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[paparazzi-commits] [4194] tuning, ready for the North Sea
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From: |
Martin Mueller |
|
Subject: |
[paparazzi-commits] [4194] tuning, ready for the North Sea |
|
Date: |
Sun, 20 Sep 2009 16:20:16 +0000 |
Revision: 4194
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4194
Author: mmm
Date: 2009-09-20 16:20:07 +0000 (Sun, 20 Sep 2009)
Log Message:
-----------
tuning, ready for the North Sea
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/funjetgfi1.xml
paparazzi3/trunk/conf/airframes/funjetgfi5.xml
Modified: paparazzi3/trunk/conf/airframes/funjetgfi1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/funjetgfi1.xml 2009-09-20 15:36:31 UTC
(rev 4193)
+++ paparazzi3/trunk/conf/airframes/funjetgfi1.xml 2009-09-20 16:20:07 UTC
(rev 4194)
@@ -1,50 +1,46 @@
<!DOCTYPE airframe SYSTEM "airframe.dtd">
-<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
- Tiny 1.1 board
+<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
+ Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
PerkinElmer TPS334 IR Sensors
Tilted infrared sensor
(http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
XBee modem
- Payload: IST and Sensirion humidity/temp, VTI pressure/temp
+ Payload: Sensirion humidity/temp, VTI pressure/temp
+ K62, LEA 5
-->
-<airframe name="FunJet GFI 1 Tiny 1.1">
+<airframe name="Funjet GFI 1 K62">
<!-- commands section -->
<servos>
- <servo name="THROTTLE" no="2" min="1550" neutral="1550" max="1900"/>
- <servo name="LIGHT" no="1" min="1000" neutral="1000" max="2000"/>
- <servo name="AILEVON_RIGHT" no="5" min="1900" neutral="1432" max="1100"/>
- <servo name="AILEVON_LEFT" no="6" min="1100" neutral="1546" max="1900"/>
+ <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
+ <servo name="AILEVON_LEFT" no="2" min="1900" neutral="1426" max="1100"/>
+ <servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1571" 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"/>
- <axis name="LIGHT" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
- <set command="LIGHT" value="@GAIN1"/>
</rc_commands>
<section name="MIXER">
- <define name="AILEVON_AILERON_RATE" value="-0.45"/>
+ <define name="AILEVON_AILERON_RATE" value="0.45"/>
<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="MOTOR" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
- <set servo="LIGHT" value="@LIGHT"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
@@ -53,24 +49,13 @@
</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_2"/>
+ <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"/>
</section>
<section name="INFRARED" prefix="IR_">
- <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
- <define name="PITCH_NEUTRAL_DEFAULT" value="1" unit="deg"/>
- <define name="DEFAULT_CONTRAST" value="200"/>
- <define name="RAD_OF_IR_CONTRAST" value="0.75"/>
- <linear name="RollOfIrs" arity="2" coeff1="0.7" coeff2="-0.7"/>
- <linear name="PitchOfIrs" arity="2" coeff1="0.7" coeff2="0.7"/>
- <linear name="TopOfIr" arity="1" coeff1="-1"/>
- <define name="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
- <define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
- <!--define name="ADC_ROLL_NEUTRAL" value="0"/>
- <define name="ADC_PITCH_NEUTRAL" value="716"/-->
<define name="ADC_IR1_NEUTRAL" value="512"/>
<define name="ADC_IR2_NEUTRAL" value="512"/>
<define name="ADC_TOP_NEUTRAL" value="512"/>
@@ -80,16 +65,25 @@
<define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/>
- <define name="LATERAL_CORRECTION" value="1.3"/>
- <define name="LONGITUDINAL_CORRECTION" value="1.3"/>
- <define name="VERTICAL_CORRECTION" value="1."/>
+ <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="IR1_SIGN" value="1"/>
+ <define name="IR2_SIGN" value="-1"/>
+ <define name="TOP_SIGN" value="-1"/>
+
+ <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+ <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
</section>
<section name="BAT">
- <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
- <define name="ADC_CHANNEL_VSUPPLY" value="AdcBank1(6)"/>
- <define name="VoltageOfAdc(adc)" value="(0.01787109375*adc)"/>
+ <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ <!-- 0.0247311828 -->
+ <!-- 0.02432905 -->
+ <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
</section>
<section name="MISC">
@@ -103,29 +97,29 @@
<define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
- <define name="LIGHT_PIN_1" value="3"/>
+ <define name="MIN_CIRCLE_RADIUS" value="50."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
- <define name="POWER_CTL_BAT_NOMINAL" value="10.0" unit="volt"/>
+ <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
- <define name="ALTITUDE_PGAIN" value="-0.024"/>
+ <define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
- <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
- <define name="AUTO_THROTTLE_LOITER_TRIM" value="50"/>
- <define name="AUTO_THROTTLE_DASH_TRIM" value="-60"/>
+ <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
+ <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
+ <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2"
unit="%/(m/s)"/>
- <define name="AUTO_THROTTLE_PGAIN" value="-0.011"/>
+ <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop -->
