Thanks,
Ben
On Sat, Sep 6, 2008 at 7:44 AM, Ben Paratz <address@hidden
<mailto:address@hidden>> wrote:
Hi Guys,
Thanks very much for all your help, I've had much more success
thanks to it.
I spent all of today playing with paparazzi, and this is what I have:
- The airframe file is successfully compiling, and has been
uploaded to the autopilot. I had to create another airframe file,
as the one I posted first caused the autopilot to do nothing. I
found out that this is likely because the program was for an
earlier version of the Tiny. I have based the new aiframe file on
funjet1.xml
- The servos (through the autopilot) respond correctly to my JR
transmitter. I used a JR R700, but modified it as per the link
earlier in the thread.
The flight plan I have uploaded is "Muret demo"
The only thing now is that the GCS is not populating. It loaded
fully once, after I ran a simulation, but I cannot get it to do it
again. When I execute a session the GCS window pops up, but
remains blank... I have tried using both "Flight address@hidden"
and "Flight address@hidden" but neither seems to help the GCS
load. I think the defult baud rate for the Maxstream modem is 9600
When I plug in the modem this what I get:
tail -f /var/log/messages
Sep 5 09:14:16 ben-laptop kernel: [ 1461.018531] usb 1-1: new
full speed USB device using uhci_hcd and address 4
Sep 5 09:14:16 ben-laptop kernel: [ 1461.040458] usb 1-1:
configuration #1 chosen from 1 choice
Sep 5 09:14:16 ben-laptop kernel: [ 1461.046091] ftdi_sio
1-1:1.0: FTDI USB Serial Device converter detected
Sep 5 09:14:16 ben-laptop kernel: [ 1461.046149]
/build/buildd/linux-2.6.24/drivers/usb/serial/ftdi_sio.c: Detected
FT232BM
Sep 5 09:14:16 ben-laptop kernel: [ 1461.046277] usb 1-1: FTDI
USB Serial Device converter now attached to ttyUSB0
Do you have any ideas how to get the GCS to load? I have attached
the new airframe code below. Let me know if you need me to post
any more files.
Thanks,
Ben
<!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
-->
<airframe name="Easystar Tiny 2.1">
<!-- commands section -->
<servos>
<servo name="THROTTLE" no="2" min="1000" neutral="1500"
max="2000"/>
<servo name="ROLL" no="3" min="1000" neutral="1500" max="2000"/>
<servo name="PITCH" no="4" min="1000" neutral="1500" max="2000"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
</rc_commands>
<command_laws>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="ROLL" value="@ROLL"/>
<set servo="PITCH" value="@PITCH"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.3"/>
<define name="MAX_PITCH" value="0.3"/>
</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"/>
</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="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" 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="5.5" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="7" 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="35."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="7.2" 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="0.3"/>
<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="2.0"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.2"/>
<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="-10000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="0"/>
<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="0.1"/>
</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="1.0"/><!-- 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="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.0" unit="%"/>
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.3" 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="0.5"/>
</section>
<makefile>
CONFIG = \"tiny_2_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=$(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 -DRADIO_CONTROL_TYPE=RC_JR
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
#XBEE ap.CFLAGS += -DDOWNLINK -DUSE_UART1
-DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1
-DDATALINK=XBEE -DUART1_BAUD=B9600
#XBEE 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.c fw_v_ctl.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM
-DALT_KALMAN
# 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 -DCONFIG=\"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>
On Sat, Sep 6, 2008 at 7:47 PM, David Buzz Carlson
<address@hidden <mailto:address@hidden>> wrote:
Looking through his airframe file, it seems he is using ADC_6
for his vertical IR sensor. However,
http://paparazzi.enac.fr/wiki/index.php/Tiny_v2 would have me
believe that IRV is ADC_0. I believe ADC_0 is the correct
one, can anybody confirm that for me?
Buzz
address@hidden <mailto:address@hidden> wrote:
Ben
I believe the maxstream packages use an FTDI USB-to-serial
converter chip (everything in linux is chip-specific).
The FTDI driver is already present and functional in
Ubuntu so you may be all set. Type "dmesg | tail" after
plugging in the modem and look for something about ftdi on
ttyusb0 or such.
The ground modem can be any baud you want. Maxtream and
some others allow independent configuration of the RF baud
and serial port baud to allow the air and ground serial
baud rates to be unequal so long as the RF rates are
equal. Make sure your ap and airborne modem are at the
same baud (-DUART0_BAUD=B9600 in your case) and same for
the gcs (link line should have "-s 9600" or such to match
the ground modem) and make sure your modems are each
configured for their appropriate baud rates as well (maybe
9600 is the default?).
The RC modes are set in conf/radios/*.xml but I don't know
how those settings get mapped to channels 1 thru 8. I
usually use the transmitter programming to change the
channel of my switch until I find the one that works.
Your airframe file looks ok but I should point out that
the GPS failsafe values on many of the cvs airframes are
strange, specifying 30% throttle, 30 degree pitch up, and
17 degree roll in the event of a total loss of GPS
position info. It sounds to me more like a wild spin,
throttle-on crash and lipo fire. I advise something more
like 0 throttle, 10 deg up and 17 roll or whatever
produces a gentle circling glide on your airframe. I
think these pitch/roll values are used in "kill" mode as
well so you can test them in the air.
