mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-25 23:46:04 +08:00
Felix Ruess
22f29ab63b
Previously DC_AUTOSHOOT_DISTANCE would shoot on a 100m UTM north distance grid, seems like nobody actually used that or found this useful. So changing this to "proper" distance based autoshoot, storing the last shot position and shoting the next one if dc_autoshoot_distance_interval is greater than distance to last saved shot position. Some more cleanup: - remove unused dc_probing - remove unused DC_IMAGE_BUFFER_TPI
262 lines
10 KiB
XML
262 lines
10 KiB
XML
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
|
|
|
<!--
|
|
Lisa + Aspirin v2 using SPI only
|
|
-->
|
|
|
|
<airframe name="LisaAspirin2">
|
|
<!-- ************************* FIRMWARE ************************* -->
|
|
|
|
<firmware name="fixedwing">
|
|
<target name="ap" board="lisa_m_1.0">
|
|
<define name="LISA_M_LONGITUDINAL_X"/>
|
|
<configure name="PERIODIC_FREQUENCY" value="120"/>
|
|
<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
|
|
<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
|
|
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
|
|
</target>
|
|
<target name="sim" board="pc"/>
|
|
<target name="nps" board="pc">
|
|
<!-- Note NPS needs the ppm type radio_control subsystem -->
|
|
<subsystem name="fdm" type="jsbsim"/>
|
|
</target>
|
|
<define name="USE_AIRSPEED"/>
|
|
<define name="AGR_CLIMB"/>
|
|
<define name="STRONG_WIND"/>
|
|
<define name="WIND_INFO"/>
|
|
<define name="WIND_INFO_RET"/>
|
|
|
|
<!-- Sensors -->
|
|
<subsystem name="imu" type="aspirin_v2.1"/>
|
|
<!--
|
|
<subsystem name="ahrs" type="float_dcm">
|
|
<configure name="USE_MAGNETOMETER" value="FALSE"/>
|
|
<define name="USE_AHRS_GPS_ACCELERATIONS"/>
|
|
</subsystem>
|
|
-->
|
|
<subsystem name="ahrs" type="int_cmpl_quat">
|
|
<configure name="USE_MAGNETOMETER" value="TRUE"/>
|
|
<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN"/>
|
|
</subsystem>
|
|
<subsystem name="ins" type="alt_float"/>
|
|
<subsystem name="radio_control" type="ppm"/>
|
|
<!-- Communication -->
|
|
<subsystem name="telemetry" type="xbee_api">
|
|
<configure name="MODEM_BAUD" value="B57600"/>
|
|
<configure name="MODEM_PORT" value="UART2"/>
|
|
</subsystem>
|
|
<!-- Actuators -->
|
|
<subsystem name="control" type="energy"/>
|
|
<!-- Sensors -->
|
|
<subsystem name="navigation"/>
|
|
<subsystem name="gps" type="ublox">
|
|
<configure name="GPS_PORT" value="UART1"/>
|
|
</subsystem>
|
|
</firmware>
|
|
|
|
<!-- ************************* MODULES ************************* -->
|
|
|
|
<modules>
|
|
<load name="geo_mag.xml"/>
|
|
<load name="gps_ubx_ucenter.xml"/>
|
|
<load name="airspeed_ets.xml">
|
|
<define name="AIRSPEED_ETS_SYNC_SEND"/>
|
|
<define name="AIRSPEED_ETS_I2C_DEV" value="i2c2"/>
|
|
<define name="USE_I2C2"/>
|
|
</load>
|
|
<load name="adc_generic.xml">
|
|
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
|
|
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
|
|
</load>
|
|
<load name="light.xml">
|
|
<define name="LIGHT_LED_STROBE" value="2"/>
|
|
<define name="LIGHT_LED_NAV" value="3"/>
|
|
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
|
|
<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
|
|
</load>
|
|
<load name="digital_cam.xml">
|
|
<define name="DC_SHUTTER_GPIO" value="GPIOC,GPIO12"/>
|
|
</load>
|
|
<!-- load name="nav_catapult.xml"/-->
|
|
<load name="nav_line.xml"/>
|
|
</modules>
|
|
|
|
<!-- ************************* ACTUATORS ************************* -->
|
|
|
|
<servos>
|
|
<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
|
|
<servo name="AILEVON_LEFT" no="1" min="1200" neutral="1500" max="1800"/>
