mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 22:17:01 +08:00
Felix Ruess
325 lines
12 KiB
XML
325 lines
12 KiB
XML
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
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<!-- Twinjet Multiplex (http://www.multiplex-rc.de/)
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Tiny 2.12 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
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Tilted infrared sensor
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-->
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<airframe name="Twinjet 2 Tiny 2.12">
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<modules>
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<!--load name="adp_roll.xml"/-->
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<!--load name="ins_vn100.xml"/-->
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<!--load name="ets_module_sensors.xml"/-->
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<!--load name="infrared_i2c.xml"/-->
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<!--load name="max3100.xml"/>
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<load name="gsm.xml"/-->
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<load name="demo_module.xml">
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<flag name="TEST" value="1"/>
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<flag name="TEST_FLAG"/>
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</load>
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<!--load name="enose.xml"/-->
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<load name="light.xml"/>
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</modules>
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<firmware name="fixedwing">
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<target name="ap" board="tiny_2.11">
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<define name="PITCH_TRIM"/>
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<define name="ALT_KALMAN"/>
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<define name="USE_I2C0"/>
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</target>
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<target name="sim" board="pc">
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<define name="PITCH_TRIM"/>
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<define name="ALT_KALMAN"/>
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<define name="USE_I2C0"/>
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</target>
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="telemetry" type="xbee_api"/>
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<subsystem name="control" type="new"/>
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<subsystem name="attitude" type="infrared"/>
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<subsystem name="gps" type="ublox_lea5h"/>
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<subsystem name="navigation"/>
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<subsystem name="i2c"/>
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</firmware>
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<firmware name="setup">
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<target name="tunnel" board="tiny_2.11" />
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<target name="setup_actuators" board="tiny_2.11" />
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</firmware>
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<!-- commands section -->
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<servos>
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<servo name="MOTOR_LEFT" no="3" min="1000" neutral="1000" max="2000"/>
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<servo name="MOTOR_RIGHT" no="4" min="1000" neutral="1000" max="2000"/>
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<servo name="AILEVON_LEFT" no="6" min="1900" neutral="1515" max="1100"/>
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<servo name="AILEVON_RIGHT" no="7" min="1100" neutral="1500" max="1900"/>
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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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</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="AILEVON_AILERON_RATE" value="0.75"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
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<define name="MOTOR_YAW_RATE" value="0.0"/>
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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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<let var="yaw" value="@YAW * MOTOR_YAW_RATE"/>
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<set servo="MOTOR_LEFT" value="@THROTTLE - $yaw"/>
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<set servo="MOTOR_RIGHT" value="@THROTTLE + $yaw"/>
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<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
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<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="0.85"/>
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<define name="MAX_PITCH" value="0.6"/>
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</section>
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<section name="INFRARED" prefix="IR_">
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<define name="ADC_IR1_NEUTRAL" value="512"/>
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<define name="ADC_IR2_NEUTRAL" value="512"/>
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<define name="ADC_TOP_NEUTRAL" value="512"/>
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<define name="LATERAL_CORRECTION" value="1."/>
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<define name="LONGITUDINAL_CORRECTION" value="1."/>
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<define name="VERTICAL_CORRECTION" value="1.25"/>
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<define name="HORIZ_SENSOR_TILTED" value="1"/>
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<define name="IR1_SIGN" value="-1"/>
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<define name="IR2_SIGN" value="1"/>
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<define name="TOP_SIGN" value="1"/>
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<define name="ROLL_NEUTRAL_DEFAULT" value="-1.146" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0.15" unit="deg"/>
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<define name="I2C_DEFAULT_CONF" value="1"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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</section>
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<section name="MISC">
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<define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
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<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
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<define name="MAXIMUM_AIRSPEED" value="20." 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="XBEE_INIT" value=""ATPL2\rATRN1\rATTT80\r""/> -->
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<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
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<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
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<define name="LIGHT_LED_1" value="3"/>
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<define name="LIGHT_LED_2" value="5"/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="-0.0450000017881"/>
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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="0.319999992847"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
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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="1500"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="-0.035000000149"/>
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<define name="AUTO_THROTTLE_IGAIN" value="-0.01"/>
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<define name="AUTO_THROTTLE_DGAIN" value="-0"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.12"/>
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<!-- auto pitch inner loop -->
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<define name="AUTO_PITCH_PGAIN" value="-0.035000000149"/>
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<define name="AUTO_PITCH_IGAIN" value="-0.01"/>
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<define name="AUTO_PITCH_DGAIN" value="-0"/>
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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="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.15"/>
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<!-- pitch trim -->
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<define name="PITCH_LOITER_TRIM" value="RadOfDeg(5.)"/>
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<define name="PITCH_DASH_TRIM" value="RadOfDeg(-5.)"/>