- <define name="AUTO_PITCH_PGAIN" value="-0.03"/>
+ <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
@@ -135,27 +129,20 @@
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
- <define name="COURSE_PGAIN" value="-0.80"/>
- <define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/>
+ <define name="COURSE_PGAIN" value="-0.9"/>
+ <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
<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="8300."/>
+ <define name="ROLL_PGAIN" value="6600."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-5500."/>
<define name="PITCH_DGAIN" value="0.4"/>
- <define name="ELEVATOR_OF_ROLL" value="1200"/>
-
- <!-- roll rate loop -->
- <define name="ROLL_RATE_MODE_DEFAULT" value="0"/>
- <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
- <define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
- <define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="1000."/>
- <define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="1000."/>
- <define name="ROLL_RATE_IGAIN" value="0."/>
- <define name="ROLL_RATE_DGAIN" value="0."/>
- <define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
+ <define name="ELEVATOR_OF_ROLL" value="2400"/>
+ <!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+ <define name="ROLL_RATE_GAIN" value="-1500"/-->
+
</section>
<section name="NAV">
@@ -166,10 +153,10 @@
<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="0.8"/><!-- Throttle for Aggressive
Climb -->
- <define name="CLIMB_PITCH" value="0.22"/><!-- Pitch for Aggressive Climb
-->
- <define name="DESCENT_THROTTLE" value="0.0"/><!-- Throttle for Aggressive
Decent -->
- <define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive
Decent -->
+ <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb
-->
+ <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb
-->
+ <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive
Decent -->
+ <define name="DESCENT_PITCH" value="-0.35"/><!-- 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>
@@ -180,38 +167,41 @@
<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>
+
<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="0.5"/>
</section>
<makefile>
+CONFIG = \"tiny_2_1.h\"
+
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
-ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
+ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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 += -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_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0
-DDATALINK=XBEE -DUART0_BAUD=B57600
+ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport
-DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
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
+#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
@@ -220,48 +210,32 @@
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
ap.srcs += $(SRC_ARCH)/adc_hw.c
-ap.CFLAGS += -DGPS -DGPS_LED=2 -DUBX -DUSE_UART1 -DGPS_LINK=Uart1
-DUART1_BAUD=B38400
+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
-ap.srcs += gps_ubx.c gps.c
-
-ap.CFLAGS += -DINFRARED
-# -DALT_KALMAN
+ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
ap.srcs += infrared.c estimator.c
-ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM -DWIND_INFO
-DWIND_INFO_RET
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c nav_survey_rectangle.c
nav_line.c
+ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
-#ap.srcs += traffic_info.c
+ap.srcs += nav_line.c
+ap.srcs += nav_survey_rectangle.c
-ap.srcs += i2c.c arm7/i2c_hw.c dpicco.c
-ap.CFLAGS += -DDPICCO
-
ap.srcs += humid_sht.c
-ap.CFLAGS += -DUSE_HUMID_SHT
+ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3 -DSCK_PIN=2
ap.srcs += baro_scp.c
ap.CFLAGS += -DUSE_BARO_SCP
-ap.srcs += bomb.c
-
ap.srcs += joystick.c
ap.CFLAGS += -DUSE_JOYSTICK
-# Hack to use the same tuning file than slayer1
-ap.CFLAGS += -DUSE_GPIO
-ap.srcs += $(SRC_ARCH)/gpio.c
-
-#ap.CFLAGS += -DTELEMETRY_MODE_FBW=1 -DTELEMETRY_MODE_AP=1
-
-# Harware In The Loop
-
-#ap.CFLAGS += -DHITL
-
-
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP
-DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_survey_rectangle.c nav_line.c
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+sim.srcs += nav_line.c nav_survey_rectangle.c
sim.srcs += joystick.c
sim.CFLAGS += -DUSE_JOYSTICK
Modified: paparazzi3/trunk/conf/airframes/funjetgfi5.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/funjetgfi5.xml 2009-09-20 15:36:31 UTC
(rev 4193)
+++ paparazzi3/trunk/conf/airframes/funjetgfi5.xml 2009-09-20 16:20:07 UTC
(rev 4194)
@@ -14,8 +14,8 @@
<!-- commands section -->
<servos>
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
- <servo name="AILEVON_LEFT" no="2" min="1900" neutral="1627" max="1100"/>
- <servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1511" max="1900"/>
+ <servo name="AILEVON_LEFT" no="2" min="1900" neutral="1622" max="1100"/>
+ <servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1538" max="1900"/>
</servos>
<commands>
@@ -74,7 +74,7 @@
<define name="IR2_SIGN" value="-1"/>
<define name="TOP_SIGN" value="-1"/>
- <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+ <define name="ROLL_NEUTRAL_DEFAULT" value="3" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
</section>
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