mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 13:55:40 +08:00
Pascal Brisset
273 lines
10 KiB
XML
Executable File
273 lines
10 KiB
XML
Executable File
<airframe name="Miraterre Test AC">
|
|
<!-- tiny airframe -->
|
|
|
|
<!-- commands section -->
|
|
<servos>
|
|
<servo name="AILEVON_RIGHT" no="0" min="1000" neutral="1433" max="2000"/>
|
|
<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1527" max="1000"/>
|
|
<servo name="GAZ" no="2" min="1250" neutral="1262" max="1850"/>
|
|
</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="0.8"/>
|
|
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
|
|
</section>
|
|
|
|
<command_laws>
|
|
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
|
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
|
<set servo="GAZ" 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="0.96"/>
|
|
<define name="MAX_PITCH" value="0.8"/>
|
|
</section>
|
|
|
|
<section name="adc" prefix="ADC_CHANNEL_">
|
|
<define name="IR1" value="ADC_1"/>
|
|
<define name="IR2" value="ADC_0"/>
|
|
<define name="IR_TOP" value="ADC_6"/>
|
|
<define name="IR_NB_SAMPLES" value="16"/>
|
|
<define name="VSUPPLY" value="ADC_7"/>
|
|
<define name="GYRO_ROLL" value="ADC_4"/>
|
|
<define name="GYRO_TEMP" value="ADC_5"/>
|
|
<define name="GYRO_NB_SAMPLES" value="16"/>
|
|
</section>
|
|
|
|
<section name="INFRARED" prefix="IR_">
|
|
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
|
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
|
<define name="DEFAULT_CONTRAST" value="200"/>
|
|
<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
|
|
<linear name="RollOfIrs" arity="2" coeff1=".5" coeff2="0.5"/>
|
|
<linear name="PitchOfIrs" arity="2" coeff1="-0.5" coeff2="0.5"/>
|
|
<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="512"/>
|
|
<define name="ADC_PITCH_NEUTRAL" value="0"/>
|
|
<define name="ADC_TOP_NEUTRAL" value="512"/>
|
|
|
|
<define name="CORRECTION_UP" value="1.6"/>
|
|
<define name="CORRECTION_DOWN" value="1.4"/>
|
|
<define name="CORRECTION_LEFT" value="1."/>
|
|
<define name="CORRECTION_RIGHT" value="1."/>
|
|
|
|
<define name="ESTIMATED_PHI_PI_4" value="M_PI_4"/>
|
|
|
|
<define name="360_LATERAL_CORRECTION" value="1."/>
|
|
<define name="360_LONGITUDINAL_CORRECTION" value="1."/>
|
|
<define name="360_VERTICAL_CORRECTION" value="1.5"/>
|
|
</section>
|
|
|
|
<section name="GYRO" prefix="GYRO_">
|
|
<define name="ADC_ROLL_NEUTRAL" value="478"/>
|
|
<define name="ADC_TEMP_NEUTRAL" value="802"/>
|
|
<define name="ADC_TEMP_SLOPE" value="0"/>
|
|
<define name="ROLL_SCALE" value="0.44"/>
|
|
<define name="ROLL_DIRECTION" value="1."/>
|
|
</section>
|
|
|
|
<section name="BAT">
|
|
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
|
<define name="VOLTAGE_ADC_A" value="0.01818"/>
|
|
<define name="VOLTAGE_ADC_B" value="-0.09"/>
|
|
<define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
|
|
<define name="LOW_BATTERY" value="9.3" unit="V"/>
|
|
</section>
|
|
|
|
<section name="MISC">
|
|
<define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
|
|
<define name="CARROT" value="3." 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="DEFAULT_CIRCLE_RADIUS" value="100"/>
|
|
|
|
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
|
|
</section>
|
|
|
|
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
|
<!-- outer loop proportional gain -->
|
|
<define name="ALTITUDE_PGAIN" value="-0.065"/>
|
|
<!-- outer loop saturation -->
|
|
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
|
|
|
|
<!-- auto throttle inner loop -->
|
|
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.65"/>
|
|
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".4"/>
|
|
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1"/>
|
|
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
|
|
<define name="AUTO_THROTTLE_DASH_TRIM" value="-2500"/>
|
|
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
|
<define name="AUTO_THROTTLE_PGAIN" value="-0.008"/>
|
|
<define name="AUTO_THROTTLE_IGAIN" value="0.25"/>
|
|
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.35"/>
|
|
