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[paparazzi-commits] [5077] Updated airframe files after IMAV2010
|
From: |
Christophe De Wagter |
|
Subject: |
[paparazzi-commits] [5077] Updated airframe files after IMAV2010 |
|
Date: |
Tue, 20 Jul 2010 13:29:33 +0000 |
Revision: 5077
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5077
Author: dewagter
Date: 2010-07-20 13:29:32 +0000 (Tue, 20 Jul 2010)
Log Message:
-----------
Updated airframe files after IMAV2010
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/TUDelft/Trip50A.xml
paparazzi3/trunk/conf/airframes/TUDelft/Trip50B.xml
paparazzi3/trunk/conf/airframes/TUDelft/holiday50.xml
Modified: paparazzi3/trunk/conf/airframes/TUDelft/Trip50A.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/TUDelft/Trip50A.xml 2010-07-20 11:34:14 UTC
(rev 5076)
+++ paparazzi3/trunk/conf/airframes/TUDelft/Trip50A.xml 2010-07-20 13:29:32 UTC
(rev 5077)
@@ -116,7 +116,9 @@
<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"/>
-
+ <!--uncommant API protocol in makefile-->
+ <define name="XBEE_INIT"
value="\"ATCHC\rATID3332\rATPL4\rATRN1\rATTT80\rATBD3\rATWR\r\""/>
+ <define name="NO_XBEE_API_INIT" value="TRUE"/> <!-- uncommant after
programed-->
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="70."/>
<define name="GLIDE_AIRSPEED" value="10"/>
@@ -262,9 +264,12 @@
#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 += -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
+# Maxstream API protocol
+ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport
-DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DXBEE_UART=Uart1
-DDATALINK=XBEE -DUART1_BAUD=B9600
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
Modified: paparazzi3/trunk/conf/airframes/TUDelft/Trip50B.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/TUDelft/Trip50B.xml 2010-07-20 11:34:14 UTC
(rev 5076)
+++ paparazzi3/trunk/conf/airframes/TUDelft/Trip50B.xml 2010-07-20 13:29:32 UTC
(rev 5077)
@@ -121,7 +121,9 @@
<define name="CARROT" value="10." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
-
+<!--uncommant API protocol in makefile-->
+ <define name="XBEE_INIT"
value="\"ATCHC\rATID3332\rATPL4\rATRN1\rATTT80\rATBD3\rATWR\r\""/>
+ <define name="NO_XBEE_API_INIT" value="TRUE"/> <!-- uncommant after
programed-->
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="70."/>
<define name="GLIDE_AIRSPEED" value="10"/>
@@ -267,9 +269,12 @@
#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 += -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
+# Maxstream API protocol
+ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport
-DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DXBEE_UART=Uart1
-DDATALINK=XBEE -DUART1_BAUD=B9600
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
Modified: paparazzi3/trunk/conf/airframes/TUDelft/holiday50.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/TUDelft/holiday50.xml 2010-07-20
11:34:14 UTC (rev 5076)
+++ paparazzi3/trunk/conf/airframes/TUDelft/holiday50.xml 2010-07-20
13:29:32 UTC (rev 5077)
@@ -2,6 +2,10 @@
<airframe name="Holiday 50 Delft Tiny 1.1">
+ <modules>
+ <load name="opticflow.xml"/>
+ </modules>
+
<!-- commands section -->
<servos>
<servo name="THROTTLE" no="0" min="1100" neutral="1100" max="1900"/>
@@ -55,8 +59,8 @@
<define name="GYRO_ROLL" value="ADC_3"/>
<define name="GYRO_TEMP" value="ADC_4"/>
<define name="GYRO_NB_SAMPLES" value="16"/>
- <define name="AIRSPEED" value="ADC_5"/>
- <define name="AIRSPEED_NB_SAMPLES" value="32"/>
+ <define name="OPTICFLOW" value="ADC_5"/>
+ <define name="OPTICFLOW_NB_SAMPLES" value="32"/>
<define name="CURRENT" value="ADC_6"/> <!-- Current
Measurement -->
</section>
@@ -72,10 +76,10 @@
<define name="LATERAL_CORRECTION" value="0.7"/>
<define name="LONGITUDINAL_CORRECTION" value="-0.7"/>
- <define name="VERTICAL_CORRECTION" value="1."/>
+ <define name="VERTICAL_CORRECTION" value="1.3"/>
- <define name="ROLL_NEUTRAL_DEFAULT" value="-4.29718351364" unit="deg"/>
- <define name="PITCH_NEUTRAL_DEFAULT" value="5" unit="deg"/>
