paparazzi/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml

<!DOCTYPE airframe SYSTEM "../../airframe.dtd">

<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
     Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
     Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
     Radiotronix modem
     Digital camera
-->

<airframe name="Funjet 1 Tiny 2.1">

  <modules>
<!--    <load name="poles.xml"/> -->
<!--    <load name="infrared_i2c.xml"/>  -->
  </modules>


<!-- commands section -->
  <servos>
    <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
    <servo name="AILEVON_LEFT" no="2" min="1130" neutral="1570" max="1880"/>
    <servo name="AILEVON_RIGHT" no="6" min="1980" neutral="1450" max="1170"/>
  </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"/>
  </commands>

  <rc_commands>
    <set command="THROTTLE" value="@THROTTLE"/>
    <set command="ROLL" value="@ROLL"/>
    <set command="PITCH" value="@PITCH"/>
  </rc_commands>

  <section name="MIXER">
    <define name="AILEVON_AILERON_RATE" value="0.75"/>
    <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
  </section>

  <command_laws>
    <let var="aileron" value="@ROLL  * AILEVON_AILERON_RATE"/>
    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
    <set servo="MOTOR" value="@THROTTLE"/>
    <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
    <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
  </command_laws>

  <section name="AUTO1" prefix="AUTO1_">
    <define name="MAX_ROLL" value="0.85"/>
    <define name="MAX_PITCH" value="0.6"/>
  </section>

  <section name="INFRARED" prefix="IR_">
    <define name="ADC_IR1_NEUTRAL" value="512"/>
    <define name="ADC_IR2_NEUTRAL" value="512"/>
    <define name="ADC_TOP_NEUTRAL" value="512"/>

    <define name="LATERAL_CORRECTION" value="1."/>
    <define name="LONGITUDINAL_CORRECTION" value="1."/>
    <define name="VERTICAL_CORRECTION" value="1.5"/>

    <define name="HORIZ_SENSOR_TILTED" value="1"/>
    <define name="IR2_SIGN" value="-1"/>
    <define name="TOP_SIGN" value="-1"/>

    <define name="ROLL_NEUTRAL_DEFAULT" value="1.14591562748" unit="deg"/>
    <define name="PITCH_NEUTRAL_DEFAULT" value="3.38045096397" unit="deg"/>

    <define name="CORRECTION_UP" value="1."/>
    <define name="CORRECTION_DOWN" value="1."/>
    <define name="CORRECTION_LEFT" value="1."/>
    <define name="CORRECTION_RIGHT" value="1."/>

    <define name="I2C_DEFAULT_CONF" value="0x1"/>
  </section>

 <section name="GYRO" prefix="GYRO_">
    <define name="ADC_ROLL_NEUTRAL" value="520"/>
    <define name="ADC_TEMP_NEUTRAL" value="476"/>
    <define name="ADC_TEMP_SLOPE" value="0"/>
    <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
    <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
    <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
    <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
    <define name="ROLL_DIRECTION" value="-1."/>
  </section>

  <section name="BAT">
    <define name="MILLIAMP_AT_FULL_THROTTLE" value="2000"/>

    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
  </section>

  <section name="MISC">
    <define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
    <define name="MAXIMUM_AIRSPEED" value="25." 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="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/ -->
    <!-- define name="NO_XBEE_API_INIT" value="TRUE"/ -->
    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>

    <define name="TRIGGER_DELAY" value="1."/>
    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>

    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
  </section>

  <section name="VERTICAL CONTROL" prefix="V_CTL_">

    <!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
    <!-- outer loop proportional gain -->
    <define name="ALTITUDE_PGAIN" value="0.104000002146"/>
    <!-- outer loop saturation -->
    <define name="ALTITUDE_MAX_CLIMB" value="3."/>

    <!-- auto throttle inner loop -->
    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.3"/>
    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_PGAIN" value="0.0149999996647"/>
    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.0460000000894"/>

    <!-- auto pitch inner loop -->
    <define name="AUTO_PITCH_PGAIN" value="0.0209999997169"/>
    <define name="AUTO_PITCH_IGAIN" value="0.203999996185"/>
    <define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.148000001907"/>
    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>

