mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Felix Ruess
321 lines
12 KiB
XML
321 lines
12 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!--
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Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
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Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
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PerkinElmer TPS334 IR Sensors
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Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
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XBee modem
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Payload: Sensirion humidity/temp, VTI pressure/temp
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K68, LEA 5
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-->
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<airframe name="MavLab50cm">
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<!-- commands section -->
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<servos>
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<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
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<!-- Left: 2ms is up -->
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<servo name="AILEVON_LEFT" no="1" min="1100" neutral="1500" max="2900"/>
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<!-- Right: 2ms is donw -->
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<servo name="AILEVON_RIGHT" no="5" min="300" neutral="1200" max="1900"/>
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<servo name="CAM_TILT" no="3" min="1500" neutral="2050" max="2050"/>
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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="CAM_TILT" failsafe_value="0"/>
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</commands>
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<ap_only_commands>
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<copy command="CAM_TILT"/>
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</ap_only_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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<command_laws>
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<set servo="MOTOR" value="@THROTTLE"/>
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<set servo="AILEVON_LEFT" value="(@ROLL*0.8f) + (@PITCH)"/>
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<set servo="AILEVON_RIGHT" value="(@ROLL*0.8f) - (@PITCH)"/>
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<set servo="CAM_TILT" value="@CAM_TILT"/>
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</command_laws>
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<section name="CAMERA" prefix="CAM_">
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<define name="TILT0" value="0" unit="deg"/>
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<define name="TILT_MIN" value="-30" unit="deg"/>
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<define name="TILT_NEUTRAL" value="0" unit="deg"/>
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<define name="TILT_MAX" value="30" unit="deg"/>
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</section>
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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="adc" prefix="ADC_CHANNEL_">
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<define name="IR_TOP" value="ADC_0"/>
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<define name="IR1" value="ADC_1"/>
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<define name="IR2" value="ADC_2"/>
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<define name="IR_NB_SAMPLES" value="16"/>
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<define name="GYRO_ROLL" value="ADC_4"/>
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<define name="GYRO_PITCH" value="ADC_5"/>
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<define name="GYRO_NB_SAMPLES" value="16"/>
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<define name="AIRSPEED" value="ADC_3"/>
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<define name="AIRSPEED_NB_SAMPLES" value="32"/>
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</section>
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<section name="INFRARED" prefix="IR_">
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<define name="ADC_IR1_NEUTRAL" value="500"/>
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<define name="ADC_IR2_NEUTRAL" value="500"/>
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<define name="ADC_TOP_NEUTRAL" value="490"/>
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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="LATERAL_CORRECTION" value="1."/>
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<define name="LONGITUDINAL_CORRECTION" value="-1."/>
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<define name="VERTICAL_CORRECTION" value="1.5"/>
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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="0." unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="18.9649028778" unit="deg"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="14000"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="6.0" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="6.8" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="7.3" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
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<define name="MilliAmpereOfAdc(adc)" value="((adc-508)*50)"/>
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</section>
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<section name="GYRO" prefix="GYRO_">
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<define name="ADC_ROLL_NEUTRAL" value="382"/>
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<define name="ADC_PITCH_NEUTRAL" value="400"/>
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<define name="ADC_TEMP_NEUTRAL" value="0"/>
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<define name="ADC_TEMP_SLOPE" value="0"/>
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<define name="DYNAMIC_RANGE" value="500" unit="deg/s"/>
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<define name="ROLL_SCALE" value="-2.0/1024.*GYRO_DYNAMIC_RANGE" unit="deg/s/adc_unit"/>
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<define name="PITCH_SCALE" value="2.0/1024.*GYRO_DYNAMIC_RANGE" unit="deg/s/adc_unit"/>
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<define name="ROLL_DIRECTION" value="-1."/>
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<define name="PITCH_DIRECTION" value="1."/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="10." unit="m/s"/>
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<define name="CARROT" value="10." 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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<!--uncommant API protocol in makefile-->
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<define name="XBEE_INIT" value="\"ATCHC\rATID3332\rATPL4\rATRN1\rATTT80\rATBD3\rATWR\r\""/>
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<define name="NO_XBEE_API_INIT" value="TRUE"/> <!-- uncommant after programed-->
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<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="70."/>
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<define name="GLIDE_AIRSPEED" value="10"/>
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<define name="GLIDE_VSPEED" value="3."/>
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<define name="GLIDE_PITCH" value="5" unit="deg"/>
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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="7.6" unit="volt"/>
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<!-- Vertical Outerloop
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v_ctl_climb_setpoint = ALTITUDE_PGAIN * altitude_error + altitude_pre_climb;
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BoundAbs(v_ctl_climb_setpoint, V_CTL_ALTITUDE_MAX_CLIMB);
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-->
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<!-- outer loop proportional gain: alt error 5 climb m/s -->
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<define name="ALTITUDE_PGAIN" value="-0.0750000029802"/>
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<!-- outer loop saturation: m/s-->
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<define name="ALTITUDE_MAX_CLIMB" value="5.0"/>
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<!-- auto throttle inner loop
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float controlled_throttle = v_ctl_auto_throttle_cruise_throttle
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+ v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint
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+ v_ctl_auto_throttle_pgain *
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(err + v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err
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+ v_ctl_auto_throttle_dgain * d_err);
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/* pitch pre-command */
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float v_ctl_pitch_of_vz = (v_ctl_climb_setpoint + d_err * v_ctl_auto_throttle_pitch_of_vz_dgain)
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* v_ctl_auto_throttle_pitch_of_vz_pgain;
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-->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.40000000596"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.20"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.90"/>
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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." 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."/>
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<define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0."/>
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<define name="THROTTLE_SLEW_LIMITER" value="1" unit="s"/>
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<define name="AUTO_AIRSPEED_SETPOINT" value="10" unit="m/s"/>
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<define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0" unit="degree/(m/s)"/>
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<define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0" unit="%/(m/s)"/>
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<define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0"/>
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<!-- auto pitch inner loop -->
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<define name="AUTO_PITCH_PGAIN" value="0."/>
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<define name="AUTO_PITCH_IGAIN" value="0."/>
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<define name="AUTO_PITCH_MAX_PITCH" value="0"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="0"/>
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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="-1.5"/> <!-- Heading outerloop: only P-gain -->
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<define name="ROLL_MAX_SETPOINT" value="0.75" unit="radians"/> <!-- Max Angles -->
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<define name="PITCH_MAX_SETPOINT" value="0.4" unit="radians"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.4" unit="radians"/>
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<define name="PITCH_PGAIN" value="-7110.09179688"/> <!-- Pitch Angle PD control -->
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<define name="PITCH_DGAIN" value="2."/>
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<define name="ELEVATOR_OF_ROLL" value="1500."/> <!-- Feed forward ABS(roll) to elevator -->
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<define name="ROLL_SLEW" value="0.30"/> <!-- Maximal roll angle change per 1/60 of second -->
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<define name="ROLL_ATTITUDE_GAIN" value="-7000."/> <!-- Roll Angle PD control -->
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<define name="ROLL_RATE_GAIN" value="-2752.29394531"/>
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<!--
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#ifdef H_CTL_ROLL_ATTITUDE_GAIN
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inline static void h_ctl_roll_loop( void ) {
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float err = estimator_phi - h_ctl_roll_setpoint;
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float cmd = - h_ctl_roll_attitude_gain * err
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- h_ctl_roll_rate_gain * estimator_p
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+ v_ctl_throttle_setpoint * h_ctl_aileron_of_throttle;
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h_ctl_aileron_setpoint = TRIM_PPRZ(cmd);
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}
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-->
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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_GROUND_SPEED_PGAIN" 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="40"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
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<define name="BLEND_END" value="25"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
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<define name="CLIMB_THROTTLE" value="1.0"/><!-- Gaz for Aggressive Climb -->
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<define name="CLIMB_PITCH" value="0.40"/><!-- Pitch for Aggressive Climb -->
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<define name="DESCENT_THROTTLE" value="0.0"/><!-- Gaz for Aggressive Decent -->
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<define name="DESCENT_PITCH" value="-0.3"/><!-- 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="2" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.0" 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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</section>
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<!--
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<section name="DATALINK" prefix="DATALINK_">
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<define name="DEVICE_TYPE" value="XBEE"/>
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<define name="DEVICE_ADDRESS" value="0x005067361851"/>
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</section>
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-->
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<section name="SIMU">
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<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
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</section>
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<makefile>
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CONFIG = \"tiny_sense.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=2
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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_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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#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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# Maxstream API protocol
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ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_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 += -DINTER_MCU
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ap.srcs += inter_mcu.c
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ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5 -DGYRO -DIDG300
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ap.srcs += $(SRC_ARCH)/adc_hw.c
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ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
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ap.srcs += gps_ubx.c gps.c latlong.c
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ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET -DSTRONG_WIND
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ap.srcs += infrared.c estimator.c gyro.c
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ap.CFLAGS += -DNAV -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.srcs += nav_line.c nav_survey_rectangle.c
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ap.srcs += baro_bmp.c $(SRC_ARCH)/i2c_hw.c i2c.c
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ap.CFLAGS += -DUSE_I2C0 -DUSE_BARO_BMP -DBARO_BMP_ACCEL
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# camera control
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ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
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ap.srcs += cam.c point.c
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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 -DLOITER_TRIM -DALT_KALMAN
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sim.srcs += nav_line.c nav_survey_rectangle.c
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sim.srcs += joystick.c
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sim.CFLAGS += -DUSE_JOYSTICK
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sim.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
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# -DTEST_CAM
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sim.srcs += cam.c point.c
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sim.srcs += bomb.c
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</makefile>
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</airframe>
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