mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-31 03:57:45 +08:00
Felix Ruess
234 lines
8.2 KiB
XML
234 lines
8.2 KiB
XML
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
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<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
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Tiny 2.11 board (http://paparazzi.enac.fr/wiki/Tiny_v2)
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IR i2c
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Tilted infrared sensor (http://paparazzi.enac.fr/wiki/Image:Tiny_v2_1_Funjet.jpg)
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Radiotronix modem
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LEA 5H GPS
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Airspeed sensor
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Digital camera
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-->
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<airframe name="Funjet Tiny 2.11">
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<modules>
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<load name="light.xml">
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<define name="LIGHT_LED_STROBE" value="5"/>
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<define name="LIGHT_LED_NAV" value="3"/>
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</load>
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<load name="infrared_i2c.xml"/>
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<load name="pbn.xml"/>
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<load name="ins_vn100.xml"/>
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</modules>
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<firmware name="fixedwing">
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<define name="AGR_CLIMB"/>
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<define name="ALT_KALMAN"/>
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<define name="PITCH_TRIM"/>
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<define name="USE_I2C0"/>
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<define name="USE_AIRSPEED"/>
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<target name="sim" board="pc"/>
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<target name="ap" board="tiny_2.11">
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<configure name="FLASH_MODE" value="IAP"/>
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<define name="SPI_MASTER"/>
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<define name="USE_SPI_SLAVE0"/>
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</target>
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<subsystem name="radio_control" type="ppm"/>
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<!--subsystem name="joystick"/-->
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<subsystem name="spi"/>
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<!-- Communication -->
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<subsystem name="telemetry" type="transparent"/>
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<!-- Actuators are automatically chosen according to board-->
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<subsystem name="control" type="new"/>
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<!-- Sensors -->
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<subsystem name="gps" type="ublox"/>
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<subsystem name="gyro" type="roll">
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<configure name="ADC_GYRO_ROLL" value="ADC_5"/>
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</subsystem>
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<subsystem name="current_sensor">
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<configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
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</subsystem>
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<subsystem name="navigation"/>
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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" no="0" min="1040" neutral="1040" max="2000"/>
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<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1500" max="1050"/>
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<servo name="AILEVON_RIGHT" no="6" min="1120" neutral="1540" max="1980"/>
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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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</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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</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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</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="MOTOR" 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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</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="IR1_NEUTRAL" value="-15"/>
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<define name="IR2_NEUTRAL" value="0"/>
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<define name="TOP_NEUTRAL" value="-20"/>
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<define name="I2C_DEFAULT_CONF" value="1"/>
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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"/>
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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="2." unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="2." unit="deg"/>
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</section>
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<section name="GYRO" prefix="GYRO_">
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<define name="ADC_ROLL_NEUTRAL" value="487"/>
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<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
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<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
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<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
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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_AT_FULL_THROTTLE" value="10000."/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
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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_FREQUENCY" value="60" unit="Hz"/>
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<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
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<define name="TRIGGER_DELAY" value="1."/>
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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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<!--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="0.06"/> <!-- -0.024 -->
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="3."/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
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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="0.85"/>
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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="0.01"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.04"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
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<!-- auto pitch inner loop -->
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<define name="AUTO_PITCH_PGAIN" value="0.03"/>
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<define name="AUTO_PITCH_DGAIN" value="0.0"/>
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<define name="AUTO_PITCH_IGAIN" value="0.0"/>
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<define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/>
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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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<!-- airspeed control -->
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<define name="AUTO_AIRSPEED_SETPOINT" value="15."/>
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<define name="AUTO_AIRSPEED_PGAIN" value="0.05"/>
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<define name="AUTO_AIRSPEED_IGAIN" value="0.01"/>
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<define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
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<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
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<define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
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<define name="AIRSPEED_MAX" value="22"/>
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<define name="AIRSPEED_MIN" value="8"/>
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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="0.1"/>
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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="1."/>
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<define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
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<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
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<define name="ROLL_ATTITUDE_GAIN" value="9000."/>
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<define name="ROLL_RATE_GAIN" value="3000."/>
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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="20000."/>
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<define name="PITCH_DGAIN" value="0.4"/>
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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="PITCH_OF_ROLL" value="RadOfDeg(0.2)"/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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<define name="ELEVATOR_OF_ROLL" value="1400"/>
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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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</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="SIMU">
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<define name="ROLL_RESPONSE_FACTOR" value="10"/>
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<define name="MAX_ROLL_DOT" value="20" unit="rad/s"/>
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</section>
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</airframe>
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