|
|
<!-- auto pitch inner loop -->
|
|
<define name="AUTO_PITCH_PGAIN" value="-0.1"/>
|
|
<define name="AUTO_PITCH_IGAIN" value="0.025"/>
|
|
<define name="AUTO_PITCH_MAX_PITCH" value="0.5"/>
|
|
<define name="AUTO_PITCH_MIN_PITCH" value="-0.5"/>
|
|
|
|
<define name="THROTTLE_SLEW" value="0.05"/>
|
|
|
|
</section>
|
|
|
|
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
|
<define name="COURSE_PGAIN" value="-0.88"/>
|
|
<define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
|
|
<define name="ROLL_MAX_SETPOINT" value="0.73" 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="10000."/>
|
|
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
|
<define name="PITCH_PGAIN" value="-6000."/>
|
|
<define name="PITCH_DGAIN" value="0."/>
|
|
<define name="ELEVATOR_OF_ROLL" value="2000"/>
|
|
|
|
<!-- roll rate loop -->
|
|
<define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
|
|
<define name="ROLL_RATE_SETPOINT_PGAIN" value="-5.5"/>
|
|
<define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
|
|
<define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="1500."/>
|
|
<define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="900."/>
|
|
<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="(V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN*V_CTL_ALTITUDE_MAX_CLIMB)"/>
|
|
</section>
|
|
|
|
|
|
<section name="AGGRESSIVE" prefix="AGR_">
|
|
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
|
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
|
<define name="CLIMB_THROTTLE" value="1."/><!-- Gaz for Aggressive Climb -->
|
|
<define name="CLIMB_PITCH" value="0.42"/><!-- Pitch for Aggressive Climb -->
|
|
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
|
|
<define name="DESCENT_PITCH" value="-0.5"/><!-- Pitch for Aggressive Decent -->
|
|
<define name="CLIMB_NAV_RATIO" value="0.5"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
|
|
<define name="DESCENT_NAV_RATIO" value="1.0"/>
|
|
</section>
|
|
|
|
|
|
<section name="FAILSAFE" prefix="FAILSAFE_">
|
|
<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
|
|
<define name="DEFAULT_GAZ" value="0." unit="%"/>
|
|
<define name="DEFAULT_ROLL" value="0.6" 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.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_4015_hw.h\" -DSERVOS_4015
|
|
ap.srcs += $(SRC_ARCH)/servos_4015_hw.c actuators.c
|
|
|
|
ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
|
|
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
|
|
|
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
|
|
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
|
|
|
|
#TRANSPARENT ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
|
|
#TRANSPARENT 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_AD0 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD1 -DUSE_AD1_3 -DUSE_AD1_5 -DUSE_AD1_2 -DUSE_AD1_4
|
|
ap.srcs += $(SRC_ARCH)/adc_hw.c
|
|
|
|
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
|
|
|
|
ap.srcs += gps_ubx.c gps.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
|
|
|
|
|
|
ap.CFLAGS += -DGYRO -DADXRS150
|
|
ap.srcs += gyro.c bomb.c
|
|
|
|
# Hack to use the same tuning file than slayer1
|
|
ap.CFLAGS += -DUSE_GPIO
|
|
ap.srcs += gpio.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 += bomb.c
|
|
|
|
|
|
# a test program to setup actuators
|
|
setup_actuators.ARCHDIR = $(ARCHI)
|
|
setup_actuators.ARCH = arm7tdmi
|
|
setup_actuators.TARGET = setup_actuators
|
|
setup_actuators.TARGETDIR = setup_actuators
|
|
|
|
setup_actuators.CFLAGS += -DFBW -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART0 -DUART0_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart0
|
|
setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4015_hw.c main.c
|
|
|
|
|
|
# a test program to tunnel between both uart
|
|
tunnel.ARCHDIR = $(ARCHI)
|
|
tunnel.ARCH = arm7tdmi
|
|
tunnel.TARGET = tunnel
|
|
tunnel.TARGETDIR = tunnel
|
|
|
|
tunnel.CFLAGS += -DFBW -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1
|
|
tunnel.srcs += $(SRC_ARCH)/uart_tunnel.c
|
|
</makefile>
|
|
</airframe>
|