mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-23 04:45:37 +08:00
Pascal Brisset
299 lines
12 KiB
XML
Executable File
299 lines
12 KiB
XML
Executable File
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
|
|
|
<airframe name="RedOne Tiny V1.1">
|
|
|
|
<!-- commands section -->
|
|
<servos>
|
|
<servo name="HATCH" no="2" min="2200" neutral="1840" max="1070"/>
|
|
<servo name="THROTTLE" no="4" min="1000" neutral="1000" max="2000"/>
|
|
<servo name="AILEVON_LEFT" no="5" min="2100" neutral="1758" max="1411"/>
|
|
<servo name="AILEVON_RIGHT" no="6" min="900" neutral="1294" max="1585"/>
|
|
<servo name="CAM_PITCH" no="1" min="1725" neutral="1725" max="1000"/>
|
|
<servo name="CAM_ROLL" no="0" min="2150" neutral="1585" max="1020"/>
|
|
</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"/>
|
|
<axis name="CAM_ROLL" failsafe_value="0"/>
|
|
<axis name="CAM_PITCH" failsafe_value="0"/>
|
|
</commands>
|
|
|
|
<rc_commands>
|
|
<set command="THROTTLE" value="@THROTTLE"/>
|
|
<set command="ROLL" value="@ROLL"/>
|
|
<set command="PITCH" value="@PITCH"/>
|
|
<set command="HATCH" value="@CALIB"/>
|
|
<set command="CAM_ROLL" value="@ROLL"/>
|
|
</rc_commands>
|
|
|
|
<section name="MIXER">
|
|
<define name="AILEVON_AILERON_RATE" value="0.45"/>
|
|
<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_RIGHT" value="-$elevator + $aileron"/>
|
|
<set servo="AILEVON_LEFT" value="-$elevator - $aileron"/>
|
|
<set servo="HATCH" value="@HATCH"/>
|
|
<!--set servo="CAM_ROLL" value="@CAM_ROLL"/-->
|
|
</command_laws>
|
|
|
|
<section name="AUTO1" prefix="AUTO1_">
|
|
<define name="MAX_ROLL" value="0.9"/>
|
|
<define name="MAX_PITCH" value="0.9"/>
|
|
</section>
|
|
|
|
<section name="adc" prefix="ADC_CHANNEL_">
|
|
<define name="IR1" value="ADC_0"/>
|
|
<define name="IR2" value="ADC_1"/>
|
|
<define name="IR_TOP" value="ADC_2"/>
|
|
<define name="IR_NB_SAMPLES" value="16"/>
|
|
<define name="GYRO_ROLL" value="ADC_3"/>
|
|
<define name="GYRO_TEMP" value="ADC_4"/>
|
|
<define name="SUPPLY_CURRENT" value="ADC_5"/>
|
|
<define name="GYRO_NB_SAMPLES" value="16"/>
|
|
|
|
</section>
|
|
|
|
<section name="INFRARED" prefix="IR_">
|
|
|
|
<linear name="RollOfIrs" arity="2" coeff1="0.7" coeff2="-0.7"/>
|
|
<linear name="PitchOfIrs" arity="2" coeff1="0.7" coeff2="0.7"/>
|
|
|
|
<define name="ROLL_NEUTRAL_DEFAULT" value="-10." unit="deg"/>
|
|
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
|
<define name="DEFAULT_CONTRAST" value="200"/>
|
|
<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
|
|
<linear name="TopOfIr" arity="1" coeff1="1"/>
|
|
<define name="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
|
|
<define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
|
|
<define name="ADC_IR1_NEUTRAL" value="504"/>
|
|
<define name="ADC_IR2_NEUTRAL" value="501"/>
|
|
<define name="ADC_TOP_NEUTRAL" value="512"/>
|
|
|
|
<define name="LATERAL_CORRECTION" value="2."/>
|
|
<define name="LONGITUDINAL_CORRECTION" value="2."/>
|
|
<define name="VERTICAL_CORRECTION" value="1."/>
|
|
|
|
<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="518"/>
|
|
<define name="ADC_TEMP_NEUTRAL" value="476"/>
|
|
<define name="ADC_TEMP_SLOPE" value="0"/>
|
|
<define name="ROLL_SCALE" value="1.0"/>
|
|
<define name="ROLL_DIRECTION" value="1."/>
|
|
</section>
|
|
|
|
<section name="BAT">
|
|
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
|
<define name="ADC_CHANNEL_VSUPPLY" value="AdcBank1(6)"/>
|
|
<define name="VoltageOfAdc(adc)" value="(0.01787109375*adc)"/>
|
|
<define name="CurrentOfAdc(adc)" value="((adc-177.)*(3.27/0.058))"/>
|
|
|
|
<define name="CATASTROPHIC_BAT_LEVEL" value="6.0" 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="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_RATE" value="60" unit="Hz"/>
|
|
|
|
<define name="TRIGGER_DELAY" value="1.5"/>
|
|
<define name="NAV_GLIDE_PITCH_TRIM" value="(V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN*V_CTL_ALTITUDE_MAX_CLIMB)"/>
|
|
|
|
<define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
|
|
<define name="LIGHT_PIN_1" value="3"/>
|
|
</section>
|
|
|
|
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
|
<!--define name="POWER_CTL_BAT_NOMINAL" value="8.4" unit="volt"/-->
|
|
<!-- outer loop proportional gain -->
|
|
<define name="ALTITUDE_PGAIN" value="-0.07"/>
|
|
<!-- outer loop saturation -->
|
|
<define name="ALTITUDE_MAX_CLIMB" value="4."/>
|
|
|
|
<!-- auto throttle inner loop -->
|
|
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.65"/>
|
|
<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="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="-0.024"/>