____________________________________________________________
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------------------------------------------------------------------------
Hi,
I have a Tiny v2.11 autopilot with all the hardware needed
for autonomous flight. I have started on the programming,
but have run into a few difficulties.
I have installed all the hardware in my aircraft, but have
not gotten any further than that succesfully. I am meant
to be demonstrating autonomous flight a week from now, so
it would be really great if I could get the autopilot
fully working by then.
I am new to Linux, and have run into some problems
regarding the programming. It would be extremely helpful
if you could provide some assistance. I am using Ubuntu
8.04.1 - Hardy Heron
I have been studying the Wiki and following it very closely.
This is what I need help with:
- Installing the drivers for the radio modem (the
ground-station modem. It plugs into the USB port and grabs
the serial signals. I'm sure you know all about this...
The readme file that came with it says that I need to
compile the driver into a 'Loadable Kernel Module' but I
am unsure how to do this. The modem I am using is a Digi
(Maxstream) 9XTend operating on 900MHz. I have been told
that I may not need to install the driver, but can you
please advise me on what to do.
- Configuring the rc radio settings: I am using a
6-channel JR Radio. I have found (using a scope) that my
JR R700 7-channel receiver outputs the ppm signal through
the 'signal' pin in the battery connector. I can attach a
picture of the signal if you want. Also, how do you choose
which channel determines the mode? (Auto 1, Auto 2, Manual).
- Configuring the airframe file: I have had a go at making
my own airframe file (following the wiki), but are not
sure if it is correct. I have pasted the code at the
bottom. My airframe is very simple: A 3-Channel Easystar.
It also hope to be able to trigger a servo for controlling
the shutter on a camera at a set position, but I will keep
it simple and focus on achieving autonomous flight first.
It would really be great if you could help me get this
working within the next week.
Thankyou very much,
Ben
Here is my airframe code:
<!DOCTYPE airframe SYSTEM "airframe.dtd">
<airframe name="EASYSTAR">
<!-- tiny v2.11 airframe -->
<!-- commands section -->
<servos>
<servo name="THROTTLE" no="0" min="1000"
neutral="1500" max="2000"/>
<servo name="RUDDER" no="2" min="1000" neutral="1500"
max="2000"/>
<servo name="ELEVATOR" no="6" min="1000" neutral="1500"
min="2000"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
</rc_commands>
<command_laws>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="RUDDER" value="@ROLL"/>
<set servo="ELEVATOR" value="@PITCH"/>
</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_6"/>
</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="IR2_SIGN" value="-1"/>
<define name="TOP_SIGN" value="-1"/>
<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="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" 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="5.5"
unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="7" 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"/>
</section>
<section name="PID">
<define name="ROLL_PGAIN" value="5000."/>
<define name="PITCH_OF_ROLL" value="0.25"/>
<define name="PITCH_PGAIN" value="10000."/>
<define name="MAX_ROLL" value="0.35"/>
<define name="MAX_PITCH" value="0.35"/>
<define name="MIN_PITCH" value="-0.35"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="CRUISE_THROTTLE" value="0.35"/>
</section>
<section name="ALT" prefix="CLIMB_">
<define name="PITCH_PGAIN" value="-0.05"/>
<define name="PITCH_IGAIN" value="0.075"/>
<define name="PGAIN" value="-0.01"/>
<define name="IGAIN" value="0.1"/>
<define name="MAX" value="1."/>
<define name="PITCH_OF_VZ_PGAIN" value="0.05"/>
<define name="THROTTLE_OF_CLIMB" value="0.15"
unit="%/(m/s)"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.4"/>
<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="5000."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-9000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<!-- roll rate loop -->
<define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
<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"/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="6"
unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE"
value="0.4"/>
<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="-1000"/>
<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="0.1"/>
<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="0.1"/>
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0.0"/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0.2"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="100" unit="m"/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
<define name="CLIMB_THROTTLE" value="0.95"/><!--
Throttle for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!--
Throttle for Aggressive Decent -->
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for
Aggressive Climb -->
<define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch
for Aggressive Decent -->
<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_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"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
<!--
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="PPRZ"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
-->
<makefile>
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny.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.CFLAGS += -DLED_3_BANK=0 -DLED_3_PIN=17 -DLED_4_BANK=0
-DLED_4_PIN=18 -DLED_5_BANK=0 -DLED_5_PIN=19
-DLED_6_BANK=0 -DLED_6_PIN=20
ap.srcs += commands.c
ap.CFLAGS += -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015
ap.srcs += actuators.c $(SRC_ARCH)/servos_4015_hw.c
ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_JR
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 latlong.c
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_2 -DUSE_AD0_3
-DUSE_AD1 -DUSE_AD1_5 -DUSE_AD1_3 -DUSE_AD1_5
ap.srcs += $(SRC_ARCH)/adc_hw.c
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1
-DUART1_BAUD=B9600
ap.srcs += gps_ubx.c gps.c
ap.CFLAGS += -DINFRARED
ap.srcs += infrared.c estimator.c
ap.CFLAGS += -DNAV
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
nav_survey_rectangle.c nav_line.c
ap.CFLAGS += -DGYRO -DADXRS150 -DPID_RATE_LOOP
ap.srcs += gyro.c
# Harware In The Loop
#ap.CFLAGS += -DHITL
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB
-DLOITER_TRIM -DALT_KALMAN
sim.srcs += nav_survey_rectangle.c traffic_info.c nav_line.c
</makefile>
</airframe>
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