[paparazzi-commits] [5472] move droping wing AC

paparazzi-commits
[Date Prev][Date Next][Thread Prev][Thread Next][Date Index][Thread Index]
[paparazzi-commits] [5472] move droping wing AC

From:	Gautier Hattenberger
Subject:	[paparazzi-commits] [5472] move droping wing AC
Date:	Thu, 19 Aug 2010 08:33:22 +0000
Revision: 5472
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5472
Author:   gautier
Date:     2010-08-19 08:33:22 +0000 (Thu, 19 Aug 2010)
Log Message:
-----------
move droping wing AC

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

Removed Paths:
-------------
    paparazzi3/trunk/conf/airframes/obsolete/drops.xml

Copied: paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/drops.xml (from rev 
5471, paparazzi3/trunk/conf/airframes/obsolete/drops.xml)
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/drops.xml                   
        (rev 0)
+++ paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/drops.xml   2010-08-19 
08:33:22 UTC (rev 5472)
@@ -0,0 +1,284 @@
+<!DOCTYPE airframe SYSTEM "airframe.dtd">
+
+<!-- Twinstar II, 2x Jeti 12 advance
+     Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
+     PerkinElmer TPS334 IR Sensors
+     Tilted infrared sensor
+     XBee modem
+     K66, LEA 5H
+-->
+
+<airframe name="Drops K66">
+
+<!-- commands section -->
+  <servos>
+    <servo name="MOTOR_LEFT" no="0" min="1000" neutral="1000" max="2000"/>
+    <servo name="AILERON_LEFT" no="1" min="1900" neutral="1500" max="1100"/>
+    <servo name="ELEVATOR" no="2" min="1900" neutral="1500" max="1100"/>
+    <servo name="RUDDER" no="3" min="1100" neutral="1500" max="1900"/>
+    <servo name="AILERON_RIGHT" no="4" min="1900" neutral="1500" max="1100"/>
+    <servo name="HATCH" no="5" min="1860" neutral="1860" max="1022"/>
+    <servo name="MOTOR_RIGHT" no="6" min="1000" neutral="1000" max="2000"/>
+  </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"/>
+    <axis name="GAIN1" 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"/>
+    <set command="HATCH" value="@CALIB"/>
+    <set command="GAIN1" value="@GAIN1"/>
+  </rc_commands>
+
+  <auto_rc_commands>
+    <set command="YAW" value="@YAW"/>
+    <set command="GAIN1" value="@GAIN1"/>
+  </auto_rc_commands>
+
+  <section name="MIXER">
+    <define name="AILERON_DIFF" value="0.8"/>
+  </section>
+
+  <command_laws>
+    <set servo="MOTOR_LEFT" value="@THROTTLE"/>
+    <set servo="MOTOR_RIGHT" value="(@GAIN1 > 0 ? @THROTTLE : 0)"/>
+    <set servo="ELEVATOR" value="@PITCH"/>
+    <set servo="RUDDER" value="@YAW"/>
+    <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"/>
+    <set servo="HATCH" value="@HATCH"/>
+  </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_1"/>
+    <define name="IR2" value="ADC_2"/>
+    <define name="IR_TOP" value="ADC_0"/>
+    <define name="IR_NB_SAMPLES" value="16"/>
+    <define name="GYRO_ROLL" value="ADC_3"/>
+    <define name="GYRO_NB_SAMPLES" value="32"/>
+  </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="CORRECTION_UP" value="1."/>
+    <define name="CORRECTION_DOWN" value="1."/>
+    <define name="CORRECTION_LEFT" value="1."/>
+    <define name="CORRECTION_RIGHT" value="1."/>
+
+    <define name="LATERAL_CORRECTION" value="-1"/>
+    <define name="LONGITUDINAL_CORRECTION" value="1"/>
+    <define name="VERTICAL_CORRECTION" value="1.7"/>
+
+    <define name="HORIZ_SENSOR_TILTED" value="1"/>
+    <define name="IR1_SIGN" 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"/>
+  </section>
+
+  <section name="GYRO" prefix="GYRO_">
+    <define name="ADC_ROLL_NEUTRAL" value="520"/>
