[paparazzi-commits] [4117] Turkish aspiration

[Pascal Brisset]

Revision: 4117
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4117
Author:   hecto
Date:     2009-09-08 20:20:12 +0000 (Tue, 08 Sep 2009)
Log Message:
-----------
 Turkish aspiration

Added Paths:
-----------
    paparazzi3/trunk/conf/airframes/solarstorm.xml

Added: paparazzi3/trunk/conf/airframes/solarstorm.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/solarstorm.xml                              
(rev 0)
+++ paparazzi3/trunk/conf/airframes/solarstorm.xml      2009-09-08 20:20:12 UTC 
(rev 4117)
@@ -0,0 +1,274 @@
+<!DOCTYPE airframe SYSTEM "airframe.dtd">
+
+<!-- Solar Storm
+     Tiny 1.1
+     Tilted infrared sensor
+     Radiotronix modem
+     MPTT tracker
+     Drop servo -->
+
+<airframe name="SolarStorm">
+
+  <modules>
+    <load name="poles.xml"/>
+    <load name="MPPT.xml"/>
+  </modules>
+
+<!-- commands section -->
+  <servos>
+    <servo name="MOTOR" no="3" min="1250" neutral="1250" max="1800"/>
+    <servo name="AILEVON_LEFT" no="4" min="1850" neutral="1370" max="1000"/>
+    <servo name="AILEVON_RIGHT" no="5" min="1000" neutral="1515" max="1870"/>
+    <servo name="HATCH" no="6" min="1350" neutral="1900" max="1900"/>
+  </servos>
+
+  <commands>
+    <axis name="THROTTLE" failsafe_value="0"/>
+    <axis name="ROLL" failsafe_value="0"/>
+    <axis name="PITCH" failsafe_value="0"/>
+    <axis name="HATCH" failsafe_value="0"/>
+  </commands>
+
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL" value="@ROLL"/>
+    <set command="PITCH" value="@PITCH"/>
+    <set command="HATCH" value="@GAIN1"/>
+  </rc_commands>
+
+  <section name="MIXER">
+    <define name="AILEVON_AILERON_RATE" value="0.75"/>
+    <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
+    <define name="AILERON_DIFF" value="0.5"/>
+  </section>
+
+  <command_laws>
+    <let var="aileron" value="@ROLL  * AILEVON_AILERON_RATE"/>
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <set servo="MOTOR" value="@THROTTLE"/>
+    <set servo="HATCH" value="@HATCH"/>
+    <set servo="AILEVON_LEFT" value="$elevator + ($aileron > 0 ? 1 : 
AILERON_DIFF) * $aileron"/>
+    <set servo="AILEVON_RIGHT" value="$elevator - ($aileron > 0 ? AILERON_DIFF 
: 1) * $aileron"/>
+  </command_laws>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="0.85"/>
+    <define name="MAX_PITCH" value="0.6"/>
+  </section>
+
+  <section name="adc" prefix="ADC_CHANNEL_">
+    <define name="IR1" value="ADC_2"/>
+    <define name="IR2" value="ADC_1"/>
+    <define name="IR_TOP" value="ADC_0"/>
+    <define name="IR_NB_SAMPLES" value="16"/>
+
+    <define name="GYRO_ROLL" value="ADC_3"/>
+    <define name="GYRO_NB_SAMPLES" value="16"/> 
+
+  </section>
+
+  <section name="INFRARED" prefix="IR_">
+    <define name="ADC_IR1_NEUTRAL" value="512"/>
+    <define name="ADC_IR2_NEUTRAL" value="512"/>
+    <define name="ADC_TOP_NEUTRAL" value="512"/>
+
+    <define name="LATERAL_CORRECTION" value="1."/>
+    <define name="LONGITUDINAL_CORRECTION" value="1."/>
+    <define name="VERTICAL_CORRECTION" value="1.2"/>
+
+    <define name="HORIZ_SENSOR_TILTED" value="1"/>
+    <define name="IR1_SIGN" value="-1"/>
+    <define name="IR2_SIGN" value="1"/>
+    <define name="TOP_SIGN" value="-1"/>
+
+    <define name="ROLL_NEUTRAL_DEFAULT" value="3.49504256248" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="-0.114591561258" unit="deg"/>
+
+    <define name="CORRECTION_UP" value="1."/>
+    <define name="CORRECTION_DOWN" value="1."/>
+    <define name="CORRECTION_LEFT" value="1."/>
+    <define name="CORRECTION_RIGHT" value="1."/>
+  </section>
+
+ <section name="GYRO" prefix="GYRO_">
+    <define name="ADC_ROLL_NEUTRAL" value="492"/>
+    <define name="ADC_TEMP_NEUTRAL" value="512"/>   
+    <define name="ADC_TEMP_SLOPE" value="0"/>  
+    <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
+    <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
+    <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
+    <define name="ROLL_SCALE" 
value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)"
 unit="deg/s/adc_unit"/>
+    <define name="ROLL_DIRECTION" value="1."/> 
+  </section>
+
+  <section name="BAT">
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+  </section>
+ 
+  <section name="MISC">
+    <define name="MINIMUM_AIRSPEED" value="13." unit="m/s"/>
+    <define name="NOMINAL_AIRSPEED" value="16." unit="m/s"/>
+    <define name="MAXIMUM_AIRSPEED" value="24." unit="m/s"/>
+    <define name="CARROT" value="5." unit="s"/>
+    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
+    <define name="CONTROL_RATE" value="60" unit="Hz"/>
+    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
+
+    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
+    <define name="MIN_CIRCLE_RADIUS" value="50."/>
+
+    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
