Re: [Paparazzi-devel] Airspeed

[gatib]

Hi

I am using both ETS sensor (baro+speed) succesfully. See the  airframe
config file bellow. I hope it helps.

Balazs

<!DOCTYPE airframe SYSTEM "airframe.dtd">

<!--    EasyGlider
        TWOGv1
        Xsens MtiG
        AC4868
        ETS Airspeed

-->

<airframe name="Trainer60 - TWOG v1">

  <firmware name="fixedwing">
    <target name="sim"                  board="pc"/>
    <target name="ap"                   board="twog_1.0"/>
    <define name="AGR_CLIMB" />
    <define name="USE_I2C0"/>
    <define name="USE_AIRSPEED"/>
    <define name="USE_BARO_ETS"/>
    <define name="LOITER_TRIM" />
    <define name="ALT_KALMAN" />
    <!--  <define name="ADC_CHANNEL_VSUPPLY" value="ADC_3"/> -->
    <!-- <define name="USE_AD0_6" />  -->

    <subsystem name="radio_control" type="ppm"/>

    <!-- Communication -->
    <subsystem name="telemetry"         type="transparent">
      <configure name="MODEM_BAUD"              value="B57600"/>
    </subsystem>

    <!-- Actuators are automatically chosen according to board -->
    <subsystem name="control"/>
    <subsystem name="gps"                   type="xsens"/>
    <subsystem name="navigation"/>
    <subsystem name="i2c"/>
    <subsystem name="current_sensor">
      <configure name="ADC_CURRENT_SENSOR" value="ADC_4"/>
    </subsystem>
  </firmware>


<!-- commands section -->
  <servos>
    <servo name="AILERON"  no="4" min="1000" neutral="1500" max="2000"/>
<!-- TWOG servo channel layout-->
    <servo name="ELEVATOR"      no="3" min="2000" neutral="1500" max="1000"/>
    <servo name="THROTTLE"      no="7" min="1000" neutral="1000" max="2000"/>
    <servo name="RUDDER"        no="6" min="1000" neutral="1500" max="2000"/>
  </servos>

   <!-- COMMANDS: generated by AP/RC -->
  <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="FLAPS" failsafe_value="0"/>
  </commands>

   <!-- MANUAL MODE: links the channels of the RC transmitter (defined in
the Radio Control file)
   to the commands defined above -->
  <rc_commands>
    <set command="THROTTLE" value="@THROTTLE"/>
    <set command="ROLL" value="@ROLL"/>
    <set command="PITCH" value="@PITCH"/>
    <set command="YAW" value="@YAW"/>
    <set command="FLAPS" value="@FLAPS"/>
  </rc_commands>

  <section name="MIXER">
    <define name="COMBI_SWITCH" value="0.4"/>  <!--Orig: 1.0  -->
  </section>

  <command_laws>
    <set servo="THROTTLE" value="@THROTTLE"/>
    <set servo="ELEVATOR" value="@PITCH"/>
    <set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
    <set servo="AILERON" value="@ROLL"/>
  </command_laws>


   <!-- AUTO1 MODE: max.pitch max.roll-->
  <section name="AUTO1" prefix="AUTO1_">
    <define name="MAX_ROLL" value="RadOfDeg(50)"/>
    <define name="MAX_PITCH" value="RadOfDeg(40)"/>
  </section>


   <!-- Battery -->
  <section name="BAT">
   <!-- <define name="ADC_CHANNEL_CURRENT" value="ADC_3"/> -->
    <define name="MilliAmpereOfAdc(adc)" value="(100*adc)"/>
   <!-- <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000" unit="mA"/>
 -->
    <!-- <define name="ADC_CHANNEL_VSUPPLY"value="AdcBank0(6)"/>  -->
    <!--<define name="VOLTAGE_ADC_A" value="0.05"/>     -->
    <!--<define name="VOLTAGE_ADC_B" value="0"/>      -->
   <!-- <define name="VoltageOfAdc(adc)" value ="(VOLTAGE_ADC_A * adc +
VOLTAGE_ADC_B)"/>      -->
    <define name="CATASTROPHIC_BAT_LEVEL" value="10.0" unit="V"/> <!-- 19V
!!!!!!!!!!!!! -->
    <define name="CRITIC_BAT_LEVEL" value="10.5.0" unit="V"/>       <!--
20V !!!!!!!!!!!!! -->
    <define name="LOW_BAT_LEVEL" value="11.0" unit="V"/>          <!--
21.5V !!!!!!!!!!!!! -->
    <define name="MAX_BAT_LEVEL" value="24.0" unit="V"/>
  </section>

