mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Felix Ruess
231 lines
8.8 KiB
XML
231 lines
8.8 KiB
XML
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
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<!-- Funjet deconflict A
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Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
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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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robbe 6107 SP, LEA 5H
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-->
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<airframe name="Funjet deconflict A">
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<firmware name="fixedwing">
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<target name="ap" board="tiny_2.11">
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<define name="AGR_CLIMB"/>
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<define name="LOITER_TRIM"/>
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<define name="ALT_KALMAN"/>
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<define name="WIND_INFO"/>
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<define name="WIND_INFO_RET"/>
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</target>
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<target name="sim" board="pc">
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<define name="AGR_CLIMB"/>
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<define name="LOITER_TRIM"/>
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<define name="ALT_KALMAN"/>
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<define name="WIND_INFO"/>
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<define name="WIND_INFO_RET"/>
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</target>
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<!-- RC -->
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<subsystem name="radio_control" type="ppm"/>
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<!-- Communication -->
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<subsystem name="telemetry" type="xbee_api"/>
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<!-- Actuators are automatically chosen according to board-->
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<subsystem name="control"/>
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<!-- Sensors -->
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<subsystem name="attitude" type="infrared"/>
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<subsystem name="gps" type="ublox"/>
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<!-- Nav -->
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<subsystem name="navigation"/>
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<!-- Interfaces -->
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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="usb_tunnel_0" board="tiny_2.11"/>
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<target name="usb_tunnel_1" 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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<!-- modules -->
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<modules>
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<!--load name="formation_flight.xml"/-->
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<load name="tcas.xml"/>
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</modules>
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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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<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1536" max="1100"/>
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<servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1491" 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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</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="0.45"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
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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="adc" prefix="ADC_CHANNEL_">
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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_TOP" value="ADC_0"/>
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<define name="IR_NB_SAMPLES" value="16"/>
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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="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="0" 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="10000."/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
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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_RATE" value="60" unit="Hz"/>
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<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
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<define name="TRIGGER_DELAY" value="1."/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
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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="2."/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
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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="-1200"/>
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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="-0.023"/> <!-- -0.012 -->
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<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
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<!-- auto pitch inner loop -->
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<define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
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<define name="AUTO_PITCH_IGAIN" value="0.0"/>
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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="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="-0.9"/>
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<define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
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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_PGAIN" value="6600."/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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<define name="PITCH_PGAIN" value="-5500."/>
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<define name="PITCH_DGAIN" value="0.4"/>
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<define name="ELEVATOR_OF_ROLL" value="2400"/>
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<!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
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<define name="ROLL_RATE_GAIN" value="-1500"/-->
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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="FORMATION" prefix="FORM_">
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<define name="CARROT" value="3." unit="s"/> <!-- carrot distance for followers -->
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<define name="POS_PGAIN" value="0.02"/> <!-- coef on position error -->
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<define name="SPEED_PGAIN" value="0.4"/> <!-- coef on speed error -->
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<define name="COURSE_PGAIN" value="0.8"/> <!-- coef on course error (override course pgain for followers) -->
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<define name="ALTITUDE_PGAIN" value="0.1"/> <!-- coef on altitude error -->
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<define name="PROX" value="60." unit="m"/> <!-- proximity distance -->
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<define name="MODE" value="0"/> <!-- mode 0 = global, 1 = local -->
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</section>
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<section name="TCAS" prefix="TCAS_">
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<define name="TAU_TA" value="10." unit="s"/> <!-- traffic advisory -->
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<define name="TAU_RA" value="6." unit="s"/> <!-- resolution advisory -->
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<define name="ALIM" value="15." unit="m"/> <!-- altitude limitation -->
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<define name="DT_MAX" value="2000" unit="ms"/> <!-- lost comm or timeout -->
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</section>
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<section name="AGGRESSIVE" prefix="AGR_">
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<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
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<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
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<define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
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<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
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<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
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<define name="DESCENT_PITCH" value="-0.35"/><!-- 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="0.3" 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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</airframe>
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