|
|
<servo name="ELEVATOR" no="2" min="2000" neutral="1500" max="1000"/>
|
|
<servo name="RUDDER" no="3" min="1100" neutral="1500" max="1900"/>
|
|
<servo name="AILEVON_RIGHT" no="4" min="1800" neutral="1500" max="1200"/>
|
|
</servos>
|
|
|
|
<commands>
|
|
<axis name="THROTTLE" failsafe_value="0"/>
|
|
<axis name="ROLL" failsafe_value="0"/>
|
|
<axis name="PITCH" failsafe_value="0"/>
|
|
<axis name="YAW" failsafe_value="0"/>
|
|
</commands>
|
|
|
|
<rc_commands>
|
|
<set command="THROTTLE" value="@THROTTLE"/>
|
|
<set command="ROLL" value="@ROLL"/>
|
|
<set command="PITCH" value="@PITCH"/>
|
|
<set command="YAW" value="@YAW"/>
|
|
</rc_commands>
|
|
|
|
<section name="AUTO1" prefix="AUTO1_">
|
|
<define name="MAX_ROLL" value="0.8"/>
|
|
<define name="MAX_PITCH" value="0.8"/>
|
|
</section>
|
|
|
|
<command_laws>
|
|
<set servo="AILEVON_LEFT" value="@ROLL"/>
|
|
<set servo="AILEVON_RIGHT" value="-@ROLL"/>
|
|
<set servo="THROTTLE" value="@THROTTLE"/>
|
|
<set servo="ELEVATOR" value="@PITCH"/>
|
|
<set servo="RUDDER" value="@YAW"/>
|
|
</command_laws>
|
|
|
|
<section name="TRIM" prefix="COMMAND_">
|
|
<define name="ROLL_TRIM" value="0"/>
|
|
<define name="PITCH_TRIM" value="788."/>
|
|
</section>
|
|
|
|
<section name="FAILSAFE" prefix="FAILSAFE_">
|
|
<define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
|
|
<define name="DEFAULT_ROLL" value="10.0" unit="deg"/>
|
|
<define name="DEFAULT_PITCH" value="5.0" unit="deg"/>
|
|
<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
|
|
<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
|
|
<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
|
|
</section>
|
|
|
|
<!-- ************************* SENSORS ************************* -->
|
|
|
|
<section name="IMU" prefix="IMU_">
|
|
<!-- replace this with your own calibration -->
|
|
<define name="MAG_X_NEUTRAL" value="-179"/>
|
|
<define name="MAG_Y_NEUTRAL" value="-21"/>
|
|
<define name="MAG_Z_NEUTRAL" value="79"/>
|
|
<define name="MAG_X_SENS" value="4.17334785618" integer="16"/>
|
|
<define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
|
|
<define name="MAG_Z_SENS" value="4.40442339014" integer="16"/>
|
|
|
|
<define name="BODY_TO_IMU_PHI" value="0"/>
|
|
<define name="BODY_TO_IMU_THETA" value="0"/>
|
|
<define name="BODY_TO_IMU_PSI" value="0"/>
|
|
</section>
|
|
|
|
<section name="AHRS" prefix="AHRS_">
|
|
<!-- Local magnetic field, on 3D fix is update by geo_mag module -->
|
|
<define name="H_X" value="0.51562740288882"/>
|
|
<define name="H_Y" value="-0.05707735220832"/>
|
|
<define name="H_Z" value="0.85490967783446"/>
|
|
</section>
|
|
|
|
<section name="INS" prefix="INS_">
|
|
<define name="ROLL_NEUTRAL_DEFAULT" value="0.0" unit="deg"/>
|
|
<define name="PITCH_NEUTRAL_DEFAULT" value="5.9" unit="deg"/>
|
|
</section>
|
|
|
|
<!-- ************************* GAINS ************************* -->
|
|
|
|
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
|
<define name="COURSE_PGAIN" value="0.89"/>
|
|
<define name="COURSE_DGAIN" value="0.27"/>
|
|
<define name="COURSE_PRE_BANK_CORRECTION" value="1.0"/>
|
|
<define name="ROLL_MAX_SETPOINT" value="45" unit="deg"/>
|
|
<define name="PITCH_MAX_SETPOINT" value="50" unit="deg"/>
|
|
<define name="PITCH_MIN_SETPOINT" value="-50" unit="deg"/>
|
|
<define name="PITCH_PGAIN" value="12000"/>
|
|
<define name="PITCH_DGAIN" value="1.5"/>
|
|
<define name="ELEVATOR_OF_ROLL" value="1273.88500977"/>
|
|
<define name="ROLL_SLEW" value="1."/>
|
|
<define name="ROLL_ATTITUDE_GAIN" value="7972.02783203"/>
|
|
<define name="ROLL_RATE_GAIN" value="500."/>
|
|
</section>
|
|
|
|
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
|
