mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-01 04:46:51 +08:00
Christophe De Wagter
3fbef2e490
* with example airframe and updated outdated airframes * renamed spi version and make it a separate subsystem (e.g. 2 twogs)
253 lines
9.9 KiB
XML
253 lines
9.9 KiB
XML
<!DOCTYPE airframe SYSTEM "airframe.dtd">
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<!-- Twinstar II Multiplex (http://www.multiplex-rc.de/)
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Classix board (http://paparazzi.enac.fr/wiki/index.php/Classix)
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Aligned infrared sensor
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Digital still camera
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-->
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<airframe name="Twinstar 6">
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<servos>
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<!-- Splitted power supplies for servos 0,1,2,3 and 4,5,6,7 from motor controller's +5V -->
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<!-- Servo aileron gauche = rouge -->
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<servo name="AILERON_LEFT" no="0" min="1000" neutral="1530" max="2000"/>
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<servo name="MOTOR_LEFT" no="1" min="1000" neutral="1000" max="2000"/>
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<servo name="ELEVATOR" no="2" min="1000" neutral="1500" max="2100"/>
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<!-- Servo aileron droit = bleu -->
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<servo name="AILERON_RIGHT" no="4" min="1000" neutral="1520" max="2000"/>
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<servo name="MOTOR_RIGHT" no="5" min="1000" neutral="1000" max="2000"/>
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<servo name="RUDDER" no="6" min="2100" neutral="1470" max="900"/>
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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="YAW" 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="YAW" value="@YAW"/>
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<set command="PITCH" value="@PITCH"/>
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<set command="HATCH" value="@GAIN1"/>
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</rc_commands>
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<section name="MIXER">
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<define name="AILERON_DIFF" value="0.66"/>
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<define name="COMBI_SWITCH" value="1.0"/>
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</section>
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<command_laws>
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<set servo="MOTOR_RIGHT" value="@THROTTLE"/>
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<set servo="MOTOR_LEFT" value="@THROTTLE"/>
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<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
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<let var="roll" value="@ROLL"/>
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<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
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<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
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<set servo="ELEVATOR" value="@PITCH"/>
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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="AdcBank1(7)"/>
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<define name="IR2" value="AdcBank1(6)"/>
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<define name="IR_TOP" value="AdcBank1(5)"/>
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<define name="IR_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="TOP_SIGN" value="-1"/>
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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."/>
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<define name="ROLL_NEUTRAL_DEFAULT" value="-5.5" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="9.5" unit="deg"/>
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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="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="0.9"/>
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<define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
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<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
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<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
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<define name="ROLL_PGAIN" value="6000."/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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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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</section>
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<section name="Digital camera telecommand">
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<!-- IOs are seen as LEDs -->
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<define name="LED_4_BANK" value="0"/>
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<define name="LED_4_PIN" value="16"/>
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<!-- ADC 5 -->
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<define name="LED_5_BANK" value="1"/>
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<define name="LED_5_PIN" value="20"/>
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<define name="DC_SHUTTER_LED" value="4"/>
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<define name="DC_ZOOM_LED" value="5"/>
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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="0.5"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".35"/>
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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" value="0.05"/>
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</section>
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<section name="NAV">
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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_PER_PERCENT" value="0.86"/>
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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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</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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</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="75" 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="0.9"/><!-- Gaz for Aggressive Climb -->
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<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
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<define name="CLIMB_PITCH" value="0.25"/><!-- 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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<makefile>
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include $(PAPARAZZI_SRC)/conf/firmwares/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\" -DUSE_LED -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 += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c $(SRC_ARCH)/mcu_periph/uart_arch.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_spi.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\" -DUSE_LED -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=PprzTransport -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
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ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/navigation/traffic_info.c subsystems/datalink/pprz_transport.c
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ap.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_MASTER
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ap.srcs += inter_mcu.c link_mcu_spi.c spi.c $(SRC_ARCH)/spi_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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# ADCs for infrared
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ap.CFLAGS += -DADC -DUSE_AD1 -DUSE_AD1_5 -DUSE_AD1_6 -DUSE_AD1_7
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ap.srcs += $(SRC_ARCH)/adc_hw.c
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ap.CFLAGS += -DUSE_INFRARED
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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 += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
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ap.srcs += subsystems/navigation/nav_line.c
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ap.srcs += subsystems/navigation/nav_survey_rectangle.c
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ap.CFLAGS += -DUSE_GPIO
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ap.srcs += $(SRC_ARCH)/gpio.c
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# Digital camera
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# Shutter: SPI0_SS1
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# Zoom: SPI0_IT
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ap.CFLAGS += -DDIGITAL_CAM
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ap.srcs += dc.c
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test.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DUSE_LED -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 subsystems/datalink/pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.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/firmwares/sitl.makefile
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sim.CFLAGS += -DBOARD_CONFIG=\"classix.h\" -DAGR_CLIMB -DLOITER_TRIM
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#sim.srcs += subsystems/navigation/traffic_info.c
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sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c dc.c
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# chemotaxis.c anemotaxis.c subsystems/navigation/discsurvey.c subsystems/navigation/bomb.c subsystems/navigation/nav_survey_rectangle.c
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</makefile>
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</airframe>
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