   <!-- Horizontal control -->
  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
    <define name="COURSE_PGAIN" value="-0.7"/>  <!-- course error-> roll
command orig: -1.0-->
    <define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/>  <!--
max. roll command -->
    <define name="ROLL_SLEW" value="0.1"/>                         <!--
roll rate-->
    <define name="ROLL_ATTITUDE_GAIN" value="-9000"/>              <!--
roll command from roll error-->
    <define name="ROLL_RATE_GAIN" value="-1500"/>                  <!-- if
gyro is installed-->
    <define name="PITCH_DGAIN" value="1.5"/>                    <!-- originally 
positive!-->
    <define name="ELEVATOR_OF_ROLL" value="1300"/>
    <define name="PITCH_PGAIN" value="-7000"/>
    <define name="PITCH_MAX_SETPOINT" value="0.3" unit="radians"/>
    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>

  </section>

   <!-- Vertical control -->
  <section name="VERTICAL CONTROL" prefix="V_CTL_">
    <define name="ALTITUDE_PGAIN" value="-0.1" unit="(m/s)/m"/> <!--
altitude error->rate of climb -->
    <define name="ALTITUDE_MAX_CLIMB" value="0.7" unit="m/s"/>      <!--
max. rate of climb -->
    <!-- auto throttle inner loop -->
    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.7"
unit="%"/>
    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".6" unit="%"/>
    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1.0" unit="%"/>
    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" unit="pprz_t"/>
    <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000" unit="pprz_t"/>
    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15"
unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_PGAIN" value="-0.008" unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"
unit="rad/(m/s)"/>  <!-- orig 0.05  -->
    <!-- auto airspeed and altitude inner loop -->
    <define name="AUTO_AIRSPEED_SETPOINT" value="14.0" unit="m/s"/> 
<!--orig 10.5  -->
    <define name="AUTO_AIRSPEED_PGAIN" value="0.060"/>  <!-- orig 0.060 -->
    <define name="AUTO_AIRSPEED_IGAIN" value="0.050"/>    <!-- orig 0.050 -->
    <define name="AUTO_GROUNDSPEED_SETPOINT" value="6.0" unit="m/s"/>
    <define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
    <define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>
    <!-- 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="0.3"/>
    <define name="AUTO_PITCH_MIN_PITCH" value="-0.5"/>
    <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
  </section>

  <section name="MISC">
    <define name="NOMINAL_AIRSPEED" value="12.0" unit="m/s"/>  <!--mainly
for simulator  -->
    <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="DEFAULT_CIRCLE_RADIUS" value="50."/>
    <define name="UNLOCKED_HOME_MODE" value="FALSE"/>  <!-- if true, HOME
mode does not get stuck   -->
    <define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>

   <!--
    <define name="GLIDE_AIRSPEED" value="10"/>
    <define name="GLIDE_VSPEED" value="3."/>
    <define name="GLIDE_PITCH" value="45" unit="deg"/>
    -->
  </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="1.00"/><!-- 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="2" 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="PPRZ"/>
    <define name="DEVICE_ADDRESS" value="...."/>
  </section> -->


  <section name="XSENS">
  <!--  <define name="GPS_IMU_LEVER_ARM_X" value="-0.285f"/>  -->
  <!--  <define name="GPS_IMU_LEVER_ARM_Y" value="0.0f"/>  -->
  <!--  <define name="GPS_IMU_LEVER_ARM_Z" value="0.0f"/>  -->
    <define name="INS_PITCH_NEUTRAL_DEFAULT" value="0.0f"/>
    <define name="INS_ROLL_NEUTRAL_DEFAULT" value="0.0f"/>
  </section>

  <modules>
    <load name="ins_xsens_MTiG_fixedwing.xml">
       <configure name="XSENS_UART_NR" value="0"/>
    </load>
    <load name="airspeed_ets.xml">
      <define name="AIRSPEED_ETS_SCALE"   value="1.8"/>
      <define name="AIRSPEED_ETS_OFFSET"  value="4"/>
      <define name="AIRSPEED_ETS_I2C_DEV" value="i2c0"/>
   <!-- <define name="SENSOR_SYNC_SEND"/>     Sending the raw airspeed by
telemetry (high bandwith)-->
    </load>
    <load name="baro_ets.xml">
      <define name="BARO_ETS_TELEMETRY"/>  <!-- Sending the barometric
pressure by telemetry -->
    </load>
     <load name="adc_generic.xml">   <!-- (don't activate here the ADC of
the current sensor)-->
      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_3"/>  <!--motor
voltage sensor -->
    <!--  <configure name="ADC_CHANNEL_GENERIC2" value="ADC_4"/>  motor
current sensor -->
     </load>
  </modules>



</airframe>

> Hello:
>   I´m using the TWOG, and the more strange thing it´s that I haven´t got
> any error message and any advise...
>  Thanks
>
> --
> Jesús Martín
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