+    <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="20000"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+                                        <!-- 0.0247311828 -->
+                                        <!-- 0.02432905 -->
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
+  </section>
+
+  <section name="MISC">
+    <define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
+    <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
+    <define name="MAXIMUM_AIRSPEED" value="18." 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="&quot;ATPL2\rATRN1\rATTT80\r&quot;"/> 
-->
+<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
+    <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
+
+    <define name="TRIGGER_DELAY" value="1."/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
+    <define name="MIN_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="-0.06"/>
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" 
unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0.101000003517"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
+
+    <!-- auto pitch inner loop -->
+    <define name="AUTO_PITCH_PGAIN" value="-0.06"/>
+    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
+    <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="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="-1.0340000391"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.60" 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="6000."/>
+    <define name="AILERON_OF_THROTTLE" value="0.0"/>
+    <define name="PITCH_PGAIN" value="-8898.3046875"/>
+    <define name="PITCH_DGAIN" value="-1694.91503906"/>
+
+    <define name="ELEVATOR_OF_ROLL" value="1520.73706055"/>
+
+    <define name="ROLL_ATTITUDE_GAIN" value="-5847.45800781"/>
+    <define name="ROLL_RATE_GAIN" value="-2923.72900391"/>
+
+    <define name="ROLL_KFF" value="-500"/>
+    <define name="ROLL_IGAIN" value="-5000"/>
+  </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="50"/><!-- Altitude Error to Initiate 
Aggressive Climb CANNOT BE ZERO!!-->
+    <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend 
Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
+    <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb 
-->
+    <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb 
-->
+    <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive 
Decent -->
+    <define name="DESCENT_PITCH" value="-0.35"/><!-- 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="2" 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="XBEE"/>
+    <define name="DEVICE_ADDRESS" value="...."/>
+  </section>
+ <makefile>
+CONFIG = \"tiny_2_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 -DRADIO_CONTROL_AUTO1
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+
+ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport 
-DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
+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 += -DGYRO -DADXRS150
+ap.srcs += gyro.c
+
+ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 
-DGPS_USE_LATLONG
+# -DGPS_LED=2
+ap.srcs += gps_ubx.c gps.c latlong.c
+
+ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
+ap.srcs += infrared.c estimator.c
+
+ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
+ap.srcs += nav.c fw_h_ctl_a.c fw_v_ctl.c
+
+ap.srcs += nav_line.c
+ap.srcs += nav_survey_rectangle.c
+
+ap.srcs += bomb.c
+
+ap.srcs += snav.c
+
+# 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_a.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
+
+sim.srcs += bomb.c
+
+  </makefile>
+</airframe>

