mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-25 23:46:04 +08:00
Pascal Brisset
132 lines
5.5 KiB
XML
132 lines
5.5 KiB
XML
<airframe name="Gorazoptere_brushless_ANALOG">
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<section name="IMU_ANALOG" prefix="IMU_">
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<define name="INIT_EULER_DOT_VARIANCE_MAX" value="3"/>
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<define name="INIT_EULER_DOT_NB_SAMPLES_MIN" value ="10"/>
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<define name="ADC_ROLL_DOT" value="1"/>
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<define name="ADC_PITCH_DOT" value="2"/>
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<define name="ADC_YAW_DOT" value="3"/>
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<define name="ADC_ROLL_DOT_SIGN" value="-"/>
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<define name="ADC_PITCH_DOT_SIGN" value="+"/>
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<define name="ADC_YAW_DOT_SIGN" value="-"/>
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<define name="ADC_ROLL_DOT_ZERO" value="512"/>
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<define name="ADC_PITCH_DOT_ZERO" value="512"/>
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<define name="ADC_YAW_DOT_ZERO" value="512"/>
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<define name="ADC_ROLL_DOT_SCALE" value="(real_t) (0.9444 * 3.14159 / 180.0)"/>
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<define name="ADC_PITCH_DOT_SCALE" value="(real_t) (0.9444 * 3.14159 / 180.0)"/>
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<define name="ADC_YAW_DOT_SCALE" value="(real_t) (0.9444 * 3.14159 / 180.0)"/>
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<define name="ADC_ACCELX" value="4"/>
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<define name="ADC_ACCELY" value="3"/>
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<define name="ADC_ACCELZ" value="2"/>
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<define name="ADC_ACCELX_SIGN" value="-"/>
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<define name="ADC_ACCELY_SIGN" value="-"/>
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<define name="ADC_ACCELZ_SIGN" value="-"/>
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<define name="ADC_ACCELX_ZERO" value="0x24A"/>
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<define name="ADC_ACCELY_ZERO" value="0x280"/>
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<define name="ADC_ACCELZ_ZERO" value="0x210"/>
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<define name="ADC_ACCELX_SCALE" value="0x24A"/>
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<define name="ADC_ACCELY_SCALE" value="0x280"/>
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<define name="ADC_ACCELZ_SCALE" value="0x210"/>
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</section>
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<section name="RATE_LOOP">
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<define name="ROLL_DOT_PGAIN" value="-100."/>
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<define name="ROLL_DOT_IGAIN" value="0."/>
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<define name="ROLL_DOT_DGAIN" value="0."/>
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<define name="PITCH_DOT_PGAIN" value="-100."/>
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<define name="PITCH_DOT_IGAIN" value="0."/>
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<define name="PITCH_DOT_DGAIN" value="0."/>
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<define name="YAW_DOT_PGAIN" value="-100."/>
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<define name="YAW_DOT_IGAIN" value="0."/>
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<define name="YAW_DOT_DGAIN" value="0."/>
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</section>
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<section name="DESIRED_OF_RADIO" prefix="DESIRED_OF_RADIO_">
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<define name="ROLL_DOT" value="0.015"/>
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<define name="PITCH_DOT" value="0.015"/>
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<define name="YAW_DOT" value="0.015"/>
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</section>
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<section name="adc" prefix="ADC_CHANNEL_">
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<define name="IR1" value="0"/>
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<define name="IR2" value="1"/>
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<define name="VSUPPLY" value="6"/>
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</section>
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<section name="servo">
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<define name="SERVOS_FALLING_EDGE" value="1"/>
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</section>
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<servos min="1000" neutral="1500" max="2000">
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<servo name="MOTOR_FRONT" no="1" min="1250" neutral="1250" max="1850"/>
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<servo name="MOTOR_BACK" no="2" min="1250" neutral="1250" max="1850"/>
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<servo name="MOTOR_LEFT" no="3" min="1250" neutral="1250" max="1850"/>
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<servo name="MOTOR_RIGHT" no="4" min="1250" neutral="1250" max="1850"/>
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</servos>
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<command>
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<let var="roll" value="0.3 * @ROLL"/>
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<let var="pitch" value="0.3 * @PITCH"/>
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<let var="yaw" value="-0.4 * @YAW"/>
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<let var="throttle" value="2.0 * @THROTTLE"/>
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<set servo="MOTOR_FRONT" value="$throttle + $pitch - $yaw"/>
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<set servo="MOTOR_BACK" value="$throttle - $pitch - $yaw"/>
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<set servo="MOTOR_RIGHT" value="$throttle + $roll + $yaw"/>
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<set servo="MOTOR_LEFT" value="$throttle - $roll + $yaw"/>
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</command>
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<section name="INFRARED" prefix="IR_">
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<define name="ADC_ROLL_NEUTRAL" value="0"/>
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<define name="ADC_PITCH_NEUTRAL" value="1024"/>
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<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0" 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="-1" coeff2="1"/>
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<linear name="PitchOfIrs" arity="2" coeff1="1" coeff2="1"/>
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</section>
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<section name="PID">
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<define name="ROLL_PGAIN" value="23000."/>
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<define name="PITCH_OF_ROLL" value="0.0"/>
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<define name="PITCH_PGAIN" value="23000."/>
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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="-0.13"/>
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</section>
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<section name="ALT" prefix="CLIMB_">
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<define name="PITCH_PGAIN" value="-0.1"/>
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<define name="PITCH_IGAIN" value="0.025"/>
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<define name="PGAIN" value="-0.03"/>
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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="0.31"/>
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<define name="PITCH_OF_VZ_PGAIN" value="0.05"/>
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<define name="GAZ_OF_CLIMB" value="0.2" unit="%/(m/s)"/>
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</section>
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<section name="NAV">
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<define name="COURSE_PGAIN" value="-0.2"/>
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<define name="ALTITUDE_PGAIN" value="-0.025"/>
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<define name="NAV_PITCH" value="0."/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_PER_PERCENT" value="2.16"/>
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<define name="VOLTAGE_ADC_A" value="0.0175"/>
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<define name="VOLTAGE_ADC_B" value="0.088"/>
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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="93" unit="1e-1V"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="10." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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</section>
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<makefile>
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include $(PAPARAZZI_SRC)/conf/autopilot/v1_2_1.makefile
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LOCAL_CFLAGS += -DIMU_ANALOG
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fbw.CFLAGS += -DRATE_LOOP
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fbw.EXTRA_SRCS += control.c imu.c
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fbw.CFLAGS += -DIMU_RESET_ON_BOOT
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ap.CFLAGS += -DUBX
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ap.CFLAGS += -DTELEMETER
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ap.EXTRA_SRCS += $(SRC_ARCH)/i2c_ap.c srf08.c
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ap.CFLAGS += -DAHRS
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ap.EXTRA_SRCS += $(SRC_ARCH)/ahrs_asm.S ahrs.c
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</makefile>
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</airframe>
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