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[paparazzi-commits] [4190] move airframe files in subfolders
|
From: |
Pascal Brisset |
|
Subject: |
[paparazzi-commits] [4190] move airframe files in subfolders |
|
Date: |
Fri, 18 Sep 2009 16:50:21 +0000 |
Revision: 4190
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4190
Author: hecto
Date: 2009-09-18 16:50:21 +0000 (Fri, 18 Sep 2009)
Log Message:
-----------
move airframe files in subfolders
Added Paths:
-----------
paparazzi3/trunk/conf/airframes/ENAC/
paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/
paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/firestorm.xml
paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/funjet1.xml
paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/minimag1.xml
paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/slayer2.xml
paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/solarstorm.xml
paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/twinjet2.xml
paparazzi3/trunk/conf/airframes/ENAC/quadrotor/
paparazzi3/trunk/conf/airframes/ENAC/quadrotor/booz2_g1.xml
Removed Paths:
-------------
paparazzi3/trunk/conf/airframes/booz2_g1.xml
paparazzi3/trunk/conf/airframes/firestorm.xml
paparazzi3/trunk/conf/airframes/funjet1.xml
paparazzi3/trunk/conf/airframes/minimag1.xml
paparazzi3/trunk/conf/airframes/slayer2.xml
paparazzi3/trunk/conf/airframes/solarstorm.xml
paparazzi3/trunk/conf/airframes/twinjet2.xml
Added: paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/firestorm.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/firestorm.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/firestorm.xml
2009-09-18 16:50:21 UTC (rev 4190)
@@ -0,0 +1,277 @@
+<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+
+<!-- Fire Storm
+ Tiny 1.1
+ Tilted infrared sensor
+ Radiotronix modem
+ Drop servo -->
+
+<airframe name="FireStorm">
+
+ <modules>
+ <load name="poles.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="MILLIAMP_AT_FULL_THROTTLE" value="2000"/>
+
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+
+ <define name="MilliAmpereOfAdc(_adc)" value="(_adc-162)*17.4"/>
+ </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
+
+# Current sensor; Neutral=162
+#ap.CFLAGS += -DUSE_ADC_7 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_7
-DADC_CHANNEL_GENERIC_NB_SAMPLES=16
+#ap.srcs += adc_generic.c
+
+ap.CFLAGS += -DUSE_ADC_7 -DADC_CHANNEL_CURRENT=ADC_7
+
+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 $(SRC_ARCH)/led_hw.c
+
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+
+sim.srcs += nav_line.c nav_survey_rectangle.c
+
+sim.CFLAGS += -DUSE_MODULES
+ </makefile>
+</airframe>
Added: paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/funjet1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/funjet1.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/funjet1.xml 2009-09-18
16:50:21 UTC (rev 4190)
@@ -0,0 +1,321 @@
+<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+
+<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
+ Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
+ Tilted infrared sensor
(http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
+ Radiotronix modem
+ Digital camera
+-->
+
+<airframe name="Funjet 1 Tiny 2.1">
+
+ <modules>
+ <load name="poles.xml"/>
+ </modules>
+
+<!-- commands section -->
+ <servos>
+ <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
+ <servo name="AILEVON_LEFT" no="2" min="1130" neutral="1575" max="1880"/>
+ <servo name="AILEVON_RIGHT" no="6" min="1980" neutral="1465" max="1170"/>
+ </servos>
+
+ <commands>
+ <axis name="THROTTLE" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="PITCH" failsafe_value="0"/>
+ <axis name="HATCH" failsafe_value="0"/>
+ </commands>
+
+ <rc_commands>
+ <set command="THROTTLE" value="@THROTTLE"/>
+ <set command="ROLL" value="@ROLL"/>
+ <set command="PITCH" value="@PITCH"/>
+ </rc_commands>
+
+ <section name="MIXER">
+ <define name="AILEVON_AILERON_RATE" value="0.75"/>
+ <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
+ </section>
+
+ <command_laws>
+ <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
+ <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
+ <set servo="MOTOR" value="@THROTTLE"/>
+ <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
+ <set servo="AILEVON_RIGHT" value="$elevator - $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_1"/>
+ <define name="IR2" value="ADC_2"/>
+ <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="1.5"/>
+
+ <define name="HORIZ_SENSOR_TILTED" value="1"/>
+ <define name="IR2_SIGN" value="-1"/>
+ <define name="TOP_SIGN" value="-1"/>
+
+ <define name="ROLL_NEUTRAL_DEFAULT" value="-1.43239450455" unit="deg"/>
+ <define name="PITCH_NEUTRAL_DEFAULT" value="17" 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="520"/>
+ <define name="ADC_TEMP_NEUTRAL" value="476"/>
+ <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="MILLIAMP_AT_FULL_THROTTLE" value="2000"/>
+
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ </section>
+
+ <section name="MISC">
+ <define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
+ <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
+ <define name="MAXIMUM_AIRSPEED" value="25." 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="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/ -->
+ <!-- define name="NO_XBEE_API_INIT" value="TRUE"/ -->
+ <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
+
+ <define name="TRIGGER_DELAY" value="1."/>
+ <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
+ <define name="MIN_CIRCLE_RADIUS" value="50."/>
+ </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="0.35"/>
+ <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="-1000"/>
+ <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="0.1"/>
+
+ <!-- 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="-1.20599997044"/>
+
+ <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="-7627.11914062"/>
+ <define name="PITCH_DGAIN" value="1.5"/>
+
+ <define name="ELEVATOR_OF_ROLL" value="2500"/>
+
+ <define name="ROLL_ATTITUDE_GAIN" value="-12584.7460938"/>
+ <define name="ROLL_RATE_GAIN" value="-1779.66101074"/>
+
+ <define name="ROLL_KFF" value="-500"/>
+ <define name="ROLL_IGAIN" value="-500"/>
+ <define name="PITCH_IGAIN" value="-500"/>
+ </section>
+
+ <section name="NAV">
+ <define name="NAV_PITCH" value="0."/>
+ <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+ </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="0.6"/><!-- 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>
+
+<!--
+ <section name="DATALINK" prefix="DATALINK_">
+ <define name="DEVICE_TYPE" value="XBEE"/>
+ <define name="DEVICE_ADDRESS" value="...."/>
+ </section>
+-->
+
+ <section name="Digital camera telecommand">
+ <!-- IOs are seen as LEDs -->
+
+ <define name="LED_6_BANK" value="0"/>
+ <define name="LED_6_PIN" value="2"/> <!-- I2C SCL -->
+
+ <!-- ADC 5 -->
+ <define name="LED_7_BANK" value="0"/>
+ <define name="LED_7_PIN" value="3"/> <!-- I2C SDA -->
+
+ <define name="DC_SHUTTER_LED" value="6"/> <!-- Grey wire -->
+ <define name="DC_ZOOM_LED" value="7"/>
+ </section>
+
+ <makefile>
+CONFIG = \"tiny_2_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_4017_hw.h\" -DSERVOS_4017
+ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
+
+ap.CFLAGS += -DRADIO_CONTROL
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+
+#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport
-DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B9600
+#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+
+#TRANSPARENT
+ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1
-DDATALINK=PPRZ -DUART1_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_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
+# -DGPS_LED=2
+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_a.c fw_v_ctl.c
+
+
+ap.CFLAGS += -DGYRO -DADXRS150
+ap.srcs += gyro.c nav_line.c
+ap.srcs += nav_survey_rectangle.c
+# chemotaxis.c anemotaxis.c discsurvey.c
+
+########## Barometer (SPI)
+#ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
+#ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
+
+########## Chemo sensor (I2C)
+#ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+#ap.CFLAGS += -DUSE_I2C -DUSE_I2C0
+
+# Digital camera
+# Shutter: I2C SCL
+# Zoom: I2C SDA
+ap.CFLAGS += -DDIGITAL_CAM
+ap.srcs += dc.c
+
+ap.CFLAGS += -DUSE_MODULES
+sim.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
+# -DENOSE
+#sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+#sim.CFLAGS += -DUSE_I2C -DUSE_I2C0
+# chemotaxis.c anemotaxis.c discsurvey.c $(SRC_ARCH)/sim_enose.c chemo_detect.c
+
+sim.CFLAGS += -DDIGITAL_CAM -DPOWER_SWITCH_LED=4
+sim.srcs += dc.c
+
+
+
+# a test program to setup actuators
+setup_actuators.ARCHDIR = $(ARCHI)
+setup_actuators.ARCH = arm7tdmi
+setup_actuators.TARGET = setup_actuators
+setup_actuators.TARGETDIR = setup_actuators
+
+setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DLED -DTIME_LED=1
-DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART1 -DUART1_BAUD=B9600
-DDATALINK=PPRZ -DPPRZ_UART=Uart1
+setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
$(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c
$(SRC_ARCH)/servos_4015_hw.c main.c
+
+ </makefile>
+</airframe>
Added: paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/minimag1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/minimag1.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/minimag1.xml
2009-09-18 16:50:21 UTC (rev 4190)
@@ -0,0 +1,218 @@
+<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+
+<airframe name="MiniMag Tiny 0.99">
+
+<!-- commands section -->
+ <servos>
+ <servo name="THROTTLE" no="0" min="1200" neutral="1200" max="2000"/>
+<!-- Servo aileron gauche = couleur blanche -->
+<!-- Aileron gauche oppose de l'aileron droit -->
+ <servo name="AILERON_LEFT" no="1" min="1775" neutral="1500" max="1050"/>
+<!-- max = valeur aileron vers le bas-->
+ <servo name="AILERON_RIGHT" no="3" min="1875" neutral="1475" max="1225"/>