   <define name="THROTTLE_SLEW" value="0.5"/>

  </section>

  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
    <define name="COURSE_PGAIN" value="1.20599997044"/>

    <define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="rad"/>
    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>

    <define name="PITCH_PGAIN" value="14814.8154297"/>
    <define name="PITCH_DGAIN" value="1.5"/>

    <define name="ELEVATOR_OF_ROLL" value="2500"/>

    <define name="ROLL_ATTITUDE_GAIN" value="8055.55615234"/>
    <define name="ROLL_RATE_GAIN" value="1527.7779541"/>

    <define name="ROLL_KFF" value="-500"/>
    <define name="ROLL_IGAIN" value="500"/>
    <define name="PITCH_IGAIN" value="500"/>
  </section>

  <section name="NAV">
    <define name="NAV_PITCH" value="0."/>
    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
  </section>

  <section name="AGGRESSIVE" prefix="AGR_">
    <define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
    <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
    <define name="CLIMB_THROTTLE" value="0.75"/><!-- Gaz for Aggressive Climb -->
    <define name="CLIMB_PITCH" value="0.20"/><!-- Pitch for Aggressive Climb -->
    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
    <define name="DESCENT_PITCH" value="-0.15"/><!-- Pitch for Aggressive Decent -->
    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- 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="1" unit="s"/>
    	<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
	<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
  <section name="SIMU">
    <define name="ROLL_RESPONSE_FACTOR" value="15"/>
    <define name="MAX_ROLL_DOT" value="10" unit="rad/s"/>
</section>

<!--
  <section name="Digital camera telecommand">
    <!-- IOs are seen as LEDs --

    <define name="LED_6_BANK" value="0"/>
    <define name="LED_6_PIN" value="2"/> <!-- I2C SCL --

    <!-- ADC 5 --
    <define name="LED_7_BANK" value="0"/>
    <define name="LED_7_PIN" value="3"/> <!-- I2C SDA --

    <define name="DC_SHUTTER_LED" value="6"/> <!-- Grey wire --
    <define name="DC_ZOOM_LED" value="7"/>
  </section>
-->
 <makefile>
CONFIG = \"tiny_2_1.h\"

include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile

FLASH_MODE=IAP

ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -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_4017_hw.h\" -DSERVOS_4017
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c

ap.CFLAGS += -DRADIO_CONTROL
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c

#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B9600
#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c

#TRANSPARENT
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/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
ap.srcs += $(SRC_ARCH)/adc_hw.c

ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
# -DGPS_LED=2
ap.srcs += gps_ubx.c gps.c latlong.c

ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN
ap.srcs += infrared.c estimator.c

ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c


ap.CFLAGS += -DUSE_GYRO -DADXRS150
ap.srcs += gyro.c subsystems/navigation/nav_line.c
ap.srcs += subsystems/navigation/nav_survey_rectangle.c
# chemotaxis.c anemotaxis.c subsystems/navigation/discsurvey.c

########## Barometer (SPI)
#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

########## Chemo sensor (I2C)
#ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
#ap.CFLAGS += -DUSE_I2C -DUSE_I2C0

# Digital camera
# Shutter: I2C SCL
# Zoom: I2C SDA
# ap.CFLAGS += -DDIGITAL_CAM
# ap.srcs += dc.c

ap.CFLAGS += -DUSE_MODULES
sim.CFLAGS += -DUSE_MODULES

# for infrared
ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150


# Config for SITL simulation
#include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.ARCHDIR = $(ARCHI)
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/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

sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN

sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
# -DENOSE
#sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
#sim.CFLAGS += -DUSE_I2C -DUSE_I2C0
# chemotaxis.c anemotaxis.c subsystems/navigation/discsurvey.c $(SRC_ARCH)/sim_enose.c chemo_detect.c

#sim.CFLAGS += -DDIGITAL_CAM -DPOWER_SWITCH_LED=4
#sim.srcs += dc.c



# a test program to setup actuators
setup_actuators.ARCHDIR = $(ARCHI)

setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART1 -DUART1_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart1
setup_actuators.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_4015_hw.c main.c

  </makefile>
</airframe>