mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 22:17:01 +08:00
Felix Ruess
282 lines
10 KiB
XML
282 lines
10 KiB
XML
<!DOCTYPE airframe SYSTEM "airframe.dtd">
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<!-- The Black One (http://www.recherche.enac.fr/wiki/index.php/Image:MAC-BlackOne-MAV06.jpg)
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Two ailevons
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Tiny proto, tilted infrared sensor
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2 cells lipo
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Hatch to drop a paint ball
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Gimballed camera -->
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<airframe name="BlackOne Tiny proto">
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<!-- commands section -->
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<servos>
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<servo name="THROTTLE" no="4" min="1000" neutral="1000" max="2000"/>
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<servo name="AILEVON_LEFT" no="5" min="1900" neutral="1470" max="1100"/>
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<servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1595" max="2000"/>
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<servo name="HATCH" no="1" min="1725" neutral="1725" max="1000"/>
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<!--servo name="CAM_ROLL" no="0" min="1025" neutral="1600" max="2175"/-->
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<servo name="CAM_ROLL" no="0" min="2150" neutral="1585" max="1020"/>
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<servo name="CAM_PITCH" no="2" min="1000" neutral="1500" max="2000"/>
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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="HATCH" failsafe_value="0"/>
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<axis name="CAM_ROLL" failsafe_value="0"/>
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<axis name="CAM_PITCH" 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="PITCH" value="@PITCH"/>
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<set command="HATCH" value="@GAIN1"/>
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<set command="CAM_ROLL" value="@ROLL"/>
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</rc_commands>
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<section name="MIXER">
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<define name="AILEVON_AILERON_RATE" value="0.45"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
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</section>
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<command_laws>
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<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
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<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
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<set servo="THROTTLE" value="@THROTTLE"/>
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<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
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<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
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<set servo="HATCH" value="@HATCH"/>
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<!--set servo="CAM_ROLL" value="@CAM_ROLL"/-->
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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="ADC_0"/>
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<define name="IR2" value="ADC_1"/>
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<define name="IR_TOP" value="ADC_2"/>
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<define name="IR_NB_SAMPLES" value="16"/>
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<define name="VSUPPLY" value="ADC_7"/>
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<define name="GYRO_ROLL" value="ADC_3"/>
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<define name="GYRO_TEMP" value="ADC_4"/>
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<define name="GYRO_NB_SAMPLES" value="16"/>
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</section>
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<section name="INFRARED" prefix="IR_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="12" 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="-0.7" coeff2="0.7"/>
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<linear name="PitchOfIrs" arity="2" coeff1="0.7" coeff2="0.7"/>
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<linear name="TopOfIr" arity="1" coeff1="-1"/>
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<define name="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
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<define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
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<define name="ADC_ROLL_NEUTRAL" value="0"/>
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<define name="ADC_PITCH_NEUTRAL" value="716"/>
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<define name="ADC_TOP_NEUTRAL" value="512"/>
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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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<define name="360_LATERAL_CORRECTION" value="1.3"/>
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<define name="360_LONGITUDINAL_CORRECTION" value="1.3"/>
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<define name="360_VERTICAL_CORRECTION" value="1."/>
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</section>
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<section name="GYRO" prefix="GYRO_">
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<define name="ADC_ROLL_NEUTRAL" value="474"/>
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<define name="ADC_TEMP_NEUTRAL" value="476"/>
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<define name="ADC_TEMP_SLOPE" value="0"/>
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<define name="ROLL_SCALE" value="0.44"/>
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<define name="ROLL_DIRECTION" value="-1."/>
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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="0.0174"/>
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<define name="VOLTAGE_ADC_B" value="3.43"/>
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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="6.0" unit="V"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="CONTROL_RATE" value="60" unit="Hz"/>
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<define name="TRIGGER_DELAY" value="2."/>
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<define name="NAV_GLIDE_PITCH_TRIM" value="(V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN*V_CTL_ALTITUDE_MAX_CLIMB)"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
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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="-0.025"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="2."/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.40"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="-0.03"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
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<!-- auto pitch inner loop -->
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<define name="AUTO_PITCH_PGAIN" value="-0.06"/>
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<define name="AUTO_PITCH_IGAIN" value="0.025"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
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<define name="THROTTLE_SLEW" value="0.05"/>
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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="-0.85"/>
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<define name="ROLL_MAX_SETPOINT" value="0.5" unit="radians"/>
