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[paparazzi-commits] [4162]
|
From: |
Pascal Brisset |
|
Subject: |
[paparazzi-commits] [4162] |
|
Date: |
Sat, 12 Sep 2009 21:26:18 +0000 |
Revision: 4162
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4162
Author: hecto
Date: 2009-09-12 21:26:18 +0000 (Sat, 12 Sep 2009)
Log Message:
-----------
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/slayer2.xml
paparazzi3/trunk/conf/airframes/solarstorm.xml
paparazzi3/trunk/conf/flight_plans/EMAV2009_safety.xml
paparazzi3/trunk/conf/flight_plans/poles.xml
paparazzi3/trunk/conf/modules/MPPT.xml
paparazzi3/trunk/conf/telemetry/fw_h_ctl_a.xml
Added Paths:
-----------
paparazzi3/trunk/conf/flight_plans/EMAV2009_data.xml
Modified: paparazzi3/trunk/conf/airframes/slayer2.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/slayer2.xml 2009-09-12 21:25:26 UTC (rev
4161)
+++ paparazzi3/trunk/conf/airframes/slayer2.xml 2009-09-12 21:26:18 UTC (rev
4162)
@@ -110,6 +110,8 @@
<define name="GLIDE_AIRSPEED" value="12.5"/>
<define name="GLIDE_VSPEED" value="2."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
+
+ <define name="TELEMETRY_MODE_AP" value="1"/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
Modified: paparazzi3/trunk/conf/airframes/solarstorm.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/solarstorm.xml 2009-09-12 21:25:26 UTC
(rev 4161)
+++ paparazzi3/trunk/conf/airframes/solarstorm.xml 2009-09-12 21:26:18 UTC
(rev 4162)
@@ -17,9 +17,8 @@
<!-- 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"/>
+ <servo name="AILEVON_LEFT" no="4" min="1850" neutral="1470" max="1100"/>
+ <servo name="AILEVON_RIGHT" no="5" min="1100" neutral="1545" max="1870"/>
</servos>
<commands>
@@ -33,7 +32,6 @@
<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">
@@ -46,7 +44,6 @@
<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>
@@ -82,7 +79,7 @@
<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="PITCH_NEUTRAL_DEFAULT" value="8.42247962952" unit="deg"/>
<define name="CORRECTION_UP" value="1."/>
<define name="CORRECTION_DOWN" value="1."/>
@@ -91,14 +88,12 @@
</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="ADC_ROLL_NEUTRAL" value="512"/>
<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."/>
+ <define name="ROLL_DIRECTION" value="-1."/>
</section>
<section name="BAT">
@@ -129,7 +124,7 @@
<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_NOMINAL_CRUISE_THROTTLE"
value="0.356000006199"/>
<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"/>
@@ -150,9 +145,9 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
- <define name="COURSE_PGAIN" value="-1.23500001431"/>
+ <define name="COURSE_PGAIN" value="-0.885999977589"/>
- <define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="radians"/>
+ <define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
@@ -232,9 +227,9 @@
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 -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600
-DGPS_LED=2
-#ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
+ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
ap.srcs += gps_ubx.c gps.c latlong.c
Added: paparazzi3/trunk/conf/flight_plans/EMAV2009_data.xml
===================================================================
