[Top][All Lists]
[Date Prev][Date Next][Thread Prev][Thread Next][Date Index][Thread Index]
[paparazzi-commits] [5713] Adding test plane airframe.
From: |
Paul Cox |
Subject: |
[paparazzi-commits] [5713] Adding test plane airframe. |
Date: |
Thu, 26 Aug 2010 15:52:58 +0000 |
Revision: 5713
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5713
Author: paulcox
Date: 2010-08-26 15:52:58 +0000 (Thu, 26 Aug 2010)
Log Message:
-----------
Adding test plane airframe.
Added Paths:
-----------
paparazzi3/trunk/conf/airframes/Paul/
paparazzi3/trunk/conf/airframes/Paul/minimag1.xml
Added: paparazzi3/trunk/conf/airframes/Paul/minimag1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Paul/minimag1.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/Paul/minimag1.xml 2010-08-26 15:52:58 UTC
(rev 5713)
@@ -0,0 +1,216 @@
+<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+
+<airframe name="MiniMag Tiny 0.99">
+
+<!-- commands section -->
+ <servos>
+ <servo name="THROTTLE" no="7" min="1000" neutral="1000" max="2000"/>
+<!-- Servo aileron gauche = couleur blanche -->
+<!-- Aileron gauche oppose de l'aileron droit6/5 -->
+ <servo name="AILERON_LEFT" no="6" min="1875" neutral="1500" max="1050"/>
+<!-- max = valeur aileron vers le bas-->
+ <servo name="AILERON_RIGHT" no="4" min="1875" neutral="1475" max="1050"/>
+ <!-- Rudder = Couleur rouge droite gauche 4/2 (1 nothing)-->
+ <servo name="RUDDER" no="3" min="1800" neutral="1450" max="1000"/>
+ <servo name="ELEVATOR" no="2" min="2500" neutral="1600" max="800"/>
+
+ </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"/>
+<!-- + @ROLL*COMBI_SWITCH-->
+ <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"/>
+ </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_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="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="PPRZ"/>
+ <define name="DEVICE_ADDRESS" value="...."/>
+ </section>
+
+ <makefile>
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+FLASH_MODE=IAP
+
+ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_2_1_1.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_4017_hw.h\" -DSERVOS_4017
+ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
+
+ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+
+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_3
+ap.srcs += $(SRC_ARCH)/adc_hw.c
+
+ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
-DGPS_USE_LATLONG
+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 -DWIND_INFO
+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
+
+ap.CFLAGS += -DTELEMETRY_MODE_FBW=1
+
+ </makefile>
+</airframe>
[Prev in Thread] |
Current Thread |
[Next in Thread] |
- [paparazzi-commits] [5713] Adding test plane airframe.,
Paul Cox <=