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<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
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<define name="ROLL_PGAIN" value="8000."/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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<define name="PITCH_PGAIN" value="-8000."/>
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<define name="PITCH_DGAIN" value="0."/>
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<define name="ELEVATOR_OF_ROLL" value="1750"/>
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<!-- roll rate loop -->
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<define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
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<define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
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<define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
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<define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="1500."/>
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<define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="1500."/>
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<define name="ROLL_RATE_IGAIN" value="0."/>
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<define name="ROLL_RATE_DGAIN" value="0."/>
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<define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
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</section>
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<section name="NAV">
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<define name="NAV_PITCH" value="0."/>
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</section>
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<section name="AGGRESSIVE" prefix="AGR_">
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<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
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<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
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<define name="CLIMB_THROTTLE" value="0.8"/><!-- Throttle for Aggressive Climb -->
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<define name="CLIMB_PITCH" value="0.4"/><!-- Pitch for Aggressive Climb -->
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<define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive Decent -->
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<define name="DESCENT_PITCH" value="-0.4"/><!-- Pitch for Aggressive Decent -->
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<define name="CLIMB_NAV_RATIO" value="0.5"/><!-- 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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<section name="GYRO_GAINS">
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<define name="GYRO_MAX_RATE" value="200."/>
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<define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
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<define name="ALT_ROLL__PGAIN" value="1.0"/>
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<define name="ROLL_RATE_PGAIN" value="1000.0"/>
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<define name="ROLL_RATE_IGAIN" value="0.0"/>
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<define name="ROLL_RATE_DGAIN" value="0.0"/>
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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="0.3" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
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<define name="HOME_RADIUS" value="100" unit="m"/>
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</section>
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<section name="CAM" prefix="CAM_">
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<define name="PHI0" value="-45" unit="deg"/>
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</section>
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<makefile>
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include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
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FLASH_MODE=IAP
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ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny.h\" -DLED -DTIME_LED=1
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ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
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ap.srcs += commands.c
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ap.CFLAGS += -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015
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ap.srcs += $(SRC_ARCH)/servos_4015_hw_new.c actuators.c
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ap.CFLAGS += -DRADIO_CONTROL
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ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
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#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
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#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
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ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
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ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
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ap.CFLAGS += -DINTER_MCU
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ap.srcs += inter_mcu.c
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ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_1 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD1 -DUSE_AD1_7 -DUSE_AD1_3 -DUSE_AD1_2
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ap.srcs += $(SRC_ARCH)/adc_hw.c
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ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200 -DGPS_CONFIGURE -DZ_CONTRAST_DEFAULT=1
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ap.srcs += gps_ubx.c gps.c
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ap.CFLAGS += -DINFRARED -DALT_KALMAN -DIR_360
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ap.srcs += infrared.c estimator.c
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ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
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ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
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ap.CFLAGS += -DGYRO -DADXRS150
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ap.srcs += gyro.c
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ap.srcs += bomb.c
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#Cap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM
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#Cap.srcs += traffic_info.c point.c cam.c
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# Video switch
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ap.CFLAGS += -DUSE_GPIO
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ap.srcs += $(SRC_ARCH)/gpio.c
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# Hardware In The Loop
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#ap.CFLAGS += -DHITL
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# Config for SITL simulation
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include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
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sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DIR_360
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sim.srcs += bomb.c
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#Csim.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM
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#Csim.srcs += traffic_info.c point.c
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</makefile>
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</airframe>
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