+ <!-- Rudder = Couleur rouge droite gauche -->
+ <servo name="RUDDER" no="4" min="1875" neutral="1500" max="1250"/>
+ <servo name="ELEVATOR" no="5" min="1850" neutral="1586" max="1150"/>
+
+ </servos>
+
+ <commands>
+ <axis name="THROTTLE" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="PITCH" failsafe_value="0"/>
+ <axis name="YAW" failsafe_value="0"/>
+ <axis name="HATCH" failsafe_value="0"/>
+ </commands>
+
+ <rc_commands>
+ <set command="THROTTLE" value="@THROTTLE"/>
+ <set command="ROLL" value="@ROLL"/>
+ <set command="PITCH" value="@PITCH"/>
+ <set command="YAW" value="@YAW"/>
+ </rc_commands>
+
+ <section name="MIXER">
+ <define name="AILERON_DIFF" value="0.66"/>
+ <define name="COMBI_SWITCH" value="1.0"/>
+ </section>
+
+ <command_laws>
+ <set servo="THROTTLE" value="@THROTTLE"/>
+ <set servo="ELEVATOR" value="@PITCH"/>
+ <set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
+
+ <let var="roll" value="@ROLL"/>
+ <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
+ <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
+ </command_laws>
+
+ <section name="AUTO1" prefix="AUTO1_">
+ <define name="MAX_ROLL" value="0.6"/>
+ <define name="MAX_PITCH" value="0.6"/>
+ </section>
+
+ <section name="adc" prefix="ADC_CHANNEL_">
+ <define name="IR1" value="ADC_0"/>
+ <define name="IR2" value="ADC_1"/>
+ <define name="IR_TOP" value="ADC_4"/>
+ <define name="IR_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="HORIZ_SENSOR_TILTED" value="1"/>
+
+ <define name="LATERAL_CORRECTION" value="1."/>
+ <define name="LONGITUDINAL_CORRECTION" value="1."/>
+ <define name="VERTICAL_CORRECTION" value="1."/>
+
+ <define name="ROLL_NEUTRAL_DEFAULT" value="-6" unit="deg"/>
+ <define name="PITCH_NEUTRAL_DEFAULT" value="12" 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="BAT">
+ <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000"/>
+
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ </section>
+
+ <section name="MISC">
+ <define name="NOMINAL_AIRSPEED" value="11." 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="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
+<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
+ <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
+
+ <define name="TRIGGER_DELAY" value="1."/>
+ <define name="DEFAULT_CIRCLE_RADIUS" value="50."/>
+ </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="-0.07"/>
+ <!-- outer loop saturation -->
+ <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+ <!-- auto throttle inner loop -->
+ <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"/>
+ <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
+ <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="-500"/>
+ <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15"
unit="%/(m/s)"/>
+ <define name="AUTO_THROTTLE_PGAIN" value="-0.025"/>
+ <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
+ <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
+
+ <!-- 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="0.05"/>
+
+ </section>
+
+ <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+ <define name="COURSE_PGAIN" value="-1.2"/>
+ <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
+ <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+ <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+
+
+ <define name="ROLL_PGAIN" value="12000."/>
+ <define name="AILERON_OF_THROTTLE" value="0.0"/>
+ <define name="PITCH_PGAIN" value="-9000."/>
+ <define name="PITCH_DGAIN" value="1.5"/>
+ <define name="ELEVATOR_OF_ROLL" value="1250"/>
+
+ </section>
+
+ <section name="NAV">
+ <define name="NAV_PITCH" value="0."/>
+ <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+ </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="0.8"/><!-- Gaz for Aggressive Climb
-->
+ <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
+ <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive
Decent -->
+ <define name="DESCENT_PITCH" value="-0.25"/><!-- 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="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"/>
+</section>
+
+ <section name="DATALINK" prefix="DATALINK_">
+ <define name="DEVICE_TYPE" value="XBEE"/>
+ <define name="DEVICE_ADDRESS" value="...."/>
+ </section>
+
+ <makefile>
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+FLASH_MODE=IAP
+
+ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.h\" -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=XBeeTransport
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0
-DDATALINK=XBEE -DUART0_BAUD=B9600
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+
+#TRANSPARENT ap.CFLAGS += -DDOWNLINK -DUSE_UART0
-DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0
-DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
+#TRANSPARENT 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_4
+ap.srcs += $(SRC_ARCH)/adc_hw.c
+
+ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
+
+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 nav_survey_rectangle.c nav_line.c
+
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+sim.srcs += nav_survey_rectangle.c nav_line.c
+
+ </makefile>
+</airframe>
Added: paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/slayer2.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/slayer2.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/slayer2.xml 2009-09-18
16:50:21 UTC (rev 4190)
@@ -0,0 +1,289 @@
+<airframe name="Miraterre Slayer 2">
+ <!-- Slayer
(http://www.recherche.enac.fr/wiki/index.php/Image:DragonSlayer_0948sm.jpg)
+ Two ailevons
+ Baro
+ Tilted infrared sensor, gyro
+ Still camera
+ Tiny 0.99
+-->
+
+<!-- commands section -->
+ <servos>
+ <servo name="AILEVON_RIGHT" no="1" min="1000" neutral="1500" max="2000"/>
+ <servo name="AILEVON_LEFT" no="0" min="2000" neutral="1480" max="900"/>
+ <servo name="THROTTLE" no="4" min="1250" neutral="1250" max="1850"/>
+ <servo name="HATCH" no="3" min="2000" neutral="2000" max="1000"/>
+ </servos>
+
+ <commands>
+ <axis name="THROTTLE" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="PITCH" failsafe_value="0"/>
+ <axis name="HATCH" failsafe_value="0"/>
+ </commands>
+
+ <rc_commands>
+ <set command="THROTTLE" value="@THROTTLE"/>
+ <set command="ROLL" value="@ROLL"/>
+ <set command="PITCH" value="@PITCH"/>
+ </rc_commands>
+
+ <section name="MIXER">
+ <define name="AILEVON_AILERON_RATE" value="0.8"/>
+ <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
+ </section>
+
+ <command_laws>
+ <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
+ <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
+ <set servo="THROTTLE" value="@THROTTLE"/>
+ <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
+ <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+ <set servo="HATCH" value="@HATCH"/>
+ </command_laws>
+
+ <section name="AUTO1" prefix="AUTO1_">
+ <define name="MAX_ROLL" value="0.96"/>
+ <define name="MAX_PITCH" value="0.8"/>
+ </section>
+
+ <section name="adc" prefix="ADC_CHANNEL_">
+ <define name="IR1" value="ADC_1"/>
+ <define name="IR2" value="ADC_0"/>
+ <define name="IR_TOP" value="ADC_4"/>
+ <define name="IR_NB_SAMPLES" value="16"/>
+ <define name="GYRO_ROLL" value="ADC_5"/>
+<!-- <define name="GYRO_TEMP" value="ADC_6"/> -->
+ <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="510"/>
+
+ <define name="HORIZ_SENSOR_TILTED" value="1"/>
+ <define name="IR2_SIGN" value="1"/>
+ <define name="TOP_SIGN" value="-1"/>
+
+ <define name="LATERAL_CORRECTION" value="0.356000006199"/>
+ <define name="LONGITUDINAL_CORRECTION" value="0.381000012159"/>
+ <define name="VERTICAL_CORRECTION" value="1.5"/>
+
+ <define name="ROLL_NEUTRAL_DEFAULT" value="-9" unit="deg"/>
+ <define name="PITCH_NEUTRAL_DEFAULT" value="3" unit="deg"/>
+
+ <define name="CORRECTION_UP" value="1.5"/>
+ <define name="CORRECTION_DOWN" value="1.5"/>
+ <define name="CORRECTION_LEFT" value="1."/>
+ <define name="CORRECTION_RIGHT" value="1."/>
+ </section>
+
+ <section name="GYRO" prefix="GYRO_">
+ <define name="ADC_ROLL_NEUTRAL" value="484"/>
+<!-- <define name="ADC_TEMP_NEUTRAL" value="476"/>
+ <define name="ADC_TEMP_SLOPE" value="0"/>
+-->
+ <define name="ROLL_SCALE" value="1.3846"/>
+ <define name="ROLL_DIRECTION" value="-1."/>
+ </section>
+
+ <section name="BAT">
+ <define name="MILLIAMP_AT_FULL_THROTTLE" value="5000"/>
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ <define name="VoltageOfAdc(adc)" value="(0.0183*adc)"/>
+ </section>
+
+ <section name="MISC">
+ <define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
+ <define name="MAXIMUM_AIRSPEED" value="25." unit="m/s"/>
+ <define name="MINIMUM_AIRSPEED" value="15." unit="m/s"/>
+ <define name="CARROT" value="3." 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="90"/>
+
+ <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
+ <define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
+
+ <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_">
+ <!-- outer loop proportional gain -->
+ <define name="ALTITUDE_PGAIN" value="-0.065"/>
+ <!-- outer loop saturation -->
+ <define name="ALTITUDE_MAX_CLIMB" value="3."/>
+
+ <!-- auto throttle inner loop -->
+ <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
+ <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".47"/>
+ <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1"/>
+ <define name="AUTO_THROTTLE_LOITER_TRIM" value="1250"/>
+ <define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/>
+ <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15"
unit="%/(m/s)"/>
+ <define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
+ <define name="AUTO_THROTTLE_IGAIN" value="0.15"/>
+ <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.15"/>
+ <define name="AUTO_THROTTLE_PITCH_OF_VZ_DGAIN" value="-1"/>
+
+ <!-- auto pitch inner loop -->
+ <define name="AUTO_PITCH_PGAIN" value="-0.1"/>
+ <define name="AUTO_PITCH_IGAIN" value="0.025"/>
+ <define name="AUTO_PITCH_MAX_PITCH" value="0.5"/>
+ <define name="AUTO_PITCH_MIN_PITCH" value="-0.5"/>
+
+ <define name="THROTTLE_SLEW" value="0.05"/>
+
