mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 06:54:49 +08:00
Felix Ruess
287 lines
11 KiB
XML
287 lines
11 KiB
XML
<airframe name="Miraterre Slayer 2">
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<!-- Slayer (http://www.recherche.enac.fr/wiki/index.php/Image:DragonSlayer_0948sm.jpg)
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Two ailevons
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Baro
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Tilted infrared sensor, gyro
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Still camera
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Tiny 0.99
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-->
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<!-- commands section -->
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<servos>
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<servo name="AILEVON_RIGHT" no="1" min="1000" neutral="1500" max="2000"/>
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<servo name="AILEVON_LEFT" no="0" min="2000" neutral="1480" max="900"/>
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<servo name="THROTTLE" no="4" min="1250" neutral="1250" max="1850"/>
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<servo name="HATCH" no="3" min="2000" neutral="2000" max="1000"/>
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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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<axis name="HATCH" 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="0.8"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
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</section>
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<command_laws>
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<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
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<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
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<set servo="THROTTLE" 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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<set servo="HATCH" value="@HATCH"/>
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="0.96"/>
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<define name="MAX_PITCH" value="0.8"/>
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</section>
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<section name="adc" prefix="ADC_CHANNEL_">
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<define name="IR1" value="ADC_1"/>
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<define name="IR2" value="ADC_0"/>
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<define name="IR_TOP" value="ADC_4"/>
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<define name="IR_NB_SAMPLES" value="16"/>
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<define name="GYRO_ROLL" value="ADC_5"/>
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<!-- <define name="GYRO_TEMP" value="ADC_6"/> -->
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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="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="510"/>
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<define name="HORIZ_SENSOR_TILTED" 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="LATERAL_CORRECTION" value="0.356000006199"/>
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<define name="LONGITUDINAL_CORRECTION" value="0.381000012159"/>
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<define name="VERTICAL_CORRECTION" value="1.5"/>
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<define name="ROLL_NEUTRAL_DEFAULT" value="-9" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="3" unit="deg"/>
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<define name="CORRECTION_UP" value="1.5"/>
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<define name="CORRECTION_DOWN" value="1.5"/>
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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="484"/>
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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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-->
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<define name="ROLL_SCALE" value="1.3846"/>
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<define name="ROLL_DIRECTION" value="-1."/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="5000"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="VoltageOfAdc(adc)" value="(0.0183*adc)"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
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<define name="MAXIMUM_AIRSPEED" value="25." unit="m/s"/>
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<define name="MINIMUM_AIRSPEED" value="15." unit="m/s"/>
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<define name="CARROT" value="3." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="CONTROL_RATE" value="60" unit="Hz"/>
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<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="90"/>
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<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
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<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
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<define name="GLIDE_AIRSPEED" value="12.5"/>
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<define name="GLIDE_VSPEED" value="2."/>
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<define name="GLIDE_PITCH" value="45" unit="deg"/>
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<define name="TELEMETRY_MODE_AP" value="1"/>
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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="-0.065"/>
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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=".47"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="1250"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/>
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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="-0.01"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.15"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.15"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_DGAIN" value="-1"/>
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<!-- auto pitch inner loop -->
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<define name="AUTO_PITCH_PGAIN" value="-0.1"/>
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<define name="AUTO_PITCH_IGAIN" value="0.025"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="0.5"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="-0.5"/>
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<define name="THROTTLE_SLEW" value="0.05"/>
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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="-2.6"/>
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<define name="COURSE_DGAIN" value="1"/>
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<define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
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<define name="ROLL_MAX_SETPOINT" value="0.73" 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="-9000."/>
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<define name="PITCH_DGAIN" value="0."/>
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<define name="ELEVATOR_OF_ROLL" value="1000"/>
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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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<define name="COURSE_SLEW_INCREMENT" value="RadOfDeg(3)"/>
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</section>
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<section name="NAV">
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<define name="NAV_PITCH" value="0."/>
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<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
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</section>
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<section name="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="1."/><!-- Throttle for Aggressive Climb -->
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<define name="CLIMB_PITCH" value="0.42"/><!-- Pitch for Aggressive Climb -->
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<define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive Decent -->
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<define name="DESCENT_PITCH" value="-0.5"/><!-- Pitch for Aggressive Decent -->
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<define name="CLIMB_NAV_RATIO" value="0.4"/><!-- 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="1" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
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<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.2" 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="AEROCOMM"/>
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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 -DBOARD_CONFIG=\"tiny_0_99.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.srcs += commands.c
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ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
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ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
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ap.CFLAGS += -DRADIO_CONTROL
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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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# AEROCOMM
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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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# RADIOTRONIX
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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=B9600
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ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
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ap.CFLAGS += -DINTER_MCU
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ap.srcs += inter_mcu.c
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ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6
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ap.srcs += $(SRC_ARCH)/adc_hw.c
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ap.CFLAGS += -DUSE_GPS -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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ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN
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ap.srcs += infrared.c estimator.c
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ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
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ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c traffic_info.c nav_line.c
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# Camera power switch on ADC_7 pin
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ap.CFLAGS += -DLED_3_BANK=0 -DLED_3_PIN=10 -DPOWER_SWITCH_LED=3
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ap.CFLAGS += -DUSE_GYRO -DADXRS150
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# -DIDG300
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ap.srcs += gyro.c
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# ap.srcs += bomb.c
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# Hack to use the same tuning file than slayer1
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ap.CFLAGS += -DUSE_GPIO
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ap.srcs += $(SRC_ARCH)/gpio.c
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# Harware In The Loop
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#ap.CFLAGS += -DHITL
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# ap.CFLAGS += -DTELEMETRY_MODE_FBW=1
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ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
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ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
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ap.CFLAGS += -D BARO_MS5534A_W1=0xAC20 -D BARO_MS5534A_W2=0x87D9 -D BARO_MS5534A_W3=0X8D9C -D BARO_MS5534A_W4=0xB080
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# C1 = 22032 UT1=24568
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# Config for SITL simulation
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# Config for SITL simulation
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#include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
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sim.ARCHDIR = $(ARCHI)
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sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO
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sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
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sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DUSE_BARO_MS5534A
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sim.srcs += nav_survey_rectangle.c nav_line.c $(SRC_ARCH)/sim_baro.c
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sim.srcs += fw_h_ctl.c
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# sim.srcs += fw_h_ctl_a.c
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# sim.CFLAGS += -DH_CTL_ROLL_IGAIN=-500 -DH_CTL_ROLL_KFF=-500
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</makefile>
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</airframe>
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