[paparazzi-commits] [4502] add Murat's glider

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[paparazzi-commits] [4502] add Murat's glider

From:	Pascal Brisset
Subject:	[paparazzi-commits] [4502] add Murat's glider
Date:	Tue, 26 Jan 2010 15:59:39 +0000

Revision: 4502
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4502
Author:   hecto
Date:     2010-01-26 15:59:39 +0000 (Tue, 26 Jan 2010)
Log Message:
-----------
 add Murat's glider

Added Paths:
-----------
    paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/soarzi.xml

Added: paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/soarzi.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/soarzi.xml                  
        (rev 0)
+++ paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/soarzi.xml  2010-01-26 
15:59:39 UTC (rev 4502)
@@ -0,0 +1,220 @@
+<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+
+<airframe name="Soarzy Tiny 0.99">
+
+<!-- commands section -->
+  <servos>
+    <servo name="THROTTLE"   no="0" min="1200" neutral="1200" max="2000"/>
+<!-- Servo aileron gauche = couleur blanche -->
+<!-- Aileron gauche oppose de l'aileron droit -->
+    <servo name="AILERON_LEFT"  no="1" min="1775" neutral="1500" max="1050"/>
+<!-- max = valeur aileron vers le bas-->
+    <servo name="AILERON_RIGHT" no="3" min="1875" neutral="1475" max="1225"/>
+    <!-- Rudder = Couleur rouge droite gauche -->
+    <servo name="RUDDER" no="4" min="1875" neutral="1500" max="1250"/>
+    <servo name="ELEVATOR" no="5" min="1850" neutral="1586" max="1150"/>
+
+  </servos>
+
+  <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="HATCH"      failsafe_value="0"/>
+  </commands>
+
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL"     value="@ROLL"/>
+    <set command="PITCH"    value="@PITCH"/>
+    <set command="YAW"    value="@YAW"/>
+  </rc_commands>
+
+  <section name="MIXER">
+     <define name="AILERON_DIFF" value="0.66"/>
+     <define name="COMBI_SWITCH" value="1.0"/>
+  </section>
+
+  <command_laws>
+    <set servo="THROTTLE"           value="@THROTTLE"/>
+    <set servo="ELEVATOR" value="@PITCH"/>
+    <set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
+
+    <let var="roll" value="@ROLL"/>
+    <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
+    <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
+  </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="IR2" value="ADC_0"/>
+    <define name="IR1" value="ADC_1"/>
+<!-- ADC_2 IS NOT WORKING -->
+    <define name="IR_TOP" value="ADC_4"/>
+    <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="HORIZ_SENSOR_TILTED" value="1"/>
+    <define name="IR1_SIGN" 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="-6" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="12" 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_AT_FULL_THROTTLE" value="10000"/>
+
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+  </section>
+ 
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED" value="11." 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="50."/>
+  </section>
+ 
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+
+    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="-0.07"/>
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"/>
+    <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="-500"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" 
unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="-0.025"/>
+    <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="0.05"/>
+
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="-1.2"/>
+    <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="12000."/>
+    <define name="AILERON_OF_THROTTLE" value="0.0"/>
+    <define name="PITCH_PGAIN" value="-9000."/>
+    <define name="PITCH_DGAIN" value="1.5"/>
+    <define name="ELEVATOR_OF_ROLL" value="1250"/>
+    
+  </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="0.8"/><!-- 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="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"/>
+</section>
+ 
+ <section name="DATALINK" prefix="DATALINK_">
+    <define name="DEVICE_TYPE" value="XBEE"/>
+    <define name="DEVICE_ADDRESS" value="...."/>
+  </section>
+
+ <makefile>
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+FLASH_MODE=IAP
+
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.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.srcs += commands.c
+
+ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
+ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
+
+ap.CFLAGS += -DRADIO_CONTROL
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+
+#XBEE ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport 
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 
-DDATALINK=XBEE -DUART0_BAUD=B9600
+#XBEE ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.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
+
+
+ap.CFLAGS += -DINTER_MCU
+ap.srcs += inter_mcu.c 
+
+ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4
+ap.srcs += $(SRC_ARCH)/adc_hw.c
+
+ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
+
+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 nav_survey_rectangle.c nav_line.c
+
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+sim.srcs += nav_survey_rectangle.c nav_line.c
+
+  </makefile>
+</airframe>

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