLL_ATTITUDE_PGAIN" value="120.0"/><!-- new gyro ,was 600-->
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</section>
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
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<define name="DEFAULT_GAZ" value="0.0" 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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<!--
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<section name="DATALINK" prefix="DATALINK_">
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<define name="DEVICE_TYPE" value="XBEE"/>
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<define name="DEVICE_ADDRESS" value="...."/>
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</section>
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-->
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<makefile>
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include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
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FLASH_MODE=IAP
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ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1
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ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
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ap.CFLAGS += -DLED_3_BANK=0 -DLED_3_PIN=17 -DLED_4_BANK=0 -DLED_4_PIN=18 -DLED_5_BANK=0 -DLED_5_PIN=19 -DLED_6_BANK=0 -DLED_6_PIN=20
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ap.srcs += commands.c
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ap.CFLAGS += -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015
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ap.srcs += actuators.c $(SRC_ARCH)/servos_4015_hw.c
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ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
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ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
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#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -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 xbee.c
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ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -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
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ap.srcs += inter_mcu.c
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ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD1 -DUSE_AD1_5 -DUSE_AD1_7 -DUSE_AD1_3 -DUSE_AD1_5
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#ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_1 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD1 -DUSE_AD1_5 -DUSE_AD1_7 -DUSE_AD1_3 -DUSE_AD1_5
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ap.srcs += $(SRC_ARCH)/adc_hw.c
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ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
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ap.srcs += gps_ubx.c gps.c
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ap.CFLAGS += -DINFRARED
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ap.srcs += infrared.c estimator.c
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ap.CFLAGS += -DNAV
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ap.srcs += nav.c pid.c
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ap.CFLAGS += -DGYRO -DSPARK_FUN -DATTITUDE_RATE_MODE
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ap.srcs += gyro.c
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# Harware In The Loop
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#ap.CFLAGS += -DHITL
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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 += -DCONFIG=\"tiny.h\"
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# a test program to setup actuators
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setup_actuators.ARCHDIR = $(ARCHI)
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setup_actuators.ARCH = arm7tdmi
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setup_actuators.TARGET = setup_actuators
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setup_actuators.TARGETDIR = setup_actuators
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setup_actuators.CFLAGS += -DFBW -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART0 -DUART0_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart0
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setup_actuators.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_4015_hw.c main.c
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# a test program to tunnel between both uart
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tunnel.ARCHDIR = $(ARCHI)
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tunnel.ARCH = arm7tdmi
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tunnel.TARGET = tunnel
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tunnel.TARGETDIR = tunnel
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tunnel.CFLAGS += -DFBW -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1
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tunnel.srcs += $(SRC_ARCH)/uart_tunnel.c
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</makefile>
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</airframe>
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