Quoting Ben Paratz <
address@hidden>:
> Just one more thing, I powered up the Tiny for about a minute, and a few
> components on the GPS antenna side of the board got too hot to touch. Is
> this normal? I am powering the board with a 2-Cell 7.4v Li-Po connected to
> the "+ and -" battery input in the centre of the board. Plugged in are two
> servos, IR sensors, and a serial cable which is connected to the airborne
> modem. I am powering the airborne modem with +5VDC from the Tiny, and I have
> also connected the +5VDC to the shutdown pin as per the wiki.
>
> *"I have same problem of using wireless link, but what I do suggest is that
> can
> you confrim your autopilot has no problem by connecting to your wire to
> laptop
> (FTDI cable, the one you use for bootloader).
>
> If you have done that, and find when your autopilot has no problem, then
> you
> are in the same stage as me (which mean I am still try to configure my Xbee
> modem)."*
> I would like to do that, but don't have an FTDI cable. The maxstream modem
> plugs straight into the usb port, so i guess it is built into it. I bought
> my Tiny off PPZUAV so didn't have to do the bootloader myself.
>
> Does the aircraft have to be powered up for the GCS to load? I haven't seen
> any instructions about how to actually start the GCS.
>
> Thanks,
> Ben
>
> On Sat, Sep 6, 2008 at 7:44 AM, Ben Paratz <
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>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 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.
> >>> ____________________________________________________________
> >>> Fashion Design Education - Click Here!
> >>>
> >>>
>
http://thirdpartyoffers.juno.com/TGL2141/fc/Ioyw6i3oIaxayhf6v0qyKFdfvXplzTMUHQ82EF1TvuOwIQPzEsrgkl/
> >>>
> >>> ------------------------------------------------------------------------
> >>>
> >>>
> >>> 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>
> >>>
> >>> ------------------------------------------------------------------------
> >>>
> >>> _______________________________________________
> >>> Paparazzi-devel mailing list
> >>>
address@hidden
> >>>
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> >>>
> >>>
> >>
> >>
> >>
> >> _______________________________________________
> >> Paparazzi-devel mailing list
> >>
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> >>
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> >>
> >
> >
>
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