[paparazzi-commits] [4566] Supaero-ENAC prototype

[Pascal Brisset]

Revision: 4566
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4566
Author:   hecto
Date:     2010-02-24 07:55:43 +0000 (Wed, 24 Feb 2010)
Log Message:
-----------
 Supaero-ENAC prototype

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

Added: paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/spocII.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/spocII.xml                  
        (rev 0)
+++ paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/spocII.xml  2010-02-24 
07:55:43 UTC (rev 4566)
@@ -0,0 +1,272 @@
+<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+
+<!-- SPirit Of Corsica II
+     Ailerons, elevator, NO rudder
+     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)
+     XBee modem (transparent)
+     Current sensor
+-->
+
+<airframe name="Spoc II Tiny 2.1">
+
+<!-- commands section -->
+  <servos>
+    <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
+    <servo name="AILERON_LEFT" no="2" min="1130" neutral="1575" max="1880"/>
+    <servo name="AILERON_RIGHT" no="6" min="1980" neutral="1465" max="1170"/>
+    <servo name="ELEVATOR" no="7" min="1980" neutral="1420" max="1170"/>
+  </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>
+
+  <section name="MIXER">
+    <define name="AILERON_DIFF" value="0.66"/>
+  </section>
+
+  <command_laws>
+    <set servo="MOTOR" value="@THROTTLE"/>
+    <set servo="ELEVATOR" value="@PITCH"/>
+    <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="0.85"/>
+    <define name="MAX_PITCH" value="0.6"/>
+  </section>
+
+  <section name="adc" prefix="ADC_CHANNEL_">
+    <define name="IR1" value="ADC_2"/>
+    <define name="IR2" value="ADC_1"/>
+    <define name="IR_TOP" value="ADC_0"/>
+    <define name="IR_NB_SAMPLES" value="16"/>
+
+    <define name="GYRO_ROLL" value="ADC_5"/>
+    <define name="GYRO_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."/>
+
+    <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="GYRO" prefix="GYRO_">
+    <define name="ADC_ROLL_NEUTRAL" value="490"/>
+    <define name="ADC_TEMP_NEUTRAL" value="512"/>   
+    <define name="ADC_TEMP_SLOPE" value="0"/>  
+    <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
+    <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
+    <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
+    <define name="ROLL_SCALE" 
value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)"
 unit="deg/s/adc_unit"/>
+    <define name="ROLL_DIRECTION" value="(-1)"/> 
+  </section>
+
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000"/>
+
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+
+    <define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
+  </section>
+ 
+  <section name="MISC">
+    <define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
+    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
+    <define name="MAXIMUM_AIRSPEED" value="25." 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="50."/>
+
+    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
+  </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="-0.04"/>
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" 
value="0.305000007153"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
+    <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="0.5"/>
+
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="-1.20599997044"/>
+
+    <define name="ROLL_MAX_SETPOINT" value="0.805000007153" 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="-7627.11914062"/>
+    <define name="PITCH_DGAIN" value="1.5"/>
+
+    <define name="ELEVATOR_OF_ROLL" value="2500"/>
+
+    <define name="ROLL_ATTITUDE_GAIN" value="-12584.7460938"/>
+    <define name="ROLL_RATE_GAIN" value="-1779.66101074"/>
+
+    <define name="ROLL_KFF" value="-500"/>
+    <define name="ROLL_IGAIN" value="-500"/>
+    <define name="PITCH_IGAIN" value="-500"/>
+  </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="0.6"/><!-- Gaz for Aggressive Climb 
-->
+    <define name="CLIMB_PITCH" value="0.20"/><!-- 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="GYRO_GAINS">
+    <define name="GYRO_MAX_RATE" value="200."/>
+    <define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
+    <define name="ALT_ROLL__PGAIN" value="1.0"/>
+    <define name="ROLL_RATE_PGAIN" value="1000.0"/>
+    <define name="ROLL_RATE_IGAIN" value="0.0"/>
+    <define name="ROLL_RATE_DGAIN" value="0.0"/>
+  </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>
+ 
+ <makefile>
+CONFIG = \"tiny_2_1_1.h\"
+
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+FLASH_MODE=IAP
+
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(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
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.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=B57600
+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_5
+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
+ap.srcs += nav_survey_rectangle.c nav_line.c
+
+ap.CFLAGS += -DGYRO -DADXRS150
+ap.srcs += gyro.c
+
+# Current sensor
+ap.CFLAGS += -DUSE_ADC_3 -DADC_CHANNEL_CURRENT=ADC_3
+
+# Config for SITL simulation
+#include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.ARCHDIR = $(ARCHI)
+sim.ARCH = sitl
+sim.TARGET = autopilot
+sim.TARGETDIR = autopilot
+sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK 
-DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO
+sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c 
infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c 
main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c 
$(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c 
$(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
+
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+
+sim.srcs += nav_line.c nav_survey_rectangle.c
+
+
+# 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 -DBOARD_CONFIG=\"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>