+  </section>
+ 
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+
+    <!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="-0.04"/>
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-2500"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" 
unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.15"/>
+
+    <!-- auto pitch inner loop -->
+    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
+    <define name="AUTO_PITCH_IGAIN" value="0.075"/>
+    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
+    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
+
+   <define name="THROTTLE_SLEW" value="0.5"/>
+
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="-1.23500001431"/>
+
+    <define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="radians"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+
+    <define name="PITCH_PGAIN" value="-14255.3193359"/>
+    <define name="PITCH_DGAIN" value="1.5"/>
+
+    <define name="ELEVATOR_OF_ROLL" value="2000."/>
+
+    <define name="ROLL_ATTITUDE_GAIN" value="-12000"/>
+    <define name="ROLL_RATE_GAIN" value="-2500"/>
+
+    <define name="ROLL_KFF" value="-500"/>
+    <define name="ROLL_IGAIN" value="-00"/>
+    <define name="PITCH_IGAIN" value="-500"/>
+  </section>
+
+  <section name="NAV">
+    <define name="NAV_PITCH" value="0."/>
+    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+    <define name="NAV_GROUND_SPEED_PGAIN" value="-0.01"/>
+  </section>
+
+  <section name="AGGRESSIVE" prefix="AGR_">
+    <define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate 
Aggressive Climb CANNOT BE ZERO!!-->
+    <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend 
Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
+    <define name="CLIMB_THROTTLE" value="0.75"/><!-- Gaz for Aggressive Climb 
-->
+    <define name="CLIMB_PITCH" value="0.20"/><!-- Pitch for Aggressive Climb 
-->
+    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive 
Decent -->
+    <define name="DESCENT_PITCH" value="-0.15"/><!-- Pitch for Aggressive 
Decent -->
+    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for 
Altitude Error Equal to Start Altitude -->
+    <define name="DESCENT_NAV_RATIO" value="1.0"/>
+    </section>
+
+
+  <section name="GYRO_GAINS">
+    <define name="GYRO_MAX_RATE" value="200."/>
+    <define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
+    <define name="ALT_ROLL__PGAIN" value="1.0"/>
+    <define name="ROLL_RATE_PGAIN" value="1000.0"/>
+    <define name="ROLL_RATE_IGAIN" value="0.0"/>
+    <define name="ROLL_RATE_DGAIN" value="0.0"/>
+  </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+       <define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
+       <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+       <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+       <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+       <define name="HOME_RADIUS" value="100" unit="m"/>
+</section>
+ 
+
+ <makefile>
+CONFIG = \"tiny_1_1.h\"
+
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+FLASH_MODE=IAP
+
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c 
main_ap.c main.c
+
+ap.srcs += commands.c
+
+ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
+ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
+
+ap.CFLAGS += -DRADIO_CONTROL
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+
+ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport 
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 
-DDATALINK=PPRZ -DUART0_BAUD=B9600
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+
+ap.CFLAGS += -DINTER_MCU
+ap.srcs += inter_mcu.c 
+
+ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
+ap.srcs += $(SRC_ARCH)/adc_hw.c
+
+ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 
-DGPS_LED=2
+#ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 
-DGPS_LED=2
+#ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
+
+ap.srcs += gps_ubx.c gps.c latlong.c
+
+ap.CFLAGS += -DINFRARED -DALT_KALMAN
+ap.srcs += infrared.c estimator.c
+
+ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+
+
+ap.CFLAGS += -DGYRO -DADXRS150
+ap.srcs += gyro.c nav_line.c
+ap.srcs += nav_survey_rectangle.c
+
+########## MPTT
+ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150
+
+
+ap.CFLAGS += -DUSE_MODULES
+
+# Config for SITL simulation
+#include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.ARCHDIR = $(ARCHI)
+sim.ARCH = sitl
+sim.TARGET = autopilot
+sim.TARGETDIR = autopilot
+sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK 
-DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO
+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.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
+
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+
+sim.srcs += nav_line.c nav_survey_rectangle.c
+
+sim.CFLAGS += -DUSE_MODULES
+  </makefile>
+</airframe>