|
|
<define name="AUTO_THROTTLE_IGAIN" value="0.06"/>
|
|
<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="0.025"/>
|
|
<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="-1.4"/>
|
|
<define name="ROLL_MAX_SETPOINT" value="0.65" unit="radians"/>
|
|
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
|
|
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
|
|
|
|
|
|
<define name="ROLL_PGAIN" value="8000."/>
|
|
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
|
<define name="PITCH_PGAIN" value="-12000."/>
|
|
<define name="PITCH_DGAIN" value="0."/>
|
|
<define name="ELEVATOR_OF_ROLL" value="4000"/>
|
|
|
|
<!-- roll rate loop -->
|
|
<define name="ROLL_RATE_MODE_DEFAULT" value="0"/>
|
|
<define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
|
|
<define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
|
|
<define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="1500."/>
|
|
<define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="1500."/>
|
|
<define name="ROLL_RATE_IGAIN" value="0."/>
|
|
<define name="ROLL_RATE_DGAIN" value="0."/>
|
|
<define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
|
|
|
|
</section>
|
|
|
|
<section name="NAV">
|
|
<define name="NAV_PITCH" 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="20"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
|
<define name="CLIMB_THROTTLE" value="0.9"/><!-- Throttle for Aggressive Climb -->
|
|
<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
|
|
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive Decent -->
|
|
<define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive Decent -->
|
|
<define name="CLIMB_NAV_RATIO" value="0.5"/><!-- 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." unit="%"/>
|
|
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
|
<define name="DEFAULT_PITCH" value="0.15" unit="rad"/>
|
|
<define name="HOME_RADIUS" value="100" unit="m"/>
|
|
</section>
|
|
|
|
<section name="CAM" prefix="CAM_">
|
|
<define name="PHI0" value="0" unit="deg"/>
|
|
<define name="ROLL_MAX" value="90" unit="deg"/>
|
|
<define name="ROLL_NEUTRAL" value="45" unit="deg"/>
|
|
<define name="ROLL_MIN" value="0" unit="deg"/>
|
|
<define name="THETA0" value="45" unit="deg"/>
|
|
<define name="PITCH_MAX" value="90" unit="deg"/>
|
|
<define name="PITCH_NEUTRAL" value="45" unit="deg"/>
|
|
<define name="PITCH_MIN" value="0" unit="deg"/>
|
|
</section>
|
|
|
|
<section name="DATALINK" prefix="DATALINK_">
|
|
<define name="DEVICE_TYPE" value="AEROCOMM"/>
|
|
<define name="DEVICE_ADDRESS" value="0x005067397193"/>
|
|
</section>
|
|
|
|
<makefile>
|
|
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
|
|
|
FLASH_MODE=IAP
|
|
|
|
ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny_1_1.h\" -DLED -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 -DRADIO_CONTROL_TYPE=RC_FUTABA
|
|
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 += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c 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 += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c 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 -DUSE_ADC_4 -DUSE_ADC_5
|
|
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
|
|
|
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DGPS_CONFIGURE -DZ_CONTRAST_DEFAULT=1
|
|
ap.CFLAGS += -DGPS_BAUD=38400
|
|
|
|
ap.srcs += gps_ubx.c gps.c
|
|
|
|
ap.CFLAGS += -DINFRARED
|
|
ap.srcs += infrared.c estimator.c
|
|
# -DALT_KALMAN
|
|
|
|
ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
|
|
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c nav_survey_rectangle.c
|
|
|
|
ap.CFLAGS += -DGYRO -DADXRS150
|
|
ap.srcs += gyro.c
|
|
|
|
ap.srcs += bomb.c
|
|
|
|
ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH
|
|
ap.srcs += traffic_info.c point.c cam.c nav_line.c
|
|
|
|
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=0xB636 -D BARO_MS5534A_W2=0x62DB -D BARO_MS5534A_W3=0x9E9C -D BARO_MS5534A_W4=0xBECB
|
|
|
|
# Video switch
|
|
ap.CFLAGS += -DUSE_GPIO
|
|
ap.srcs += $(SRC_ARCH)/gpio.c
|
|
|
|
ap.CFLAGS += -DUSE_CURRENT
|
|
|
|
# Hardware In The Loop
|
|
|
|
#ap.CFLAGS += -DHITL
|
|
|
|
|
|
# Config for SITL simulation
|
|
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
|
sim.CFLAGS += -DCONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM
|
|
sim.srcs += bomb.c nav_survey_rectangle.c
|
|
|
|
sim.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH
|
|
sim.srcs += traffic_info.c point.c cam.c nav_line.c
|
|
|
|
|
|
</makefile>
|
|
</airframe>
|