--- paparazzi3/trunk/conf/flight_plans/EMAV2009_data.xml
(rev 0)
+++ paparazzi3/trunk/conf/flight_plans/EMAV2009_data.xml 2009-09-12
21:26:18 UTC (rev 4162)
@@ -0,0 +1,46 @@
+<!DOCTYPE procedure SYSTEM "flight_plan.dtd">
+
+<procedure>
+ <waypoints>
+ <waypoint lat="52.38252048723831" lon="5.897420494955952" name="_CENTER"
alt="100"/>
+ <waypoint lat="52.39223341391188" lon="5.891920215186895" name="_G1"/>
+ <waypoint lat="52.38457192890880" lon="5.905759083500732" name="_G2"/>
+ <waypoint lat="52.37522867761314" lon="5.891055906501672" name="_G3"/>
+ <waypoint lat="52.38389131932532" lon="5.876775757075523" name="_G4"/>
+ <waypoint lat="52.39502349675812" lon="5.890603491493776" name="_R1"/>
+ <waypoint lat="52.38568420330603" lon="5.907529980510587" name="_R2"/>
+ <waypoint lat="52.37341656154337" lon="5.888204759419744" name="_R3"/>
+ <waypoint lat="52.38371772691826" lon="5.870010280721401" name="_R4"/>
+ <waypoint lat="52.38833565818008" lon="5.888958356099608" name="_S1"/>
+ <waypoint lat="52.38741511939426" lon="5.896820110526804" name="_S2"/>
+ <waypoint lat="52.38344448233852" lon="5.895558989657886" name="_S3"/>
+ <waypoint lat="52.38442017389706" lon="5.887661800773984" name="_S4"/>
+ <waypoint lat="52.38117866835545" lon="5.897949813109249" name="E1"/>
+ <waypoint lat="52.38219156830098" lon="5.890795873256735" name="E2"/>
+ <waypoint name="BALLOON" x="27.1" y="41.9"/>
+ <waypoint name="ARCH" x="6.5" y="33.2"/>
+ <waypoint name="DROP_RED" x="-14.5" y="28.3"/>
+ <waypoint name="DROP_BLUE" x="-23.5" y="-0.6"/>
+ </waypoints>
+
+ <sectors>
+ <sector name="Red" color="red">
+ <corner name="_R1"/>
+ <corner name="_R2"/>
+ <corner name="_R3"/>
+ <corner name="_R4"/>
+ </sector>
+ <sector name="Green" color="green">
+ <corner name="_G1"/>
+ <corner name="_G2"/>
+ <corner name="_G3"/>
+ <corner name="_G4"/>
+ </sector>
+ <sector name="Search">
+ <corner name="_S1"/>
+ <corner name="_S2"/>
+ <corner name="_S3"/>
+ <corner name="_S4"/>
+ </sector>
+ </sectors>
+</procedure>
Modified: paparazzi3/trunk/conf/flight_plans/EMAV2009_safety.xml
===================================================================
--- paparazzi3/trunk/conf/flight_plans/EMAV2009_safety.xml 2009-09-12
21:25:26 UTC (rev 4161)
+++ paparazzi3/trunk/conf/flight_plans/EMAV2009_safety.xml 2009-09-12
21:26:18 UTC (rev 4162)
@@ -1,45 +1,6 @@
<!DOCTYPE procedure SYSTEM "flight_plan.dtd">
<procedure>
- <waypoints>
- <waypoint lat="52.38252048723831" lon="5.897420494955952" name="_CENTER"
alt="100"/>
- <waypoint lat="52.39223341391188" lon="5.891920215186895" name="_G1"/>
- <waypoint lat="52.38457192890880" lon="5.905759083500732" name="_G2"/>
- <waypoint lat="52.37522867761314" lon="5.891055906501672" name="_G3"/>
- <waypoint lat="52.38389131932532" lon="5.876775757075523" name="_G4"/>
- <waypoint lat="52.39502349675812" lon="5.890603491493776" name="_R1"/>
- <waypoint lat="52.38568420330603" lon="5.907529980510587" name="_R2"/>
- <waypoint lat="52.37341656154337" lon="5.888204759419744" name="_R3"/>
- <waypoint lat="52.38371772691826" lon="5.870010280721401" name="_R4"/>
- <waypoint lat="52.38833565818008" lon="5.888958356099608" name="_S1"/>
- <waypoint lat="52.38741511939426" lon="5.896820110526804" name="_S2"/>
- <waypoint lat="52.38344448233852" lon="5.895558989657886" name="_S3"/>