<!-- power -->
|
|
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
|
|
<!-- outer loop proportional gain -->
|
|
<define name="ALTITUDE_PGAIN" value="0.183"/>
|
|
<define name="AIRSPEED_PGAIN" value="0.217"/>
|
|
<!-- outer loop saturation -->
|
|
<define name="ALTITUDE_MAX_CLIMB" value="10."/>
|
|
<define name="MAX_ACCELERATION" value="2."/>
|
|
<!-- energy -->
|
|
<define name="ENERGY_TOT_PGAIN" value="0.205"/>
|
|
<define name="ENERGY_TOT_IGAIN" value="0.403"/>
|
|
<define name="ENERGY_DIFF_PGAIN" value="0.403"/>
|
|
<define name="ENERGY_DIFF_IGAIN" value="0.259"/>
|
|
<define name="GLIDE_RATIO" value="7."/>
|
|
<!-- auto throttle -->
|
|
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
|
|
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0." unit="%/(m/s)"/>
|
|
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0."/>
|
|
<!-- extra's -->
|
|
<define name="AUTO_THROTTLE_OF_AIRSPEED_PGAIN" value="0.0"/>
|
|
<define name="AUTO_THROTTLE_OF_AIRSPEED_IGAIN" value="0.0"/>
|
|
<!-- extra's -->
|
|
<define name="AUTO_PITCH_OF_AIRSPEED_PGAIN" value="0.0"/>
|
|
<define name="AUTO_PITCH_OF_AIRSPEED_IGAIN" value="0.0"/>
|
|
<define name="AUTO_PITCH_OF_AIRSPEED_DGAIN" value="0.0"/>
|
|
<define name="THROTTLE_SLEW_LIMITER" value="1" unit="m/s/s"/>
|
|
<!--define name="AUTO_GROUNDSPEED_SETPOINT" value="15." unit="m/s"/>
|
|
<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
|
|
<define name="AUTO_GROUNDSPEED_IGAIN" value="0"/-->
|
|
</section>
|
|
|
|
<!-- ************************* MISC ************************* -->
|
|
|
|
<section name="BAT">
|
|
<define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/>
|
|
<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
|
|
<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
|
|
<define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
|
|
</section>
|
|
|
|
<section name="MISC">
|
|
<define name="CLIMB_AIRSPEED" value="14." unit="m/s"/>
|
|
<define name="NOMINAL_AIRSPEED" value="16." unit="m/s"/>
|
|
<define name="GLIDE_AIRSPEED" value="12." unit="m/s"/>
|
|
<define name="RACE_AIRSPEED" value="25." unit="m/s"/>
|
|
<define name="STALL_AIRSPEED" value="10." unit="m/s"/>
|
|
<define name="CARROT" value="5." unit="s"/>
|
|
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
|
<define name="NAV_GLIDE_PITCH_TRIM" value="0."/>
|
|
</section>
|
|
|
|
<section name="CATAPULT" prefix="NAV_CATAPULT_">
|
|
<define name="MOTOR_DELAY" value="0.75" unit="seconds"/>
|
|
<define name="HEADING_DELAY" value="3.0" unit="seconds"/>
|
|
<define name="ACCELERATION_THRESHOLD" value="1.75"/>
|
|
<define name="INITIAL_PITCH" value="15.0" unit="deg"/>
|
|
<define name="INITIAL_THROTTLE" value="1.0"/>
|
|
</section>
|
|
|
|
<section name="GLS_APPROACH" prefix="APP_">
|
|
<define name="ANGLE" value="5" unit="deg"/>
|
|
<define name="INTERCEPT_AF_SD" value="10" unit="m"/>
|
|
<define name="TARGET_SPEED" value="13" unit="m/s"/>
|
|
</section>
|
|
|
|
<section name="DIGITAL_CAMERA" prefix="DC_">
|
|
<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
|
|
<define name="AUTOSHOOT_DISTANCE_INTERVAL" value="50" unit="meter"/>
|
|
</section>
|
|
|
|
<section name="SIMULATOR" prefix="NPS_">
|
|
<define name="JSBSIM_MODEL" value=""Malolo1""/>
|
|
<define name="COMMANDS_NB" value="4"/>
|
|
<define name="ACTUATOR_NAMES" value="{"throttle-cmd-norm", "aileron-cmd-norm", "elevator-cmd-norm", "rudder-cmd-norm"}"/>
|
|
<define name="SENSORS_PARAMS" value=""nps_sensors_params_default.h""/>
|
|
<define name="JS_AXIS_MODE" value="4"/>
|
|
<define name="BYPASS_AHRS" value="TRUE"/>
|
|
<define name="BYPASS_INS" value="TRUE"/>
|
|
</section>
|
|
|
|
</airframe>
|