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[paparazzi-commits] [5632] more airframes...
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From: |
Felix Ruess |
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Subject: |
[paparazzi-commits] [5632] more airframes... |
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Date: |
Mon, 23 Aug 2010 19:31:16 +0000 |
Revision: 5632
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5632
Author: flixr
Date: 2010-08-23 19:31:16 +0000 (Mon, 23 Aug 2010)
Log Message:
-----------
more airframes...
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/funjet_example.xml
paparazzi3/trunk/conf/airframes/microjet_example.xml
Added Paths:
-----------
paparazzi3/trunk/conf/airframes/delta_wing_minimal_example.xml
Copied: paparazzi3/trunk/conf/airframes/delta_wing_minimal_example.xml (from
rev 5631, paparazzi3/trunk/conf/airframes/funjet_example.xml)
===================================================================
--- paparazzi3/trunk/conf/airframes/delta_wing_minimal_example.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/delta_wing_minimal_example.xml
2010-08-23 19:31:16 UTC (rev 5632)
@@ -0,0 +1,154 @@
+<!DOCTYPE airframe SYSTEM "airframe.dtd">
+
+<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
+ Tiny 2.11 board (http://paparazzi.enac.fr/wiki/Tiny_v2)
+ PerkinElmer TPS334 IR Sensors
+ Tilted infrared sensor
(http://paparazzi.enac.fr/wiki/Image:Tiny_v2_1_Funjet.jpg)
+ XBee modem with AT firmware
+ LEA 5H GPS
+-->
+
+<airframe name="Delta Wing">
+
+ <firmware name="fixedwing">
+ <target name="sim" board="pc"/>
+ <target name="ap" board="tiny_2.11"/>
+
+ <subsystem name="radio_control" type="ppm"/>
+ <subsystem name="telemetry" type="transparent"/>
+ <subsystem name="actuators" type="4017"/>
+ <subsystem name="attitude" type="infrared"/>
+ <subsystem name="gps" type="ublox_lea5h"/>
+ <subsystem name="navigation"/>
+ </firmware>
+
+ <firmware name="setup">
+ <target name="tunnel" board="tiny_2.11"/>
+ <target name="setup_actuators" board="tiny_2.11"/>
+ </firmware>
+
+ <servos>
+ <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
+ <servo name="AILEVON_LEFT" no="2" min="1900" neutral="1521" max="1100"/>
+ <servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1510" max="1900"/>
+ </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="AILEVON_AILERON_RATE" value="0.45"/>
+ <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
+ </section>
+
+ <command_laws>
+ <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
+ <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
+ <set servo="MOTOR" value="@THROTTLE"/>
+ <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
+ <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+ </command_laws>
+
+ <section name="AUTO1" prefix="AUTO1_">
+ <define name="MAX_ROLL" value="RadOfDeg(50)"/>
+ <define name="MAX_PITCH" value="RadOfDeg(35)"/>
+ </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="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="BAT">
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ </section>
+
+ <section name="MISC">
+ <define name="NOMINAL_AIRSPEED" value="15." 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="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"/> <!-- -0.024 -->
+ <!-- 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="0.35"/>
+ <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
+ <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2"
unit="%/(m/s)"/>
+ <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
+ <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
+ <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
+
+ <!-- auto pitch inner loop -->
+ <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+ <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="-0.9"/>
+ <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
+ <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="6600."/>
+ <define name="AILERON_OF_THROTTLE" value="0.0"/>
+ <define name="PITCH_PGAIN" value="-5500."/>
+ <define name="PITCH_DGAIN" value="0.4"/>
+
+ <define name="ELEVATOR_OF_ROLL" value="2400"/>
+ </section>
+
+ <section name="NAV">
+ <define name="NAV_PITCH" value="0."/>
+ <define name="NAV_GLIDE_PITCH_TRIM" value="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="SIMU">
+ <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
+ </section>
+
+</airframe>
Modified: paparazzi3/trunk/conf/airframes/funjet_example.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/funjet_example.xml 2010-08-23 18:23:50 UTC
(rev 5631)
+++ paparazzi3/trunk/conf/airframes/funjet_example.xml 2010-08-23 19:31:16 UTC
(rev 5632)
@@ -23,14 +23,14 @@
<subsystem name="joystick"/>
<!-- Communication -->
- <subsystem name="telemetry" type="xbee_api"/>
+ <subsystem name="telemetry" type="transparent"/>
<!-- Actuators -->
<subsystem name="actuators" type="4017"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
- <subsystem name="gps" type="ublox_lea4p"/>
+ <subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="navigation"/>
</firmware>
Modified: paparazzi3/trunk/conf/airframes/microjet_example.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/microjet_example.xml 2010-08-23
18:23:50 UTC (rev 5631)
+++ paparazzi3/trunk/conf/airframes/microjet_example.xml 2010-08-23
19:31:16 UTC (rev 5632)
@@ -171,7 +171,7 @@
<subsystem name="radio_control" type="ppm"/>
<!-- Communication -->
- <subsystem name="telemetry" type="transparent">
+ <subsystem name="telemetry" type="xbee_api">
<param name="MODEM_BAUD" value="B9600"/>
</subsystem>
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