+ </section>
+
+ <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+ <define name="COURSE_PGAIN" value="-2.6"/>
+ <define name="COURSE_DGAIN" value="1"/>
+ <define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
+ <define name="ROLL_MAX_SETPOINT" value="0.73" 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="-9000."/>
+ <define name="PITCH_DGAIN" value="0."/>
+
+ <define name="ELEVATOR_OF_ROLL" value="1000"/>
+
+ <!-- roll rate loop -->
+ <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+ <define name="ROLL_RATE_GAIN" value="-1500"/>
+
+ <define name="COURSE_SLEW_INCREMENT" value="RadOfDeg(3)"/>
+ </section>
+
+ <section name="NAV">
+ <define name="NAV_PITCH" value="0."/>
+ <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+ </section>
+
+
+ <section name="AGGRESSIVE" prefix="AGR_">
+ <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate
Aggressive Climb CANNOT BE ZERO!!-->
+ <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend
Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
+ <define name="CLIMB_THROTTLE" value="1."/><!-- Throttle for Aggressive
Climb -->
+ <define name="CLIMB_PITCH" value="0.42"/><!-- Pitch for Aggressive Climb
-->
+ <define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive
Decent -->
+ <define name="DESCENT_PITCH" value="-0.5"/><!-- Pitch for Aggressive
Decent -->
+ <define name="CLIMB_NAV_RATIO" value="0.4"/><!-- Percent Navigation for
Altitude Error Equal to Start Altitude -->
+ <define name="DESCENT_NAV_RATIO" value="1.0"/>
+ </section>
+
+
+ <section name="FAILSAFE" prefix="FAILSAFE_">
+ <define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
+ <define name="DEFAULT_THROTTLE" value="0." unit="%"/>
+ <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+ <define name="DEFAULT_PITCH" value="0.2" unit="rad"/>
+ <define name="HOME_RADIUS" value="100" unit="m"/>
+</section>
+
+<!--
+ <section name="DATALINK" prefix="DATALINK_">
+ <define name="DEVICE_TYPE" value="AEROCOMM"/>
+ <define name="DEVICE_ADDRESS" value="...."/>
+ </section>
+-->
+
+
+ <makefile>
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+FLASH_MODE=IAP
+
+ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.h\" -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=XBeeTransport
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0
-DDATALINK=XBEE -DUART0_BAUD=B9600
+#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+
+# AEROCOMM
+#\xA0ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0
-DDATALINK=PPRZ -DUART0_BAUD=B57600
+
+# RADIOTRONIX
+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_4 -DUSE_ADC_5 -DUSE_ADC_6
+ap.srcs += $(SRC_ARCH)/adc_hw.c
+
+ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
+
+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 nav_survey_rectangle.c traffic_info.c
nav_line.c
+
+# Camera power switch on ADC_7 pin
+ap.CFLAGS += -DLED_3_BANK=0 -DLED_3_PIN=10 -DPOWER_SWITCH_LED=3
+
+
+ap.CFLAGS += -DGYRO -DADXRS150
+# -DIDG300
+ap.srcs += gyro.c
+# ap.srcs += bomb.c
+
+# Hack to use the same tuning file than slayer1
+ap.CFLAGS += -DUSE_GPIO
+ap.srcs += $(SRC_ARCH)/gpio.c
+
+# Harware In The Loop
+
+#ap.CFLAGS += -DHITL
+
+
+# ap.CFLAGS += -DTELEMETRY_MODE_FBW=1
+
+ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
+ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
+ap.CFLAGS += -D BARO_MS5534A_W1=0xAC20 -D BARO_MS5534A_W2=0x87D9 -D
BARO_MS5534A_W3=0X8D9C -D BARO_MS5534A_W4=0xB080
+# C1 = 22032 UT1=24568
+
+
+
+# Config for SITL simulation
+# 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_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
-DUSE_BARO_MS5534A
+
+sim.srcs += nav_survey_rectangle.c nav_line.c $(SRC_ARCH)/sim_baro.c
+
+sim.srcs += fw_h_ctl.c
+# sim.srcs += fw_h_ctl_a.c
+# sim.CFLAGS += -DH_CTL_ROLL_IGAIN=-500 -DH_CTL_ROLL_KFF=-500
+
+ </makefile>
+</airframe>
Added: paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/solarstorm.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/solarstorm.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/solarstorm.xml
2009-09-18 16:50:21 UTC (rev 4190)
@@ -0,0 +1,269 @@
+<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+
+<!-- Solar Storm
+ Tiny 1.1
+ Tilted infrared sensor
+ Radiotronix modem
+ MPTT tracker
+ Drop servo -->
+
+<airframe name="SolarStorm">
+
+ <modules>
+ <load name="poles.xml"/>
+ <load name="MPPT.xml"/>
+ </modules>
+
+<!-- commands section -->
+ <servos>
+ <servo name="MOTOR" no="3" min="1250" neutral="1250" max="1800"/>
+ <servo name="AILEVON_LEFT" no="4" min="1850" neutral="1470" max="1100"/>
+ <servo name="AILEVON_RIGHT" no="5" min="1100" neutral="1545" max="1870"/>
+ </servos>
+
+ <commands>
+ <axis name="THROTTLE" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="PITCH" failsafe_value="0"/>
+ <axis name="HATCH" failsafe_value="0"/>
+ </commands>
+
+ <rc_commands>
+ <set command="THROTTLE" value="@THROTTLE"/>
+ <set command="ROLL" value="@ROLL"/>
+ <set command="PITCH" value="@PITCH"/>
+ </rc_commands>
+
+ <section name="MIXER">
+ <define name="AILEVON_AILERON_RATE" value="0.75"/>
+ <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
+ <define name="AILERON_DIFF" value="0.5"/>
+ </section>
+
+ <command_laws>
+ <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
+ <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
+ <set servo="MOTOR" value="@THROTTLE"/>
+ <set servo="AILEVON_LEFT" value="$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="8.42247962952" 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="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."/>
+ </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="0.356000006199"/>
+ <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"/>
+ <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="-0.885999977589"/>
+
+ <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"/>
+
+ <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=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.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>
Added: paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/twinjet2.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/twinjet2.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/twinjet2.xml
2009-09-18 16:50:21 UTC (rev 4190)
@@ -0,0 +1,292 @@
+<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+
+<!-- Twinjet Multiplex (http://www.multiplex-rc.de/)
+ Tiny 2.12 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
+ Tilted infrared sensor
+-->
+
+<airframe name="Twinjet 2 Tiny 2.12">
+
+<!--
+ <modules>
+ <load name="demo_module.xml"/>
+ </modules>
+-->
+
+<!-- commands section -->
+ <servos>
+ <servo name="MOTOR_LEFT" no="3" min="1000" neutral="1000" max="2000"/>
+ <servo name="MOTOR_RIGHT" no="4" min="1000" neutral="1000" max="2000"/>
+ <servo name="AILEVON_LEFT" no="6" min="1900" neutral="1515" max="1100"/>
+ <servo name="AILEVON_RIGHT" no="7" min="1100" neutral="1500" max="1900"/>
+ </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="MIXER">
+ <define name="AILEVON_AILERON_RATE" value="0.75"/>
+ <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
+ <define name="MOTOR_YAW_RATE" value="0.05"/>
+ </section>
+
+ <command_laws>
+ <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
+ <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
+ <let var="yaw" value="@YAW * MOTOR_YAW_RATE"/>
+ <set servo="MOTOR_LEFT" value="@THROTTLE - $yaw"/>
+ <set servo="MOTOR_RIGHT" value="@THROTTLE + $yaw"/>
+ <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
+ <set servo="AILEVON_RIGHT" value="$elevator - $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_1"/>
+ <define name="IR2" value="ADC_2"/>
+ <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."/>
+
+ <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="-2.29183125496" unit="deg"/>
+ <define name="PITCH_NEUTRAL_DEFAULT" value="0.15" 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="520"/>
+ <define name="ADC_TEMP_NEUTRAL" value="476"/>
+ <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="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ </section>
+
+ <section name="MISC">
+ <define name="NOMINAL_AIRSPEED" value="12." 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="XBEE_INIT" value=""ATPL2\rATRN1\rATTT80\r""/>
-->
+<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
+ <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
+ <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
+ <define name="MIN_CIRCLE_RADIUS" value="50."/>
+ <define name="LIGHT_LED_1" value="3"/>
+ <define name="LIGHT_LED_2" value="5"/>
+ </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="0.32"/>
+ <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="-1000"/>
+ <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="0.1"/>
+
+ <!-- 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="0.3"/>
+
+ </section>
+
+ <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+ <define name="COURSE_PGAIN" value="-1.39999997616"/>
+
+ <define name="ROLL_MAX_SETPOINT" value="0.600000023842" 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="-12000."/>
+ <define name="PITCH_DGAIN" value="0."/>
+
+ <define name="ELEVATOR_OF_ROLL" value="2500"/>
+
+ <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+ <define name="ROLL_RATE_GAIN" value="-1500"/>
+ </section>
+
+ <section name="NAV">
+ <define name="NAV_PITCH" value="0."/>
+ <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+ <define name="NAV_CROSS_TRACK_ERROR_IGAIN" value="0."/>
+ <define name="NAV_CROSS_TRACK_ERROR_MAX" value="10." unit="deg"/>
+ </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="0.7"/><!-- Gaz for Aggressive Climb
-->
+ <define name="CLIMB_PITCH" value="0.25"/><!-- 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>
+
+ <section name="DATALINK" prefix="DATALINK_">
+ <define name="DEVICE_TYPE" value="XBEE"/>
+ <define name="DEVICE_ADDRESS" value="...."/>
+ </section>
+
+
+ <section name="SIMU">
+ <define name="YAW_RESPONSE_FACTOR" value="1."/>
+ </section>
+
+ <makefile>