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<define name="THROTTLE_SLEW" value="0.3"/>
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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="-0.995000004768"/>
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<define name="ROLL_MAX_SETPOINT" value="0.6" 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_ATTITUDE_GAIN" value="-3553.89208984"/>
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<define name="ROLL_RATE_GAIN" value="0."/>
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<define name="ROLL_IGAIN" value="-500"/>
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<define name="ROLL_KFFA" value="-500"/>
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<define name="ROLL_KFFD" value="-500"/>
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<define name="PITCH_PGAIN" value="-14522.4716797"/>
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<define name="PITCH_DGAIN" value="-0."/>
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<define name="PITCH_IGAIN" value="-500"/>
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<define name="PITCH_KFFA" value="0."/>
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<define name="PITCH_KFFD" value="0."/>
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<!--define name="ELEVATOR_OF_ROLL" value="1541."/-->
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<define name="PITCH_OF_ROLL" value="RadOfDeg(0.2)"/>
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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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<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
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<define name="NAV_CROSS_TRACK_ERROR_IGAIN" value="0."/>
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<define name="NAV_CROSS_TRACK_ERROR_MAX" value="10." unit="deg"/>
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</section>
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<section name="AGGRESSIVE" prefix="AGR_">
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<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
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<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
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<define name="CLIMB_THROTTLE" value="0.7"/><!-- Gaz for Aggressive Climb -->
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<define name="CLIMB_PITCH" value="0.25"/><!-- Pitch for Aggressive Climb -->
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<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
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<define name="DESCENT_PITCH" value="-0.15"/><!-- Pitch for Aggressive Decent -->
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<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- 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="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="1" 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="SIMU">
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<define name="YAW_RESPONSE_FACTOR" value="1."/>
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</section>
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<!--
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<makefile>
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CONFIG = \"tiny_2_1_1.h\"
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include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
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FLASH_MODE=IAP
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ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -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.CFLAGS += -DINTER_MCU
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ap.srcs += inter_mcu.c
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ap.srcs += commands.c
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########## RC actuators + radio
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ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
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ap.srcs += $(SRC_ARCH)/servos_4017_hw.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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########## Modems
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ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
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ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
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#TRANSPARENT
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#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
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#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
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########## ADC
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ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
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ap.srcs += $(SRC_ARCH)/adc_hw.c
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########## GPS
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ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
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# -DGPS_LED=2
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ap.srcs += gps_ubx.c gps.c latlong.c
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########## IR sensors
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ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN
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ap.srcs += infrared.c estimator.c
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########## Gyro
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#ap.CFLAGS += -DGYRO -DADXRS150
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#ap.srcs += gyro.c
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########## Nav
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ap.CFLAGS += -DNAV -DAGR_CLIMB -DPITCH_TRIM
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ap.srcs += nav.c fw_h_ctl_a.c fw_v_ctl_n.c
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ap.srcs += nav_survey_rectangle.c
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ap.srcs += nav_line.c
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########## SPI Master use slave0
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ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0
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ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c
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########## Barometer (SPI)
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#ap.CFLAGS += -DUSE_BARO_MS5534A
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#ap.srcs += $(SRC_ARCH)/baro_MS5534A.c
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########## I2C0
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ap.CFLAGS += -DUSE_I2C0
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ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
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########## Lights
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ap.CFLAGS += -DUSE_LIGHT
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ap.srcs += light.c
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########## Max3100
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ap.CFLAGS += -DMAX3100_BAUD_RATE=MAX3100_B9600
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ap.CFLAGS += -DGCS_NUMBER=\"+33640286530\"
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ap.CFLAGS += -DUSE_MODULES
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# Config for SITL simulation
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#include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
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sim.ARCHDIR = $(ARCHI)
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sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO
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sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl_n.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
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sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DPITCH_TRIM -DALT_KALMAN
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sim.srcs += nav_line.c nav_survey_rectangle.c
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sim.CFLAGS += -DUSE_LIGHT
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sim.srcs += light.c
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sim.CFLAGS += -DUSE_I2C0
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sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
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sim.CFLAGS += -DUSE_MODULES
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</makefile>
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-->
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</airframe>
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