- <waypoint lat="52.38442017389706" lon="5.887661800773984" name="_S4"/>
- <waypoint lat="52.38117866835545" lon="5.897949813109249" name="E1"/>
- <waypoint lat="52.38219156830098" lon="5.890795873256735" name="E2"/>
- </waypoints>
-
- <sectors>
- <sector name="Red" color="red">
- <corner name="_R1"/>
- <corner name="_R2"/>
- <corner name="_R3"/>
- <corner name="_R4"/>
- </sector>
- <sector name="Green" color="green">
- <corner name="_G1"/>
- <corner name="_G2"/>
- <corner name="_G3"/>
- <corner name="_G4"/>
- </sector>
- <sector name="Search">
- <corner name="_S1"/>
- <corner name="_S2"/>
- <corner name="_S3"/>
- <corner name="_S4"/>
- </sector>
- </sectors>
-
<exceptions>
<exception cond="Or(! InsideGreen(estimator_x, estimator_y), estimator_z >
ground_alt + 150)" deroute="Center"/>
</exceptions>
Modified: paparazzi3/trunk/conf/flight_plans/poles.xml
===================================================================
--- paparazzi3/trunk/conf/flight_plans/poles.xml 2009-09-12 21:25:26 UTC
(rev 4161)
+++ paparazzi3/trunk/conf/flight_plans/poles.xml 2009-09-12 21:26:18 UTC
(rev 4162)
@@ -44,13 +44,21 @@
<call fun="nav_poles_init(WP_1, WP_2, WP_C1, WP_C2, nav_radius)"/>
<oval p1="C1" p2="C2" radius="nav_radius"
until="nav_oval_count>=nav_poles_count"/>
</block>
- <block name="Drop">
+ <block name="Goto Target">
<go wp="TARGET" approaching_time="0"/>
- <set value="MAX_PPRZ" var="ap_state->commands[COMMAND_HATCH]"/>
</block>
- <block name="Poles 2" pre_call="nav_ground_speed_loop()">
+ <block name="Drop">
+ <set value="MIN_PPRZ" var="ap_state->commands[COMMAND_HATCH]"/>
+ </block>
+ <block name="Poles 2">
<oval p1="C1" p2="C2" radius="nav_radius"
until="nav_oval_count>=nav_poles_count"/>
+ </block>
+
+ <block name="Auto pitch (circle wp 1)">
+ <circle pitch="auto" radius="nav_radius" throttle="0.45" wp="1"/>
</block>
+
+
<block name="Land Right AF-TD" strip_button="Land right (wp AF-TD)"
strip_icon="land-right.png">
<set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
<deroute block="land"/>
Modified: paparazzi3/trunk/conf/modules/MPPT.xml
===================================================================
--- paparazzi3/trunk/conf/modules/MPPT.xml 2009-09-12 21:25:26 UTC (rev
4161)
+++ paparazzi3/trunk/conf/modules/MPPT.xml 2009-09-12 21:26:18 UTC (rev
4162)
@@ -5,7 +5,7 @@
<file name="MPPT.h"/>
</header>
<init fun="MPPT_init()"/>
- <periodic fun="MPPT_periodic()" freq="4." delay="4" autorun="TRUE"/>
+ <periodic fun="MPPT_periodic()" freq="8." delay="4" autorun="TRUE"/>
<makefile target="ap">
<file name="MPPT.c"/>
</makefile>
Modified: paparazzi3/trunk/conf/telemetry/fw_h_ctl_a.xml
===================================================================
--- paparazzi3/trunk/conf/telemetry/fw_h_ctl_a.xml 2009-09-12 21:25:26 UTC
(rev 4161)
+++ paparazzi3/trunk/conf/telemetry/fw_h_ctl_a.xml 2009-09-12 21:26:18 UTC
(rev 4162)
@@ -18,7 +18,7 @@
<message name="DOWNLINK" period="5.1"/>
<message name="DL_VALUE" period="1.5"/>
<message name="IR_SENSORS" period="1.2"/>
- <message name="GYRO_RATES" period="0.05"/>
+ <message name="GYRO_RATES" period="0.2"/>
<message name="SURVEY" period="2.1"/>
<message name="GPS_SOL" period="2.0"/>
</mode>
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Pascal Brisset <=