+CONFIG = \"tiny_2_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.CFLAGS += -DINTER_MCU
+ap.srcs += inter_mcu.c
+
+ap.srcs += commands.c
+
+########## RC actuators + radio
+ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
+ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
+
+ap.CFLAGS += -DRADIO_CONTROL
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+
+########## Modems
+ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport
-DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B9600
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+
+#TRANSPARENT
+#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1
-DDATALINK=PPRZ -DUART1_BAUD=B9600
+#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+
+########## ADC
+ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
+ap.srcs += $(SRC_ARCH)/adc_hw.c
+
+########## GPS
+ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
-DGPS_USE_LATLONG
+# -DGPS_LED=2
+ap.srcs += gps_ubx.c gps.c latlong.c
+
+########## IR sensors
+ap.CFLAGS += -DINFRARED -DALT_KALMAN
+ap.srcs += infrared.c estimator.c
+
+########## Gyro
+#ap.CFLAGS += -DGYRO -DADXRS150
+#ap.srcs += gyro.c
+
+########## Nav
+ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += nav_survey_rectangle.c
+ap.srcs += nav_line.c
+
+########## Barometer (SPI)
+#ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
+#ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
+
+########## Lights
+ap.CFLAGS += -DUSE_LIGHT
+ap.srcs += light.c
+
+ap.CFLAGS += -DUSE_MODULES
+
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+
+sim.srcs += nav_line.c nav_survey_rectangle.c
+
+sim.CFLAGS += -DUSE_LIGHT
+sim.srcs += light.c
+
+sim.CFLAGS += -DUSE_MODULES
+
+ </makefile>
+</airframe>
Added: paparazzi3/trunk/conf/airframes/ENAC/quadrotor/booz2_g1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/quadrotor/booz2_g1.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/ENAC/quadrotor/booz2_g1.xml 2009-09-18
16:50:21 UTC (rev 4190)
@@ -0,0 +1,233 @@
+<airframe name="BOOZ2_G1">
+
+ <servos min="0" neutral="0" max="0xff">
+ <servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
+ <servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
+ <servo name="YAW" no="2" min="0" neutral="0" max="255"/>
+ <servo name="THRUST" no="3" min="0" neutral="0" max="255"/>
+ </servos>
+
+ <commands>
+ <axis name="PITCH" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="YAW" failsafe_value="0"/>
+ <axis name="THRUST" failsafe_value="0"/>
+ </commands>
+
+ <section name="SUPERVISION" prefix="SUPERVISION_">
+ <define name="TRIM_A" value="0"/>
+ <define name="TRIM_E" value="6"/>
+ <define name="TRIM_R" value="0"/>
+ </section>
+
+ <section name="IMU" prefix="IMU_">
+
+ <define name="GYRO_P_CHAN" value="1"/>
+ <define name="GYRO_Q_CHAN" value="0"/>
+ <define name="GYRO_R_CHAN" value="2"/>
+
+ <define name="GYRO_P_NEUTRAL" value="32238"/>
+ <define name="GYRO_Q_NEUTRAL" value="32391"/>
+ <define name="GYRO_R_NEUTRAL" value="32853"/>
+
+ <define name="GYRO_P_SENS" value=" 1.00" integer="16"/>
+ <define name="GYRO_Q_SENS" value="-1.00" integer="16"/>
+ <define name="GYRO_R_SENS" value="-1.00" integer="16"/>
+
+ <define name="ACCEL_X_CHAN" value="5"/>
+ <define name="ACCEL_Y_CHAN" value="3"/>
+ <define name="ACCEL_Z_CHAN" value="4"/>
+
+ <define name="ACCEL_X_SENS" value="-2.55975587" integer="16"/>
+ <define name="ACCEL_Y_SENS" value="-2.55643340" integer="16"/>
+ <define name="ACCEL_Z_SENS" value="-2.57178460" integer="16"/>
+
+ <define name="ACCEL_X_NEUTRAL" value="33067"/>
+ <define name="ACCEL_Y_NEUTRAL" value="32778"/>
+ <define name="ACCEL_Z_NEUTRAL" value="32140"/>
+
+ <define name="MAG_X_CHAN" value="0"/>
+ <define name="MAG_Y_CHAN" value="1"/>
+ <define name="MAG_Z_CHAN" value="2"/>
+
+ <define name="MAG_X_NEUTRAL" value="-12"/>
+ <define name="MAG_Y_NEUTRAL" value="-10"/>
+ <define name="MAG_Z_NEUTRAL" value="-11"/>
+
+ <define name="MAG_X_SENS" value="22.008352" integer="16"/>
+ <define name="MAG_Y_SENS" value="-21.79885" integer="16"/>
+ <define name="MAG_Z_SENS" value="-14.675745" integer="16"/>
+
+ <define name="BODY_TO_IMU_PHI"
value="ANGLE_BFP_OF_REAL(RadOfDeg(-0.2))"/>
+ <define name="BODY_TO_IMU_THETA" value="ANGLE_BFP_OF_REAL(RadOfDeg(1.))"/>
+ <define name="BODY_TO_IMU_PSI" value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>
+
+ </section>
+
+ <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+
+ <define name="SP_MAX_P" value="10000"/>
+ <define name="SP_MAX_Q" value="10000"/>
+ <define name="SP_MAX_R" value="10000"/>
+
+ <define name="GAIN_P" value="-400"/>
+ <define name="GAIN_Q" value="-400"/>
+ <define name="GAIN_R" value="-350"/>
+
+ </section>
+
+ <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+
+ <!-- setpoints -->
+ <define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
+ <define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
+ <define name="SP_MAX_R" value="RadOfDeg(90.)"/>
+ <define name="DEADBAND_R" value="250"/>
+
+ <!-- reference -->
+ <define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
+ <define name="REF_ZETA_P" value="0.85"/>
+ <define name="REF_MAX_P" value="RadOfDeg(300.)"/>
+ <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
+
+ <define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
+ <define name="REF_ZETA_Q" value="0.85"/>
+ <define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
+ <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
+
+ <define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
+ <define name="REF_ZETA_R" value="0.85"/>
+ <define name="REF_MAX_R" value="RadOfDeg(180.)"/>
+ <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
+
+ <!-- feedback -->
+ <define name="PHI_PGAIN" value="-2000"/>
+ <define name="PHI_DGAIN" value="-400"/>
+ <define name="PHI_IGAIN" value="-50"/>
+
+ <define name="THETA_PGAIN" value="-2000"/>
+ <define name="THETA_DGAIN" value="-400"/>
+ <define name="THETA_IGAIN" value="-50"/>
+
+ <define name="PSI_PGAIN" value="-1000"/>
+ <define name="PSI_DGAIN" value="-350"/>
+ <define name="PSI_IGAIN" value="-50"/>
+
+ <!-- feedforward -->
+ <define name="PHI_DDGAIN" value=" 300"/>
+ <define name="THETA_DDGAIN" value=" 300"/>
+ <define name="PSI_DDGAIN" value=" 300"/>
+
+ </section>
+
+ <section name="INS" prefix="BOOZ_INS_">
+ <define name="BARO_SENS" value="15." integer="16"/>
+ <define name="UNTILT_ACCEL" value="1"/>
+ </section>
+
+ <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
+ <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
+ <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
+ <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
+ <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
+ <define name="MAX_SUM_ERR" value="2000000"/>
+ <define name="REF_MIN_ZDD" value="-1.5*9.81"/>
+ <define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
+ <define name="REF_MIN_ZD" value="-1.5"/>
+ <define name="REF_MAX_ZD" value=" 1.5"/>
+ <define name="HOVER_KP" value="-150"/>
+ <define name="HOVER_KD" value="-80"/>
+ <define name="HOVER_KI" value="0"/>
+ <!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
+ <define name="RC_CLIMB_COEF" value ="163"/>
+ <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
+ <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+ <!-- <define name="INV_M" value="0.118"/> -->
+ </section>
+
+
+ <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
+ <define name="PGAIN" value="-70"/>
+ <define name="DGAIN" value="-150"/>
+ <define name="IGAIN" value="-15"/>
+ <define name="NGAIN" value="-0"/>
+ <define name="AGAIN" value="-0"/>
+ </section>
+
+ <section name="BAT">
+ <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ <define name="BATTERY_SENS" value="0.25" integer="16"/>
+ </section>
+
+ <section name="AUTOPILOT">
+ <define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
+ <define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
+ <define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_NAV"/>
+ </section>
+
+ <section name="FMS">
+
+ </section>
+
+ <section name="CAM" prefix="BOOZ2_CAM_">
+ <define name="TILT_NEUTRAL" value="1500"/>
+ <define name="TILT_MIN" value="1000"/>
+ <define name="TILT_MAX" value="2000"/>
+ <define name="TILT_ANGLE_MIN" value="RadOfDeg(-85.)" unit="rad"/>
+ <define name="TILT_ANGLE_MAX" value="RadOfDeg( 30.)" unit="rad"/>
+ <define name="PAN_NEUTRAL" value="0"/>
+ <define name="PAN_MIN" value="0"/>
+ <define name="PAN_MAX" value="25736"/> <!-- 360 deg (2^12) -->
+ </section>
+
+ <section name="MISC">
+ <define name="BOOZ_ANALOG_BARO_THRESHOLD" value="512"/>
+ <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
+ <define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
+ </section>
+
+ <section name="SIMULATOR" prefix="NPS_">
+ <define name="ACTUATOR_NAMES" value="{"front_motor",
"back_motor", "right_motor", "left_motor"}"/>
+ <define name="INITIAL_CONDITITONS" value=""reset00""/>
+ <define name="SENSORS_PARAMS"
value=""nps_sensors_params_booz2_a1.h""/>
+ </section>
+
+
+ <makefile>
+ARCH=lpc21
+BOARD_CFG = \"boards/booz2_v1_0.h\"
+
+# prevents motors from ever starting
+#ap.CFLAGS += -DKILL_MOTORS
+
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(CFG_BOOZ)/booz2_autopilot.makefile
+include $(CFG_BOOZ)/booz2_test_progs.makefile
+ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
+
+sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
+include $(CFG_BOOZ)/booz2_simulator_nps.makefile
+
+ap.CFLAGS += -DMODEM_BAUD=B9600
+include $(CFG_BOOZ)/subsystems/booz2_actuators_asctec.makefile
+include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
+include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
+include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
+include $(CFG_BOOZ)/subsystems/booz2_fms_datalink.makefile
+
+include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
+
+include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
+#set GPS lag for horizontal filter
+#ap.CFLAGS += -DGPS_LAG=0.8
+ap.CFLAGS += -DUSE_GPS_ACC4R
+
+ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
+
+ap.CFLAGS += -DUSE_CAM
+ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c $(SRC_BOOZ)/booz2_cam.c
+
+ </makefile>
+
+</airframe>
Deleted: paparazzi3/trunk/conf/airframes/booz2_g1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_g1.xml 2009-09-18 16:43:06 UTC
(rev 4189)
+++ paparazzi3/trunk/conf/airframes/booz2_g1.xml 2009-09-18 16:50:21 UTC
(rev 4190)
@@ -1,233 +0,0 @@
-<airframe name="BOOZ2_G1">
-
- <servos min="0" neutral="0" max="0xff">
- <servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
- <servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
- <servo name="YAW" no="2" min="0" neutral="0" max="255"/>
- <servo name="THRUST" no="3" min="0" neutral="0" max="255"/>
- </servos>
-
- <commands>
- <axis name="PITCH" failsafe_value="0"/>
- <axis name="ROLL" failsafe_value="0"/>
- <axis name="YAW" failsafe_value="0"/>
- <axis name="THRUST" failsafe_value="0"/>
- </commands>
-
- <section name="SUPERVISION" prefix="SUPERVISION_">
- <define name="TRIM_A" value="0"/>
- <define name="TRIM_E" value="6"/>
- <define name="TRIM_R" value="0"/>
- </section>
-
- <section name="IMU" prefix="IMU_">
-
- <define name="GYRO_P_CHAN" value="1"/>
- <define name="GYRO_Q_CHAN" value="0"/>
- <define name="GYRO_R_CHAN" value="2"/>
-
- <define name="GYRO_P_NEUTRAL" value="32238"/>
- <define name="GYRO_Q_NEUTRAL" value="32391"/>
- <define name="GYRO_R_NEUTRAL" value="32853"/>
-
- <define name="GYRO_P_SENS" value=" 1.00" integer="16"/>
- <define name="GYRO_Q_SENS" value="-1.00" integer="16"/>
- <define name="GYRO_R_SENS" value="-1.00" integer="16"/>
-
- <define name="ACCEL_X_CHAN" value="5"/>
- <define name="ACCEL_Y_CHAN" value="3"/>
- <define name="ACCEL_Z_CHAN" value="4"/>
-
- <define name="ACCEL_X_SENS" value="-2.55975587" integer="16"/>
- <define name="ACCEL_Y_SENS" value="-2.55643340" integer="16"/>
- <define name="ACCEL_Z_SENS" value="-2.57178460" integer="16"/>
-
- <define name="ACCEL_X_NEUTRAL" value="33067"/>
- <define name="ACCEL_Y_NEUTRAL" value="32778"/>
- <define name="ACCEL_Z_NEUTRAL" value="32140"/>
-
- <define name="MAG_X_CHAN" value="0"/>
- <define name="MAG_Y_CHAN" value="1"/>
- <define name="MAG_Z_CHAN" value="2"/>
-
- <define name="MAG_X_NEUTRAL" value="-12"/>
- <define name="MAG_Y_NEUTRAL" value="-10"/>
- <define name="MAG_Z_NEUTRAL" value="-11"/>
-
- <define name="MAG_X_SENS" value="22.008352" integer="16"/>
- <define name="MAG_Y_SENS" value="-21.79885" integer="16"/>
- <define name="MAG_Z_SENS" value="-14.675745" integer="16"/>
-
- <define name="BODY_TO_IMU_PHI"
value="ANGLE_BFP_OF_REAL(RadOfDeg(-0.2))"/>
- <define name="BODY_TO_IMU_THETA" value="ANGLE_BFP_OF_REAL(RadOfDeg(1.))"/>
- <define name="BODY_TO_IMU_PSI" value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>
-
- </section>
-
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
-
- <define name="SP_MAX_P" value="10000"/>
- <define name="SP_MAX_Q" value="10000"/>
- <define name="SP_MAX_R" value="10000"/>
-
- <define name="GAIN_P" value="-400"/>
- <define name="GAIN_Q" value="-400"/>
- <define name="GAIN_R" value="-350"/>
-
- </section>
-
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
-
- <!-- setpoints -->
- <define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
- <define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
- <define name="SP_MAX_R" value="RadOfDeg(90.)"/>
- <define name="DEADBAND_R" value="250"/>
-
- <!-- reference -->
- <define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
- <define name="REF_ZETA_P" value="0.85"/>
- <define name="REF_MAX_P" value="RadOfDeg(300.)"/>
- <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
-
- <define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
- <define name="REF_ZETA_Q" value="0.85"/>
- <define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
- <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
-
- <define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
- <define name="REF_ZETA_R" value="0.85"/>
- <define name="REF_MAX_R" value="RadOfDeg(180.)"/>
- <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
-
- <!-- feedback -->
- <define name="PHI_PGAIN" value="-2000"/>
- <define name="PHI_DGAIN" value="-400"/>
- <define name="PHI_IGAIN" value="-50"/>
-
- <define name="THETA_PGAIN" value="-2000"/>
- <define name="THETA_DGAIN" value="-400"/>
- <define name="THETA_IGAIN" value="-50"/>
-
- <define name="PSI_PGAIN" value="-1000"/>
- <define name="PSI_DGAIN" value="-350"/>
- <define name="PSI_IGAIN" value="-50"/>
-
- <!-- feedforward -->
- <define name="PHI_DDGAIN" value=" 300"/>
- <define name="THETA_DDGAIN" value=" 300"/>
- <define name="PSI_DDGAIN" value=" 300"/>
-
- </section>
-
- <section name="INS" prefix="BOOZ_INS_">
- <define name="BARO_SENS" value="15." integer="16"/>
- <define name="UNTILT_ACCEL" value="1"/>
- </section>
-
- <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
- <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
- <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
- <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
- <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
- <define name="MAX_SUM_ERR" value="2000000"/>
- <define name="REF_MIN_ZDD" value="-1.5*9.81"/>
- <define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
- <define name="REF_MIN_ZD" value="-1.5"/>
- <define name="REF_MAX_ZD" value=" 1.5"/>
- <define name="HOVER_KP" value="-150"/>
- <define name="HOVER_KD" value="-80"/>
- <define name="HOVER_KI" value="0"/>
- <!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
- <define name="RC_CLIMB_COEF" value ="163"/>
- <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
- <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
- <!-- <define name="INV_M" value="0.118"/> -->
- </section>
-
-
- <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
- <define name="PGAIN" value="-70"/>
- <define name="DGAIN" value="-150"/>
- <define name="IGAIN" value="-15"/>
- <define name="NGAIN" value="-0"/>
- <define name="AGAIN" value="-0"/>
- </section>
-
- <section name="BAT">
- <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
- <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- <define name="BATTERY_SENS" value="0.25" integer="16"/>
- </section>
-
- <section name="AUTOPILOT">
- <define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
- <define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
- <define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_NAV"/>
- </section>
-
- <section name="FMS">
-
- </section>
-
- <section name="CAM" prefix="BOOZ2_CAM_">
- <define name="TILT_NEUTRAL" value="1500"/>
- <define name="TILT_MIN" value="1000"/>
- <define name="TILT_MAX" value="2000"/>
- <define name="TILT_ANGLE_MIN" value="RadOfDeg(-85.)" unit="rad"/>
- <define name="TILT_ANGLE_MAX" value="RadOfDeg( 30.)" unit="rad"/>
- <define name="PAN_NEUTRAL" value="0"/>
- <define name="PAN_MIN" value="0"/>
- <define name="PAN_MAX" value="25736"/> <!-- 360 deg (2^12) -->
- </section>
-
- <section name="MISC">
- <define name="BOOZ_ANALOG_BARO_THRESHOLD" value="512"/>
- <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
- <define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
- </section>
-
- <section name="SIMULATOR" prefix="NPS_">
- <define name="ACTUATOR_NAMES" value="{"front_motor",
"back_motor", "right_motor", "left_motor"}"/>
- <define name="INITIAL_CONDITITONS" value=""reset00""/>
- <define name="SENSORS_PARAMS"
value=""nps_sensors_params_booz2_a1.h""/>
- </section>
-
-
- <makefile>
-ARCH=lpc21
-BOARD_CFG = \"boards/booz2_v1_0.h\"
-
-# prevents motors from ever starting
-#ap.CFLAGS += -DKILL_MOTORS
-
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
-include $(CFG_BOOZ)/booz2_autopilot.makefile
-include $(CFG_BOOZ)/booz2_test_progs.makefile
-ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
-
-sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
-include $(CFG_BOOZ)/booz2_simulator_nps.makefile
-
-ap.CFLAGS += -DMODEM_BAUD=B9600
-include $(CFG_BOOZ)/subsystems/booz2_actuators_asctec.makefile
-include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
-include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
-include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
-include $(CFG_BOOZ)/subsystems/booz2_fms_datalink.makefile
-
-include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
-
-include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
-#set GPS lag for horizontal filter
-#ap.CFLAGS += -DGPS_LAG=0.8
-ap.CFLAGS += -DUSE_GPS_ACC4R
-
-ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
-
-ap.CFLAGS += -DUSE_CAM
-ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c $(SRC_BOOZ)/booz2_cam.c
-
- </makefile>
-
-</airframe>
Deleted: paparazzi3/trunk/conf/airframes/firestorm.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/firestorm.xml 2009-09-18 16:43:06 UTC
(rev 4189)
+++ paparazzi3/trunk/conf/airframes/firestorm.xml 2009-09-18 16:50:21 UTC
(rev 4190)
@@ -1,277 +0,0 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
-
-<!-- Fire Storm
- Tiny 1.1
- Tilted infrared sensor
- Radiotronix modem
- Drop servo -->
-
-<airframe name="FireStorm">
-
- <modules>
- <load name="poles.xml"/>
- </modules>
-
-<!-- commands section -->
- <servos>
- <servo name="MOTOR" no="3" min="1250" neutral="1250" max="1800"/>
- <servo name="AILEVON_LEFT" no="4" min="1850" neutral="1370" max="1000"/>
- <servo name="AILEVON_RIGHT" no="5" min="1000" neutral="1515" max="1870"/>
- <servo name="HATCH" no="6" min="1350" neutral="1900" max="1900"/>
- </servos>
-
- <commands>
- <axis name="THROTTLE" failsafe_value="0"/>
- <axis name="ROLL" failsafe_value="0"/>
- <axis name="PITCH" failsafe_value="0"/>
- <axis name="HATCH" failsafe_value="0"/>
- </commands>
-
- <rc_commands>
- <set command="THROTTLE" value="@THROTTLE"/>
- <set command="ROLL" value="@ROLL"/>
- <set command="PITCH" value="@PITCH"/>
- <set command="HATCH" value="@GAIN1"/>
- </rc_commands>
-
- <section name="MIXER">
- <define name="AILEVON_AILERON_RATE" value="0.75"/>
- <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
- <define name="AILERON_DIFF" value="0.5"/>
- </section>
