[paparazzi-commits] [4831] first stm32 vehicle

paparazzi-commits

[Date Prev][Date Next][Thread Prev][Thread Next][Date Index][Thread Index]

[paparazzi-commits] [4831] first stm32 vehicle

From:	antoine drouin
Subject:	[paparazzi-commits] [4831] first stm32 vehicle
Date:	Wed, 21 Apr 2010 09:15:05 +0000

Revision: 4831
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4831
Author:   poine
Date:     2010-04-21 09:15:04 +0000 (Wed, 21 Apr 2010)
Log Message:
-----------
first stm32 vehicle

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/booz2_a6.xml

Modified: paparazzi3/trunk/conf/airframes/booz2_a6.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_a6.xml        2010-04-21 09:14:34 UTC 
(rev 4830)
+++ paparazzi3/trunk/conf/airframes/booz2_a6.xml        2010-04-21 09:15:04 UTC 
(rev 4831)
@@ -1,19 +1,205 @@
 <airframe name="booz2_a6">
 
+  <servos min="0" neutral="0" max="0xff">
+    <servo name="BACK_RIGHT"   no="0" min="0" neutral="0" max="255"/>
+    <servo name="BACK_LEFT"    no="1" min="0" neutral="0" max="255"/>
+    <servo name="CENTER_RIGHT" no="2" min="0" neutral="0" max="255"/>
+    <servo name="CENTER_LEFT"  no="3" min="0" neutral="0" max="255"/>
+    <servo name="FRONT_RIGHT"  no="4" min="0" neutral="0" max="255"/>
+    <servo name="FRONT_LEFT"   no="5" 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="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+    <define name="NB" value="6"/>
+    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58, 0x5A, 0X5C }"/>
+  </section>
+
+  <section name="SUPERVISION" prefix="SUPERVISION_">
+    <define name="MIN_MOTOR" value="2"/>
+    <define name="MAX_MOTOR" value="210"/>
+    <define name="TRIM_A" value="0"/>
+    <define name="TRIM_E" value="0"/>
+    <define name="TRIM_R" value="0"/>
+    <define name="NB_MOTOR" value="6"/>
+    <define name="SCALE" value="256"/>
+    <define name="ROLL_COEF"   value="{  -69,   69, -256,  256, -186,  186 }"/>
+    <define name="PITCH_COEF"  value="{ -256, -256,    0,    0,  256,  256 }"/>
+    <define name="YAW_COEF"    value="{ -153,  153,  256, -256, -115,  115 }"/>
+    <define name="THRUST_COEF" value="{  256,  256,  256,  256,  256,  256 }"/>
+  </section>
+
+  <section name="IMU" prefix="IMU_">
+
+    <define name="GYRO_P_NEUTRAL" value="31489"/>
+    <define name="GYRO_Q_NEUTRAL" value="31814"/>
+    <define name="GYRO_R_NEUTRAL" value="32752"/>
+
+    <define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
+    <define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
+    <define name="GYRO_R_SENS" value="-1.01" integer="16"/>
+
+
+    <define name="ACCEL_X_SENS" value="-2.53973936" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="-2.58673329" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="-2.58223257" integer="16"/>
+
+    <define name="ACCEL_X_NEUTRAL" value="32877"/>
+    <define name="ACCEL_Y_NEUTRAL" value="32415"/>
+    <define name="ACCEL_Z_NEUTRAL" value="32612"/>
+
+    <define name="MAG_X_SENS" value="5.00200577" integer="16"/>
+    <define name="MAG_Y_SENS" value="-4.68598036" integer="16"/>
+    <define name="MAG_Z_SENS" value="-2.98216964" integer="16"/>
+
+    <define name="MAG_X_NEUTRAL" value="-47"/>
+    <define name="MAG_Y_NEUTRAL" value="24"/>
+    <define name="MAG_Z_NEUTRAL" value="28"/>
+
+    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(  0.)"/>
+    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(  0.)"/>
+    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg( 90.)"/>
+
+  </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_DIRECT"/>
+   <define name="BOOZ2_MODE_AUTO2"  value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
+ </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="0.48" integer="16"/>
+ </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="-400"/>
+    <define name="PHI_DGAIN"  value="-300"/>
+    <define name="PHI_IGAIN"  value="-100"/>
+
+    <define name="THETA_PGAIN"  value="-400"/>
+    <define name="THETA_DGAIN"  value="-300"/>
+    <define name="THETA_IGAIN"  value="-100"/>
+
+    <define name="PSI_PGAIN"  value="-380"/>
+    <define name="PSI_DGAIN"  value="-320"/>
+    <define name="PSI_IGAIN"  value="-75"/>
+
+    <!-- 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"/>
+  </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="HOVER_KP"    value="-500"/>
+   <define name="HOVER_KD"    value="-200"/>
+   <define name="HOVER_KI"    value="-100"/>
+   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
+   <define name="RC_CLIMB_COEF" value ="163"/>
+   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
+   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+   <define name="INV_M" value ="0.2"/>
+  </section>
+
+
+ <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
+   <define name="PGAIN" value="-100"/>
+   <define name="DGAIN" value="-100"/>
+   <define name="IGAIN" value="-0"/>
+ </section>
+
+ <section name="MISC">
+   <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
+ </section>
+
+
  <makefile>
 
 
 USER =
-HOST = 10.31.4.22
+#HOST = 10.31.4.22
+HOST = overo
 TARGET_DIR = ~
 
 SRC_FMS=fms
 
+
+ARCH=stm32
+ARCHI=stm32
+BOARD_CFG=\"boards/lisa_0.99.h\"
+FLASH_MODE = JTAG
+
+ap.CFLAGS += -DMODEM_BAUD=B57600
+
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(CFG_BOOZ)/booz2_autopilot.makefile
+
+include $(CFG_BOOZ)/subsystems/booz2_radio_control_spektrum.makefile
+include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
+include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
+#include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
+include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
+
+
 include $(PAPARAZZI_SRC)/conf/autopilot/lisa_test_progs.makefile
 
 
-
  </makefile>
 
 </airframe>

[Prev in Thread]

Current Thread

[Next in Thread]

[paparazzi-commits] [4831] first stm32 vehicle, antoine drouin <=

Prev by Date: [paparazzi-commits] [4830] moved ARCHI from atopilot makefile to aiframe file in order to be able to compile for both lpc and stm32
Next by Date: [paparazzi-commits] [4832] dual lpc/stm32 compilation
Previous by thread: [paparazzi-commits] [4830] moved ARCHI from atopilot makefile to aiframe file in order to be able to compile for both lpc and stm32
Next by thread: [paparazzi-commits] [4832] dual lpc/stm32 compilation
Index(es):
- Date
- Thread