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Re: [Paparazzi-devel] CHDK and digital_cam.xml

From: Eduardo lavratti
Subject: Re: [Paparazzi-devel] CHDK and digital_cam.xml
Date: Wed, 23 May 2012 16:27:44 +0000
Balaz, have you problem to control the TWOG AUX line or problem to make CANON USB connected AUX line ?


> Date: Wed, 23 May 2012 14:50:59 +0200
> From: address@hidden
> To: address@hidden
> Subject: Re: [Paparazzi-devel] CHDK and digital_cam.xml
>
> Thank you Eduardo!
>
> My airframe file:
>
>
>
> <!DOCTYPE airframe SYSTEM "airframe.dtd">
>
> <!-- EasyGlider
> TWOGv1
> Xsens MtiG
> AC4868
> ETS Airspeed
>
> -->
>
> <airframe name="Trainer60 - TWOG v1">
>
> <firmware name="fixedwing">
> <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="USE_ADC"/>
> <define name="USE_ADC_3"/> <!-- accu voltage-->
> <define name="USE_ADC_4"/> <!-- motor current-->
> <define name="LOITER_TRIM" />
> <define name="ALT_KALMAN" />
> <define name="ADC_CHANNEL_VSUPPLY" value="ADC_3"/>
> <subsystem name="radio_control" type="ppm"/>
> <subsystem name="telemetry" type="transparent">
> <configure name="MODEM_BAUD" value="B57600"/>
> </subsystem>
> <subsystem name="control"/>
> <subsystem name="gps" type="xsens"/>
> <subsystem name="navigation"/>
> <subsystem name="i2c"/>
>
> </firmware>
>
>
> <!-- commands section -->
> <servos>
> <servo name="AILERON" no="4" min="2000" neutral="1500" max="1000"/> <!-- TWOG servo channel layout-->
> <servo name="ELEVATOR" no="3" min="2000" neutral="1400" 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_4"/>
> <define name="MilliAmpereOfAdc(adc)" value="(100*adc)"/>
> <define name="VOLTAGE_ADC_A" value="0.05"/>
> <define name="VOLTAGE_ADC_B" value="1"/>
> <define name="VoltageOfAdc(adc)" value ="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
> <define name="CATASTROPHIC_BAT_LEVEL" value="19.0" unit="V"/>
> <define name="CRITIC_BAT_LEVEL" value="20.0" unit="V"/>
> <define name="LOW_BAT_LEVEL" value="21.0" unit="V"/>
> <define name="MAX_BAT_LEVEL" value="25.0" 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"/>
> <define name="PITCH_PGAIN" value="-7000"/>
> <define name="ELEVATOR_OF_ROLL" value="1700"/> <!-- orig 1300 -->
> <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
> <define name="PITCH_MIN_SETPOINT" value="-0.25" 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="1" unit="m/s"/> <!-- max. rate of climb -->
> <!-- auto throttle inner loop -->
> <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.6" unit="%"/>
> <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.2" 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="0.3" 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 pitch inner loop -->
> <define name="AUTO_PITCH_PGAIN" value="-0.2"/> <!-- orig 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_LIMITER" value="2" unit="s"/>
> <!-- auto airspeed and altitude inner loop -->
> <define name="AUTO_AIRSPEED_SETPOINT" value="11.0" 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="7.0" unit="m/s"/>
> <define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
> <define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>
> </section>
>
> <section name="MISC">
> <define name="NOMINAL_AIRSPEED" value="14.0" 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="120."/>
> <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="0.5"/><!-- 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="5" unit="s"/>
> <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
> <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
> <define name="DEFAULT_PITCH" value="0.3" 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>
>
> <section name="DIGITAL_CAMERA" prefix="DC_">
> <define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
> <define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
> </section>
>
> <modules>
> <load name="ins_xsens_MTiG_fixedwing.xml">
> <configure name="XSENS_UART_NR" value="0"/>
> <define name="XSENS_BACKWARDS" />
> </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="digital_cam.xml" >
> <define name="DC_SHUTTER_LED" value="5"/>
> <define name="POWER_SWITCH_LED" value="4"/>
> </load>
> <!--<load name="adc_generic.xml"> -->
> <!-- <configure name="ADC_CHANNEL_GENERIC1" value="ADC_3"/> -->
> <!-- <configure name="ADC_CHANNEL_GENERIC2" value="ADC_4"/> -->
> <!--</load> -->
> </modules>
>
>
>
>
> </airframe>
>
>
>
>
>
>
>
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