Deleted: paparazzi3/trunk/conf/airframes/obsolete/drops.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/obsolete/drops.xml  2010-08-19 08:23:37 UTC 
(rev 5471)
+++ paparazzi3/trunk/conf/airframes/obsolete/drops.xml  2010-08-19 08:33:22 UTC 
(rev 5472)
@@ -1,284 +0,0 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
-
-<!-- Twinstar II, 2x Jeti 12 advance
-     Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
-     PerkinElmer TPS334 IR Sensors
-     Tilted infrared sensor
-     XBee modem
-     K66, LEA 5H
--->
-
-<airframe name="Drops K66">
-
-<!-- commands section -->
-  <servos>
-    <servo name="MOTOR_LEFT" no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILERON_LEFT" no="1" min="1900" neutral="1500" max="1100"/>
-    <servo name="ELEVATOR" no="2" min="1900" neutral="1500" max="1100"/>
-    <servo name="RUDDER" no="3" min="1100" neutral="1500" max="1900"/>
-    <servo name="AILERON_RIGHT" no="4" min="1900" neutral="1500" max="1100"/>
-    <servo name="HATCH" no="5" min="1860" neutral="1860" max="1022"/>
-    <servo name="MOTOR_RIGHT" no="6" min="1000" neutral="1000" max="2000"/>
-  </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"/>
-    <axis name="GAIN1" 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"/>
-    <set command="HATCH" value="@CALIB"/>
-    <set command="GAIN1" value="@GAIN1"/>
-  </rc_commands>
-
-  <auto_rc_commands>
-    <set command="YAW" value="@YAW"/>
-    <set command="GAIN1" value="@GAIN1"/>
-  </auto_rc_commands>
-
-  <section name="MIXER">
-    <define name="AILERON_DIFF" value="0.8"/>
-  </section>
-
-  <command_laws>
-    <set servo="MOTOR_LEFT" value="@THROTTLE"/>
-    <set servo="MOTOR_RIGHT" value="(@GAIN1 > 0 ? @THROTTLE : 0)"/>
-    <set servo="ELEVATOR" value="@PITCH"/>
-    <set servo="RUDDER" value="@YAW"/>
-    <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"/>
-    <set servo="HATCH" value="@HATCH"/>
-  </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_1"/>
-    <define name="IR2" value="ADC_2"/>
-    <define name="IR_TOP" value="ADC_0"/>
-    <define name="IR_NB_SAMPLES" value="16"/>
-    <define name="GYRO_ROLL" value="ADC_3"/>
-    <define name="GYRO_NB_SAMPLES" value="32"/>
-  </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="CORRECTION_UP" value="1."/>
-    <define name="CORRECTION_DOWN" value="1."/>
-    <define name="CORRECTION_LEFT" value="1."/>
-    <define name="CORRECTION_RIGHT" value="1."/>
-
-    <define name="LATERAL_CORRECTION" value="-1"/>
-    <define name="LONGITUDINAL_CORRECTION" value="1"/>
-    <define name="VERTICAL_CORRECTION" value="1.7"/>
-
-    <define name="HORIZ_SENSOR_TILTED" value="1"/>
-    <define name="IR1_SIGN" 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"/>
-  </section>
-
-  <section name="GYRO" prefix="GYRO_">
-    <define name="ADC_ROLL_NEUTRAL" value="520"/>
-    <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="20000"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-                                        <!-- 0.0247311828 -->
-                                        <!-- 0.02432905 -->
-    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
-  </section>
-
-  <section name="MISC">
-    <define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
-    <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
-    <define name="MAXIMUM_AIRSPEED" value="18." 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="&quot;ATPL2\rATRN1\rATTT80\r&quot;"/> 
-->
-<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
-    <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
-
-    <define name="TRIGGER_DELAY" value="1."/>
-    <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
-    <define name="MIN_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="-0.06"/>
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
-    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" 
unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="0.101000003517"/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
-
-    <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/>
-    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
-    <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="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="-1.0340000391"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.60" 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="6000."/>
-    <define name="AILERON_OF_THROTTLE" value="0.0"/>
-    <define name="PITCH_PGAIN" value="-8898.3046875"/>
-    <define name="PITCH_DGAIN" value="-1694.91503906"/>
-
-    <define name="ELEVATOR_OF_ROLL" value="1520.73706055"/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="-5847.45800781"/>
-    <define name="ROLL_RATE_GAIN" value="-2923.72900391"/>
-
-    <define name="ROLL_KFF" value="-500"/>
-    <define name="ROLL_IGAIN" value="-5000"/>
-  </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="50"/><!-- Altitude Error to Initiate 
Aggressive Climb CANNOT BE ZERO!!-->
-    <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend 
Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
-    <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb 
-->
-    <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb 
-->
-    <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive 
Decent -->
-    <define name="DESCENT_PITCH" value="-0.35"/><!-- 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="2" 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="XBEE"/>
-    <define name="DEVICE_ADDRESS" value="...."/>
-  </section>
- <makefile>
-CONFIG = \"tiny_2_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 -DRADIO_CONTROL_AUTO1
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
-
-ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport 
-DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-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 += -DGYRO -DADXRS150
-ap.srcs += gyro.c
-
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 
-DGPS_USE_LATLONG
-# -DGPS_LED=2
-ap.srcs += gps_ubx.c gps.c latlong.c
-
-ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
-ap.srcs += infrared.c estimator.c
-
-ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl_a.c fw_v_ctl.c
-
-ap.srcs += nav_line.c
-ap.srcs += nav_survey_rectangle.c
-
-ap.srcs += bomb.c
-
-ap.srcs += snav.c
-
-# 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_a.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
-
-sim.srcs += bomb.c
-
-  </makefile>
-</airframe>
[Prev in Thread]
Current Thread
[Next in Thread]
[paparazzi-commits] [5472] move droping wing AC, Gautier Hattenberger <=
Prev by Date: [paparazzi-commits] [5471] moved "testing" to the end of the target section
Next by Date: [paparazzi-commits] [5473] laas aircrafts
Previous by thread: [paparazzi-commits] [5471] moved "testing" to the end of the target section
Next by thread: [paparazzi-commits] [5473] laas aircrafts
Index(es):
- Date
- Thread