-
- <command_laws>
- <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
- <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
- <set servo="MOTOR" value="@THROTTLE"/>
- <set servo="HATCH" value="@HATCH"/>
- <set servo="AILEVON_LEFT" value="$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="MILLIAMP_AT_FULL_THROTTLE" value="2000"/>
-
- <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-
- <define name="MilliAmpereOfAdc(_adc)" value="(_adc-162)*17.4"/>
- </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
-
-# Current sensor; Neutral=162
-#ap.CFLAGS += -DUSE_ADC_7 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_7
-DADC_CHANNEL_GENERIC_NB_SAMPLES=16
-#ap.srcs += adc_generic.c
-
-ap.CFLAGS += -DUSE_ADC_7 -DADC_CHANNEL_CURRENT=ADC_7
-
-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 $(SRC_ARCH)/led_hw.c
-
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-
-sim.srcs += nav_line.c nav_survey_rectangle.c
-
-sim.CFLAGS += -DUSE_MODULES
- </makefile>
-</airframe>
Deleted: paparazzi3/trunk/conf/airframes/funjet1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/funjet1.xml 2009-09-18 16:43:06 UTC (rev
4189)
+++ paparazzi3/trunk/conf/airframes/funjet1.xml 2009-09-18 16:50:21 UTC (rev
4190)
@@ -1,321 +0,0 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
-
-<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
- Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
- Tilted infrared sensor
(http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
- Radiotronix modem
- Digital camera
--->
-
-<airframe name="Funjet 1 Tiny 2.1">
-
- <modules>
- <load name="poles.xml"/>
- </modules>
-
-<!-- commands section -->
- <servos>
- <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
- <servo name="AILEVON_LEFT" no="2" min="1130" neutral="1575" max="1880"/>
- <servo name="AILEVON_RIGHT" no="6" min="1980" neutral="1465" max="1170"/>
- </servos>
-
- <commands>
- <axis name="THROTTLE" failsafe_value="0"/>
- <axis name="ROLL" failsafe_value="0"/>
- <axis name="PITCH" failsafe_value="0"/>
- <axis name="HATCH" failsafe_value="0"/>
- </commands>
-
- <rc_commands>
- <set command="THROTTLE" value="@THROTTLE"/>
- <set command="ROLL" value="@ROLL"/>
- <set command="PITCH" value="@PITCH"/>
- </rc_commands>
-
- <section name="MIXER">
- <define name="AILEVON_AILERON_RATE" value="0.75"/>
- <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
- </section>
-
- <command_laws>
- <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
- <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
- <set servo="MOTOR" value="@THROTTLE"/>
- <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
- <set servo="AILEVON_RIGHT" value="$elevator - $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_1"/>
- <define name="IR2" value="ADC_2"/>
- <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="1.5"/>
-
- <define name="HORIZ_SENSOR_TILTED" value="1"/>
- <define name="IR2_SIGN" value="-1"/>
- <define name="TOP_SIGN" value="-1"/>
-
- <define name="ROLL_NEUTRAL_DEFAULT" value="-1.43239450455" unit="deg"/>
- <define name="PITCH_NEUTRAL_DEFAULT" value="17" 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="520"/>
- <define name="ADC_TEMP_NEUTRAL" value="476"/>
- <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="MILLIAMP_AT_FULL_THROTTLE" value="2000"/>
-
- <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- </section>
-
- <section name="MISC">
- <define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
- <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
- <define name="MAXIMUM_AIRSPEED" value="25." 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="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/ -->
- <!-- define name="NO_XBEE_API_INIT" value="TRUE"/ -->
- <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
-
- <define name="TRIGGER_DELAY" value="1."/>
- <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
- <define name="MIN_CIRCLE_RADIUS" value="50."/>
- </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="0.35"/>
- <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="-1000"/>
- <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="0.1"/>
-
- <!-- 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="-1.20599997044"/>
-
- <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="-7627.11914062"/>
- <define name="PITCH_DGAIN" value="1.5"/>
-
- <define name="ELEVATOR_OF_ROLL" value="2500"/>
-
- <define name="ROLL_ATTITUDE_GAIN" value="-12584.7460938"/>
- <define name="ROLL_RATE_GAIN" value="-1779.66101074"/>
-
- <define name="ROLL_KFF" value="-500"/>
- <define name="ROLL_IGAIN" value="-500"/>
- <define name="PITCH_IGAIN" value="-500"/>
- </section>
-
- <section name="NAV">
- <define name="NAV_PITCH" value="0."/>
- <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
- </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="0.6"/><!-- 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>
-
-<!--
- <section name="DATALINK" prefix="DATALINK_">
- <define name="DEVICE_TYPE" value="XBEE"/>
- <define name="DEVICE_ADDRESS" value="...."/>
- </section>
--->
-
- <section name="Digital camera telecommand">
- <!-- IOs are seen as LEDs -->
-
- <define name="LED_6_BANK" value="0"/>
- <define name="LED_6_PIN" value="2"/> <!-- I2C SCL -->
-
- <!-- ADC 5 -->
- <define name="LED_7_BANK" value="0"/>
- <define name="LED_7_PIN" value="3"/> <!-- I2C SDA -->
-
- <define name="DC_SHUTTER_LED" value="6"/> <!-- Grey wire -->
- <define name="DC_ZOOM_LED" value="7"/>
- </section>
-
- <makefile>
-CONFIG = \"tiny_2_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_4017_hw.h\" -DSERVOS_4017
-ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
-
-ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
-
-#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport
-DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
-
-#TRANSPARENT
-ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1
-DDATALINK=PPRZ -DUART1_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_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
-# -DGPS_LED=2
-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_a.c fw_v_ctl.c
-
-
-ap.CFLAGS += -DGYRO -DADXRS150
-ap.srcs += gyro.c nav_line.c
-ap.srcs += nav_survey_rectangle.c
-# chemotaxis.c anemotaxis.c discsurvey.c
-
-########## Barometer (SPI)
-#ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
-#ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
-
-########## Chemo sensor (I2C)
-#ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-#ap.CFLAGS += -DUSE_I2C -DUSE_I2C0
-
-# Digital camera
-# Shutter: I2C SCL
-# Zoom: I2C SDA
-ap.CFLAGS += -DDIGITAL_CAM
-ap.srcs += dc.c
-
-ap.CFLAGS += -DUSE_MODULES
-sim.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
-# -DENOSE
-#sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-#sim.CFLAGS += -DUSE_I2C -DUSE_I2C0
-# chemotaxis.c anemotaxis.c discsurvey.c $(SRC_ARCH)/sim_enose.c chemo_detect.c
-
-sim.CFLAGS += -DDIGITAL_CAM -DPOWER_SWITCH_LED=4
-sim.srcs += dc.c
-
-
-
-# a test program to setup actuators
-setup_actuators.ARCHDIR = $(ARCHI)
-setup_actuators.ARCH = arm7tdmi
-setup_actuators.TARGET = setup_actuators
-setup_actuators.TARGETDIR = setup_actuators
-
-setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DLED -DTIME_LED=1
-DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART1 -DUART1_BAUD=B9600
-DDATALINK=PPRZ -DPPRZ_UART=Uart1
-setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
$(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c
$(SRC_ARCH)/servos_4015_hw.c main.c
-
- </makefile>
-</airframe>
Deleted: paparazzi3/trunk/conf/airframes/minimag1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/minimag1.xml 2009-09-18 16:43:06 UTC
(rev 4189)
+++ paparazzi3/trunk/conf/airframes/minimag1.xml 2009-09-18 16:50:21 UTC
(rev 4190)
@@ -1,218 +0,0 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
-
-<airframe name="MiniMag Tiny 0.99">
-
-<!-- commands section -->
- <servos>
- <servo name="THROTTLE" no="0" min="1200" neutral="1200" max="2000"/>
-<!-- Servo aileron gauche = couleur blanche -->
-<!-- Aileron gauche oppose de l'aileron droit -->
- <servo name="AILERON_LEFT" no="1" min="1775" neutral="1500" max="1050"/>
-<!-- max = valeur aileron vers le bas-->
- <servo name="AILERON_RIGHT" no="3" min="1875" neutral="1475" max="1225"/>
- <!-- Rudder = Couleur rouge droite gauche -->
- <servo name="RUDDER" no="4" min="1875" neutral="1500" max="1250"/>
- <servo name="ELEVATOR" no="5" min="1850" neutral="1586" max="1150"/>
-
- </servos>
-
- <commands>
- <axis name="THROTTLE" failsafe_value="0"/>
- <axis name="ROLL" failsafe_value="0"/>
- <axis name="PITCH" failsafe_value="0"/>
- <axis name="YAW" failsafe_value="0"/>
- <axis name="HATCH" failsafe_value="0"/>
- </commands>
-
- <rc_commands>
- <set command="THROTTLE" value="@THROTTLE"/>
- <set command="ROLL" value="@ROLL"/>
- <set command="PITCH" value="@PITCH"/>
- <set command="YAW" value="@YAW"/>
- </rc_commands>
-
- <section name="MIXER">
- <define name="AILERON_DIFF" value="0.66"/>
- <define name="COMBI_SWITCH" value="1.0"/>
- </section>
-
- <command_laws>
- <set servo="THROTTLE" value="@THROTTLE"/>
- <set servo="ELEVATOR" value="@PITCH"/>
- <set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
-
- <let var="roll" value="@ROLL"/>
- <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
- <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
- </command_laws>
-
- <section name="AUTO1" prefix="AUTO1_">
- <define name="MAX_ROLL" value="0.6"/>
- <define name="MAX_PITCH" value="0.6"/>
- </section>
-
- <section name="adc" prefix="ADC_CHANNEL_">
- <define name="IR1" value="ADC_0"/>
- <define name="IR2" value="ADC_1"/>
- <define name="IR_TOP" value="ADC_4"/>
- <define name="IR_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="HORIZ_SENSOR_TILTED" value="1"/>
-
- <define name="LATERAL_CORRECTION" value="1."/>
- <define name="LONGITUDINAL_CORRECTION" value="1."/>
- <define name="VERTICAL_CORRECTION" value="1."/>
-
- <define name="ROLL_NEUTRAL_DEFAULT" value="-6" unit="deg"/>
