mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-12 18:28:52 +08:00
Pascal Brisset
254 lines
9.6 KiB
XML
254 lines
9.6 KiB
XML
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
|
|
|
<airframe name="Test Tiny 2.1">
|
|
|
|
<!-- commands section -->
|
|
<servos>
|
|
<servo name="THROTTLE" no="0" min="1200" neutral="1200" max="2000"/>
|
|
<!-- Servo aileron gauche = couleur blanche -->
|
|
<!-- Aileron gauche oppose de l'aileron droit -->
|
|
<servo name="AILERON_LEFT" no="1" min="1775" neutral="1500" max="1050"/>
|
|
<!-- max = valeur aileron vers le bas-->
|
|
<servo name="AILERON_RIGHT" no="3" min="1875" neutral="1475" max="1225"/>
|
|
<!-- Rudder = Couleur rouge droite gauche -->
|
|
<servo name="RUDDER" no="4" min="1875" neutral="1500" max="1250"/>
|
|
<servo name="ELEVATOR" no="5" min="1850" neutral="1586" max="1150"/>
|
|
|
|
</servos>
|
|
|
|
<commands>
|
|
<axis name="THROTTLE" failsafe_value="0"/>
|
|
<axis name="ROLL" failsafe_value="0"/>
|
|
<axis name="PITCH" failsafe_value="0"/>
|
|
<axis name="YAW" 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"/>
|
|
<set command="YAW" value="@YAW"/>
|
|
</rc_commands>
|
|
|
|
<section name="MIXER">
|
|
<define name="AILERON_DIFF" value="0.66"/>
|
|
<define name="COMBI_SWITCH" value="1.0"/>
|
|
</section>
|
|
|
|
<command_laws>
|
|
<set servo="THROTTLE" value="@THROTTLE"/>
|
|
<set servo="ELEVATOR" value="@PITCH"/>
|
|
<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
|
|
|
|
<let var="roll" value="@ROLL"/>
|
|
<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
|
|
<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
|
|
</command_laws>
|
|
|
|
<section name="AUTO1" prefix="AUTO1_">
|
|
<define name="MAX_ROLL" value="0.6"/>
|
|
<define name="MAX_PITCH" value="0.6"/>
|
|
</section>
|
|
|
|
<!-- Serial n°0637446 . ADC_CHANNEL n°2,3 et 7 HS -->
|
|
<section name="adc" prefix="ADC_CHANNEL_">
|
|
<define name="IR1" value="ADC_0"/>
|
|
<define name="IR2" value="ADC_1"/>
|
|
<define name="IR_TOP" value="ADC_4"/>
|
|
<define name="IR_NB_SAMPLES" value="16"/>
|
|
</section>
|
|
|
|
<section name="INFRARED" prefix="IR_">
|
|
<define name="ROLL_NEUTRAL_DEFAULT" value="-6" unit="deg"/>
|
|
<define name="PITCH_NEUTRAL_DEFAULT" value="12" unit="deg"/>
|
|
<define name="DEFAULT_CONTRAST" value="200"/>
|
|
<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
|
|
<linear name="RollOfIrs" arity="2" coeff1="0.7" coeff2="0.7"/>
|
|
<linear name="PitchOfIrs" arity="2" coeff1="-0.7" coeff2="0.7"/>
|
|
|
|
<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_ROLL_NEUTRAL" value="716"/>
|
|
<define name="ADC_PITCH_NEUTRAL" value="0"/>
|
|
|
|
<define name="ADC_TOP_NEUTRAL" value="512"/>
|
|
|
|
<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="ESTIMATED_PHI_PI_4" value="0.9"/>
|
|
|
|
<define name="360_LATERAL_CORRECTION" value="1."/>
|
|
<define name="360_LONGITUDINAL_CORRECTION" value="1."/>
|
|
<define name="360_VERTICAL_CORRECTION" value="1."/>
|
|
</section>
|
|
|
|
<section name="BAT">
|
|
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
|
<define name="LOW_BATTERY" value="9.3" unit="V"/>
|
|
</section>
|
|
|
|
<section name="MISC">
|
|
<define name="NOMINAL_AIRSPEED" value="11." 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="50."/>
|
|
</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="-0.07"/>
|
|
<!-- outer loop saturation -->
|
|
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
|
|
|
|
<!-- auto throttle inner loop -->
|
|
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"/>
|
|
<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="1500"/>
|
|
<define name="AUTO_THROTTLE_DASH_TRIM" value="-500"/>
|
|
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
|
<define name="AUTO_THROTTLE_PGAIN" value="-0.025"/>
|
|
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
|
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
|
|
|
<!-- auto pitch inner loop -->
|
|
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
|
|
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
|
|
<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="-1.2"/>
|
|
<define name="ROLL_MAX_SETPOINT" value="0.6" 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="12000."/>
|
|
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
|
<define name="PITCH_PGAIN" value="-9000."/>
|
|
<define name="PITCH_DGAIN" value="1.5"/>
|
|
<define name="ELEVATOR_OF_ROLL" value="1250"/>
|
|
|
|
<!-- roll rate loop -->
|
|
<define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
|
|
<define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
|
|
<define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
|
|
<define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="1000."/>
|
|
<define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="1000."/>
|
|
<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."/>
|
|
<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="0.8"/><!-- Gaz for Aggressive Climb -->
|
|
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
|
|
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
|
<define name="DESCENT_PITCH" value="-0.25"/><!-- 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="DATALINK" prefix="DATALINK_">
|
|
<define name="DEVICE_TYPE" value="XBEE"/>
|
|
<define name="DEVICE_ADDRESS" value="...."/>
|
|
</section>
|
|
-->
|
|
|
|
<makefile>
|
|
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
|
|
|
|
FLASH_MODE=IAP
|
|
|
|
ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny_2_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_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK_FALLING
|
|
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
|
|
|
|
ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
|
|
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
|
|
|
#XBEE ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
|
|
#XBEE ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
|
|
|
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 += 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_4
|
|
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
|
|
|
ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B19200
|
|
|
|
ap.srcs += gps_ubx.c gps.c latlong.c
|
|
|
|
ap.CFLAGS += -DINFRARED -DALT_KALMAN -DIR_360
|
|
ap.srcs += infrared.c estimator.c
|
|
|
|
ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
|
|
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c
|
|
|
|
# Harware In The Loop
|
|
|
|
#ap.CFLAGS += -DHITL
|
|
|
|
|
|
# Config for SITL simulation
|
|
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
|
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360
|
|
sim.srcs += nav_survey_rectangle.c
|
|
|
|
</makefile>
|
|
</airframe>
|