mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 23:49:00 +08:00
Antoine Drouin
147 lines
5.3 KiB
XML
147 lines
5.3 KiB
XML
<airframe name="Twin2">
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<servos>
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<servo name="GAZ" no="9" min="1000" neutral="1000" max="2000"/>
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<servo name="AILERON_LEFT" no="2" min="1100" neutral="1492" max="2000"/>
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<servo name="AILERON_RIGHT" no="6" min="1000" neutral="1385" max="1833"/>
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<servo name="ELEVATOR" no="7" min="1816" neutral="1586" max="1220"/>
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<servo name="RUDDER" no="3" min="1270" neutral="1546" max="1850"/>
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<servo name="CAM_ROLL" no="4" min="1000" neutral="1500" max="2000"/>
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<servo name="CAM_PITCH" no="5" 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="YAW" 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="YAW" value="@YAW"/>
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</rc_commands>
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<section name="MIXER">
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<define name="AILERON_DIFF" value="0.66"/>
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<define name="COMBI_SWITCH" value="1.0"/>
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</section>
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<command_laws>
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<set servo="GAZ" value="2 * @THROTTLE"/>
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<set servo="ELEVATOR" value="@PITCH"/>
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<let var="roll" value="@ROLL"/>
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<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
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<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
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<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
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</command_laws>
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<section name="adc" prefix="ADC_CHANNEL_">
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<define name="IR1" value="1"/>
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<define name="IR2" value="2"/>
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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="0" unit="deg"/>
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<define name="ADC_ROLL_NEUTRAL" value="-1005"/>
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<define name="ADC_PITCH_NEUTRAL" value="75"/>
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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="10000."/>
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<define name="PITCH_OF_ROLL" value="0.0"/>
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<define name="PITCH_PGAIN" value="15000."/>
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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"/>
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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="0.45"/>
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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="-0.4"/>
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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="9.3" unit="V"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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</section>
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<section name="SIMU">
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<define name="ROLL_RESPONSE_FACTOR" value="2."/>
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<define name="YAW_RESPONSE_FACTOR" value="1.3"/>
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<define name="WEIGHT" value="1.3"/>
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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_GAZ" value="CLIMB_LEVEL_GAZ+0.05" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
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<define name="HOME_RADIUS" value="50" unit="m"/>
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</section>
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<section name="CAM" prefix="CAM_">
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<define name="THETA0" value="15" unit="deg"/>
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<define name="PHI0" value="-30" unit="deg"/>
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</section>
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<section name="DOWNLINK" prefix="DOWNLINK_">
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<define name="FBW_DEVICE" value="uart0"/>
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<define name="AP_DEVICE" value="uart0"/>
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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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fbw.srcs += commands.c
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fbw.CFLAGS += -DACTUATORS=\"servos_4017.h\" -DSERVOS_4017
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fbw.srcs += $(SRC_ARCH)/servos_4017.c
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fbw.CFLAGS += -DRADIO_CONTROL
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fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
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fbw.CFLAGS += -DDOWNLINK -DUART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=uart0
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fbw.srcs += fbw_downlink.c $(SRC_ARCH)/uart_hw.c
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fbw.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK
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fbw.srcs += inter_mcu.c $(SRC_ARCH)/spi_hw.c
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fbw.CFLAGS += -Werror
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ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=uart0
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ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c
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ap.CFLAGS += -DGPS -DUBX -DINFRARED -DRADIO_CONTROL
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ap.CFLAGS += -DDATALINK
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ap.EXTRA_SRCS += traffic_info.c datalink.c
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ap.CFLAGS += -DMOBILE_CAM
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# ap.CFLAGS += -DWAVECARD
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# ap.EXTRA_SRCS += wavecard.c
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ap.CFLAGS += -DMAXSTREAM
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ap.EXTRA_SRCS += maxstream.c
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</makefile>
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</airframe>
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