- <define name="PITCH_NEUTRAL_DEFAULT" value="12" 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="BAT">
- <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
-
- <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- </section>
-
- <section name="MISC">
- <define name="NOMINAL_AIRSPEED" value="11." 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="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
-<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
- <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
-
- <define name="TRIGGER_DELAY" value="1."/>
- <define name="DEFAULT_CIRCLE_RADIUS" value="50."/>
- </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="-0.07"/>
- <!-- outer loop saturation -->
- <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
- <!-- auto throttle inner loop -->
- <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"/>
- <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
- <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="-500"/>
- <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15"
unit="%/(m/s)"/>
- <define name="AUTO_THROTTLE_PGAIN" value="-0.025"/>
- <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
- <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
-
- <!-- 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="0.05"/>
-
- </section>
-
- <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
- <define name="COURSE_PGAIN" value="-1.2"/>
- <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
- <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
- <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
-
-
- <define name="ROLL_PGAIN" value="12000."/>
- <define name="AILERON_OF_THROTTLE" value="0.0"/>
- <define name="PITCH_PGAIN" value="-9000."/>
- <define name="PITCH_DGAIN" value="1.5"/>
- <define name="ELEVATOR_OF_ROLL" value="1250"/>
-
- </section>
-
- <section name="NAV">
- <define name="NAV_PITCH" value="0."/>
- <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
- </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="0.8"/><!-- Gaz for Aggressive Climb
-->
- <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
- <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive
Decent -->
- <define name="DESCENT_PITCH" value="-0.25"/><!-- 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="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"/>
-</section>
-
- <section name="DATALINK" prefix="DATALINK_">
- <define name="DEVICE_TYPE" value="XBEE"/>
- <define name="DEVICE_ADDRESS" value="...."/>
- </section>
-
- <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
-
-FLASH_MODE=IAP
-
-ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.h\" -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=XBeeTransport
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0
-DDATALINK=XBEE -DUART0_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
-
-#TRANSPARENT ap.CFLAGS += -DDOWNLINK -DUSE_UART0
-DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0
-DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-#TRANSPARENT 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_4
-ap.srcs += $(SRC_ARCH)/adc_hw.c
-
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
-
-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 nav_survey_rectangle.c nav_line.c
-
-# Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_survey_rectangle.c nav_line.c
-
- </makefile>
-</airframe>
Deleted: paparazzi3/trunk/conf/airframes/slayer2.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/slayer2.xml 2009-09-18 16:43:06 UTC (rev
4189)
+++ paparazzi3/trunk/conf/airframes/slayer2.xml 2009-09-18 16:50:21 UTC (rev
4190)
@@ -1,289 +0,0 @@
-<airframe name="Miraterre Slayer 2">
- <!-- Slayer
(http://www.recherche.enac.fr/wiki/index.php/Image:DragonSlayer_0948sm.jpg)
- Two ailevons
- Baro
- Tilted infrared sensor, gyro
- Still camera
- Tiny 0.99
--->
-
-<!-- commands section -->
- <servos>
- <servo name="AILEVON_RIGHT" no="1" min="1000" neutral="1500" max="2000"/>
- <servo name="AILEVON_LEFT" no="0" min="2000" neutral="1480" max="900"/>
- <servo name="THROTTLE" no="4" min="1250" neutral="1250" max="1850"/>
- <servo name="HATCH" no="3" min="2000" neutral="2000" max="1000"/>
- </servos>
-
- <commands>
- <axis name="THROTTLE" failsafe_value="0"/>
- <axis name="ROLL" failsafe_value="0"/>
- <axis name="PITCH" failsafe_value="0"/>
- <axis name="HATCH" failsafe_value="0"/>
- </commands>
-
- <rc_commands>
- <set command="THROTTLE" value="@THROTTLE"/>
- <set command="ROLL" value="@ROLL"/>
- <set command="PITCH" value="@PITCH"/>
- </rc_commands>
-
- <section name="MIXER">
- <define name="AILEVON_AILERON_RATE" value="0.8"/>
- <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
- </section>
-
- <command_laws>
- <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
- <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
- <set servo="THROTTLE" value="@THROTTLE"/>
- <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
- <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
- <set servo="HATCH" value="@HATCH"/>
- </command_laws>
-
- <section name="AUTO1" prefix="AUTO1_">
- <define name="MAX_ROLL" value="0.96"/>
- <define name="MAX_PITCH" value="0.8"/>
- </section>
-
- <section name="adc" prefix="ADC_CHANNEL_">
- <define name="IR1" value="ADC_1"/>
- <define name="IR2" value="ADC_0"/>
- <define name="IR_TOP" value="ADC_4"/>
- <define name="IR_NB_SAMPLES" value="16"/>
- <define name="GYRO_ROLL" value="ADC_5"/>
-<!-- <define name="GYRO_TEMP" value="ADC_6"/> -->
- <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="510"/>
-
- <define name="HORIZ_SENSOR_TILTED" value="1"/>
- <define name="IR2_SIGN" value="1"/>
- <define name="TOP_SIGN" value="-1"/>
-
- <define name="LATERAL_CORRECTION" value="0.356000006199"/>
- <define name="LONGITUDINAL_CORRECTION" value="0.381000012159"/>
- <define name="VERTICAL_CORRECTION" value="1.5"/>
-
- <define name="ROLL_NEUTRAL_DEFAULT" value="-9" unit="deg"/>
- <define name="PITCH_NEUTRAL_DEFAULT" value="3" unit="deg"/>
-
- <define name="CORRECTION_UP" value="1.5"/>
- <define name="CORRECTION_DOWN" value="1.5"/>
- <define name="CORRECTION_LEFT" value="1."/>
- <define name="CORRECTION_RIGHT" value="1."/>
- </section>
-
- <section name="GYRO" prefix="GYRO_">
- <define name="ADC_ROLL_NEUTRAL" value="484"/>
-<!-- <define name="ADC_TEMP_NEUTRAL" value="476"/>
- <define name="ADC_TEMP_SLOPE" value="0"/>
--->
- <define name="ROLL_SCALE" value="1.3846"/>
- <define name="ROLL_DIRECTION" value="-1."/>
- </section>
-
- <section name="BAT">
- <define name="MILLIAMP_AT_FULL_THROTTLE" value="5000"/>
- <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- <define name="VoltageOfAdc(adc)" value="(0.0183*adc)"/>
- </section>
-
- <section name="MISC">
- <define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
- <define name="MAXIMUM_AIRSPEED" value="25." unit="m/s"/>
- <define name="MINIMUM_AIRSPEED" value="15." unit="m/s"/>
- <define name="CARROT" value="3." 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="90"/>
-
- <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
- <define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
-
- <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_">
- <!-- outer loop proportional gain -->
- <define name="ALTITUDE_PGAIN" value="-0.065"/>
- <!-- outer loop saturation -->
- <define name="ALTITUDE_MAX_CLIMB" value="3."/>
-
- <!-- auto throttle inner loop -->
- <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
- <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".47"/>
- <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1"/>
- <define name="AUTO_THROTTLE_LOITER_TRIM" value="1250"/>
- <define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/>
- <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15"
unit="%/(m/s)"/>
- <define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
- <define name="AUTO_THROTTLE_IGAIN" value="0.15"/>
- <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.15"/>
- <define name="AUTO_THROTTLE_PITCH_OF_VZ_DGAIN" value="-1"/>
-
- <!-- auto pitch inner loop -->
- <define name="AUTO_PITCH_PGAIN" value="-0.1"/>
- <define name="AUTO_PITCH_IGAIN" value="0.025"/>
- <define name="AUTO_PITCH_MAX_PITCH" value="0.5"/>
- <define name="AUTO_PITCH_MIN_PITCH" value="-0.5"/>
-
- <define name="THROTTLE_SLEW" value="0.05"/>
-
- </section>
-
- <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
- <define name="COURSE_PGAIN" value="-2.6"/>
- <define name="COURSE_DGAIN" value="1"/>
- <define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
- <define name="ROLL_MAX_SETPOINT" value="0.73" 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="-9000."/>
- <define name="PITCH_DGAIN" value="0."/>
-
- <define name="ELEVATOR_OF_ROLL" value="1000"/>
-
- <!-- roll rate loop -->
- <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
- <define name="ROLL_RATE_GAIN" value="-1500"/>
-
- <define name="COURSE_SLEW_INCREMENT" value="RadOfDeg(3)"/>
- </section>
-
- <section name="NAV">
- <define name="NAV_PITCH" value="0."/>
- <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
- </section>
-
-
- <section name="AGGRESSIVE" prefix="AGR_">
- <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate
Aggressive Climb CANNOT BE ZERO!!-->
- <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend
Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
- <define name="CLIMB_THROTTLE" value="1."/><!-- Throttle for Aggressive
Climb -->
- <define name="CLIMB_PITCH" value="0.42"/><!-- Pitch for Aggressive Climb
-->
- <define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive
Decent -->
- <define name="DESCENT_PITCH" value="-0.5"/><!-- Pitch for Aggressive
Decent -->
- <define name="CLIMB_NAV_RATIO" value="0.4"/><!-- Percent Navigation for
Altitude Error Equal to Start Altitude -->
- <define name="DESCENT_NAV_RATIO" value="1.0"/>
- </section>
-
-
- <section name="FAILSAFE" prefix="FAILSAFE_">
- <define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
- <define name="DEFAULT_THROTTLE" value="0." unit="%"/>