+ <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+ <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="CORRECTION_UP" value="1.0"/>
<define name="CORRECTION_DOWN" value="1.0"/>
@@ -84,6 +88,8 @@
</section>
<section name="AIRSPEED" prefix="AIRSPEED_">
+ <define name="BIAS" value="(168.0f)"/>
+ <define name="QUADRATIC_SCALE" value="1.2588f"/>
<define name="ZERO" value="0"/>
<define name="RESISTOR_BRIDGE" value="(3.3/(3.3+2.2))"/>
<define name="SCALE" value="1." unit="m/s/adc_unit"/>
@@ -124,29 +130,29 @@
<!-- <define name="POWER_SWITCH_LED" value="2"/> -->
</section>
- <section name="VERTICAL CONTROL" prefix="V_CTL_">
- <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
+ <section name="VERTICAL CONTROL" prefix="V_CTL_">
+ <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
- <!-- Vertical Outerloop
- v_ctl_climb_setpoint = ALTITUDE_PGAIN * altitude_error +
altitude_pre_climb;
- BoundAbs(v_ctl_climb_setpoint, V_CTL_ALTITUDE_MAX_CLIMB);
- -->
+ <!-- Vertical Outerloop
+ v_ctl_climb_setpoint = ALTITUDE_PGAIN * altitude_error +
altitude_pre_climb;
+ BoundAbs(v_ctl_climb_setpoint, V_CTL_ALTITUDE_MAX_CLIMB);
+ -->
<!-- outer loop proportional gain: alt error 5 climb m/s -->
<define name="ALTITUDE_PGAIN" value="-0.04"/>
<!-- outer loop saturation: m/s-->
<define name="ALTITUDE_MAX_CLIMB" value="5.0"/>
- <!-- auto throttle inner loop
- float controlled_throttle = v_ctl_auto_throttle_cruise_throttle
- + v_ctl_auto_throttle_climb_throttle_increment *
v_ctl_climb_setpoint
- + v_ctl_auto_throttle_pgain *
- (err + v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err
- + v_ctl_auto_throttle_dgain * d_err);
-
- /* pitch pre-command */
+ <!-- auto throttle inner loop
+ float controlled_throttle = v_ctl_auto_throttle_cruise_throttle
+ + v_ctl_auto_throttle_climb_throttle_increment *
v_ctl_climb_setpoint
+ + v_ctl_auto_throttle_pgain *
+ (err + v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err
+ + v_ctl_auto_throttle_dgain * d_err);
+
+ /* pitch pre-command */
float v_ctl_pitch_of_vz = (v_ctl_climb_setpoint + d_err *
v_ctl_auto_throttle_pitch_of_vz_dgain)
- * v_ctl_auto_throttle_pitch_of_vz_pgain;
+ * v_ctl_auto_throttle_pitch_of_vz_pgain;
-->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE"
value="0.319999992847"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.20"/>
@@ -174,18 +180,18 @@
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.5"/> <!-- Heading outerloop: only
P-gain -->
- <define name="ROLL_MAX_SETPOINT" value="0.80" unit="radians"/> <!-- Max
Angles -->
+ <define name="ROLL_MAX_SETPOINT" value="0.60" unit="radians"/> <!-- Max
Angles -->
<define name="PITCH_MAX_SETPOINT" value="0.4" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.4" unit="radians"/>
- <define name="PITCH_PGAIN" value="-4925.65087891"/> <!-- Pitch
Angle PD control -->
+ <define name="PITCH_PGAIN" value="-5925.65087891"/> <!-- Pitch
Angle PD control -->
<define name="PITCH_DGAIN" value="2.0"/>
<define name="ELEVATOR_OF_ROLL" value="2050"/> <!-- Feed forward ABS(roll)
to elevator -->
<define name="ROLL_SLEW" value="0.10"/> <!-- Maximal roll angle change per
1/60 of second -->
- <define name="ROLL_ATTITUDE_GAIN" value="-9000"/> <!-- Roll Angle PD
control -->
+ <define name="ROLL_ATTITUDE_GAIN" value="-6000"/> <!-- Roll Angle PD
control -->
<define name="ROLL_RATE_GAIN" value="-550"/>
<!--
@@ -279,12 +285,12 @@
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.CFLAGS += -DTUNE_AGRESSIVE_CLIMB
ap.CFLAGS += -DGYRO -DADXRS150
ap.srcs += gyro.c
-ap.CFLAGS += -DUSE_AIRSPEED
-ap.srcs += airspeed.c
+ap.CFLAGS += -DUSE_MODULES -DOPTICFLOW
ap.srcs += nav_line.c nav_survey_rectangle.c
ap.srcs += traffic_info.c
@@ -302,9 +308,9 @@
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DLOITER_TRIM
-DALT_KALMAN -DWIND_INFO -DSTRONG_WIND
sim.srcs += nav_survey_rectangle.c nav_line.c
+sim.CFLAGS += -DTUNE_AGRESSIVE_CLIMB
# traffic_info.c
-sim.CFLAGS += -DUSE_AIRSPEED
-sim.srcs += airspeed.c
+sim.CFLAGS += -DUSE_MODULES -DOPTICFLOW
sim.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
# -DTEST_CAM
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