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

[marzer]

I think you need to define the pin and the bank of the led number you
define as DC_SHUTTER_LED.
I join my airframe file but it is not 100% mature ! Use at your own
risk...



On Wed, 2012-05-23 at 14:50 +0200, address@hidden wrote:
> 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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imp_mzr.xml
Description: application/xml