- <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
- <define name="DEFAULT_PITCH" value="0.2" unit="rad"/>
- <define name="HOME_RADIUS" value="100" unit="m"/>
-</section>
-
-<!--
- <section name="DATALINK" prefix="DATALINK_">
- <define name="DEVICE_TYPE" value="AEROCOMM"/>
- <define name="DEVICE_ADDRESS" value="...."/>
- </section>
--->
-
-
- <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
-
-FLASH_MODE=IAP
-
-ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.h\" -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=XBeeTransport
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0
-DDATALINK=XBEE -DUART0_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
-
-# AEROCOMM
-#\xA0ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0
-DDATALINK=PPRZ -DUART0_BAUD=B57600
-
-# RADIOTRONIX
-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_4 -DUSE_ADC_5 -DUSE_ADC_6
-ap.srcs += $(SRC_ARCH)/adc_hw.c
-
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
-
-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 nav_survey_rectangle.c traffic_info.c
nav_line.c
-
-# Camera power switch on ADC_7 pin
-ap.CFLAGS += -DLED_3_BANK=0 -DLED_3_PIN=10 -DPOWER_SWITCH_LED=3
-
-
-ap.CFLAGS += -DGYRO -DADXRS150
-# -DIDG300
-ap.srcs += gyro.c
-# ap.srcs += bomb.c
-
-# Hack to use the same tuning file than slayer1
-ap.CFLAGS += -DUSE_GPIO
-ap.srcs += $(SRC_ARCH)/gpio.c
-
-# Harware In The Loop
-
-#ap.CFLAGS += -DHITL
-
-
-# ap.CFLAGS += -DTELEMETRY_MODE_FBW=1
-
-ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
-ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
-ap.CFLAGS += -D BARO_MS5534A_W1=0xAC20 -D BARO_MS5534A_W2=0x87D9 -D
BARO_MS5534A_W3=0X8D9C -D BARO_MS5534A_W4=0xB080
-# C1 = 22032 UT1=24568
-
-
-
-# Config for SITL simulation
-# 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_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
-DUSE_BARO_MS5534A
-
-sim.srcs += nav_survey_rectangle.c nav_line.c $(SRC_ARCH)/sim_baro.c
-
-sim.srcs += fw_h_ctl.c
-# sim.srcs += fw_h_ctl_a.c
-# sim.CFLAGS += -DH_CTL_ROLL_IGAIN=-500 -DH_CTL_ROLL_KFF=-500
-
- </makefile>
-</airframe>
Deleted: paparazzi3/trunk/conf/airframes/solarstorm.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/solarstorm.xml 2009-09-18 16:43:06 UTC
(rev 4189)
+++ paparazzi3/trunk/conf/airframes/solarstorm.xml 2009-09-18 16:50:21 UTC
(rev 4190)
@@ -1,269 +0,0 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
-
-<!-- Solar Storm
- Tiny 1.1
- Tilted infrared sensor
- Radiotronix modem
- MPTT tracker
- Drop servo -->
-
-<airframe name="SolarStorm">
-
- <modules>
- <load name="poles.xml"/>
- <load name="MPPT.xml"/>
- </modules>
-
-<!-- commands section -->
- <servos>
- <servo name="MOTOR" no="3" min="1250" neutral="1250" max="1800"/>
- <servo name="AILEVON_LEFT" no="4" min="1850" neutral="1470" max="1100"/>
- <servo name="AILEVON_RIGHT" no="5" min="1100" neutral="1545" max="1870"/>
- </servos>
-
- <commands>
- <axis name="THROTTLE" failsafe_value="0"/>
- <axis name="ROLL" failsafe_value="0"/>
- <axis name="PITCH" failsafe_value="0"/>
- <axis name="HATCH" failsafe_value="0"/>
- </commands>
-
- <rc_commands>
- <set command="THROTTLE" value="@THROTTLE"/>
- <set command="ROLL" value="@ROLL"/>
- <set command="PITCH" value="@PITCH"/>
- </rc_commands>
-
- <section name="MIXER">
- <define name="AILEVON_AILERON_RATE" value="0.75"/>
- <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
- <define name="AILERON_DIFF" value="0.5"/>
- </section>
-
- <command_laws>
- <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
- <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
- <set servo="MOTOR" value="@THROTTLE"/>
- <set servo="AILEVON_LEFT" value="$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="8.42247962952" 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="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."/>
- </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="0.356000006199"/>
- <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"/>
- <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="-0.885999977589"/>
-
- <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"/>
-
- <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=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.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>
Deleted: paparazzi3/trunk/conf/airframes/twinjet2.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/twinjet2.xml 2009-09-18 16:43:06 UTC
(rev 4189)
+++ paparazzi3/trunk/conf/airframes/twinjet2.xml 2009-09-18 16:50:21 UTC
(rev 4190)
@@ -1,292 +0,0 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
-
-<!-- Twinjet Multiplex (http://www.multiplex-rc.de/)
- Tiny 2.12 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
- Tilted infrared sensor
--->
-
-<airframe name="Twinjet 2 Tiny 2.12">
-
-<!--
- <modules>
- <load name="demo_module.xml"/>
- </modules>
--->
-
-<!-- commands section -->
- <servos>
- <servo name="MOTOR_LEFT" no="3" min="1000" neutral="1000" max="2000"/>
- <servo name="MOTOR_RIGHT" no="4" min="1000" neutral="1000" max="2000"/>
- <servo name="AILEVON_LEFT" no="6" min="1900" neutral="1515" max="1100"/>
- <servo name="AILEVON_RIGHT" no="7" min="1100" neutral="1500" max="1900"/>
- </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="MIXER">
- <define name="AILEVON_AILERON_RATE" value="0.75"/>
- <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
- <define name="MOTOR_YAW_RATE" value="0.05"/>
- </section>
-
- <command_laws>
- <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
- <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
- <let var="yaw" value="@YAW * MOTOR_YAW_RATE"/>
- <set servo="MOTOR_LEFT" value="@THROTTLE - $yaw"/>
- <set servo="MOTOR_RIGHT" value="@THROTTLE + $yaw"/>
- <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
- <set servo="AILEVON_RIGHT" value="$elevator - $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_1"/>
- <define name="IR2" value="ADC_2"/>
- <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."/>
-
- <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="-2.29183125496" unit="deg"/>
- <define name="PITCH_NEUTRAL_DEFAULT" value="0.15" 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="520"/>
- <define name="ADC_TEMP_NEUTRAL" value="476"/>
- <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="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
- <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- </section>
-
- <section name="MISC">
- <define name="NOMINAL_AIRSPEED" value="12." 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="XBEE_INIT" value=""ATPL2\rATRN1\rATTT80\r""/>
-->
-<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
- <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
- <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
- <define name="MIN_CIRCLE_RADIUS" value="50."/>
- <define name="LIGHT_LED_1" value="3"/>
- <define name="LIGHT_LED_2" value="5"/>
- </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="0.32"/>
- <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="-1000"/>
- <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="0.1"/>
-
- <!-- 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="0.3"/>
-
- </section>
-
- <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
- <define name="COURSE_PGAIN" value="-1.39999997616"/>
-
- <define name="ROLL_MAX_SETPOINT" value="0.600000023842" 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="-12000."/>
- <define name="PITCH_DGAIN" value="0."/>
-
- <define name="ELEVATOR_OF_ROLL" value="2500"/>
-
- <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
- <define name="ROLL_RATE_GAIN" value="-1500"/>
- </section>
-
- <section name="NAV">
- <define name="NAV_PITCH" value="0."/>
- <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
- <define name="NAV_CROSS_TRACK_ERROR_IGAIN" value="0."/>
- <define name="NAV_CROSS_TRACK_ERROR_MAX" value="10." unit="deg"/>
- </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="0.7"/><!-- Gaz for Aggressive Climb
-->
- <define name="CLIMB_PITCH" value="0.25"/><!-- 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>
-
- <section name="DATALINK" prefix="DATALINK_">
- <define name="DEVICE_TYPE" value="XBEE"/>
- <define name="DEVICE_ADDRESS" value="...."/>
- </section>
-
-
- <section name="SIMU">
- <define name="YAW_RESPONSE_FACTOR" value="1."/>
- </section>
-
- <makefile>
-CONFIG = \"tiny_2_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.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c
-
-ap.srcs += commands.c
-
-########## RC actuators + radio
-ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
-ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
-
-ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
-
-########## Modems
-ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport
-DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
-
-#TRANSPARENT
-#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1
-DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
-
-########## ADC
-ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
-ap.srcs += $(SRC_ARCH)/adc_hw.c
-
-########## GPS
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
-DGPS_USE_LATLONG
-# -DGPS_LED=2
-ap.srcs += gps_ubx.c gps.c latlong.c
-
-########## IR sensors
-ap.CFLAGS += -DINFRARED -DALT_KALMAN
-ap.srcs += infrared.c estimator.c
-
-########## Gyro
-#ap.CFLAGS += -DGYRO -DADXRS150
-#ap.srcs += gyro.c
-
-########## Nav
-ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
-ap.srcs += nav_survey_rectangle.c
-ap.srcs += nav_line.c
-
-########## Barometer (SPI)
-#ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
-#ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
-
-########## Lights
-ap.CFLAGS += -DUSE_LIGHT
-ap.srcs += light.c
-
-ap.CFLAGS += -DUSE_MODULES
-
-# Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-
-sim.srcs += nav_line.c nav_survey_rectangle.c
-
-sim.CFLAGS += -DUSE_LIGHT
-sim.srcs += light.c
-
-sim.CFLAGS += -DUSE_MODULES
-
- </makefile>
-</airframe>
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