|
From: | Monika.Scheibe |
Subject: | Re: [Paparazzi-devel] Arduimu: working airframe? |
Date: | Wed, 17 Aug 2011 05:51:52 +0000 |
@ Oli, Thanks a lot. But I don´t think it is a bus problem. I still don´t know what the problem is in fact, but with Martins help
I got a version that works :-) DLR does not have anything to do with paparazzi. I´m student and I work with DLR, so I just use the email-account. Best wishes, Monika Von: paparazzi-devel-bounces+address@hidden
[mailto:paparazzi-devel-bounces+address@hidden.org]
Im Auftrag von Oliver Ensslin Hey Monika Sounds like a i2c bus problem. The i2c devices usually all have the same "default" address (someone told me), the Eagle Tree and the ArduIMU might interfere. Changing
the address must be possible... If not: Have you uploaded the code for the Paparazzi to the ArduIMU? Here my airframe configuration. There might be some differences since i use the Bruzzlee branch because of it's advanced speed controls, the part with the ArduIMU should
be the same. On that configuration we also use i2c pressure sensors (not Eagle Tree) where we changed the i2c addresses. I'm curious: What does the DLR do with paparazzi? Cheers Oli <!DOCTYPE airframe SYSTEM
"airframe.dtd"> <!--
Kyosho Calmato Sports 60
Oliver Ensslin
Tiny 2,11
ArduIMU+ V2
XBee
Yeti Duplex RSat2 (PPM)
SM Speed Sensor
AirSpeedPitch OS FX-91 --> <airframe
name="110727_Calmato60">
<!--firmware name="setup">
<target name="tunnel" board="tiny_2.11"/>
<target name="usb_tunnel_0" board="tiny_2.11"/>
<target name="usb_tunnel_1" board="tiny_2.11"/>
<target name="setup_actuators" board="tiny_2.11"/>
</firmware-->
<firmware name="fixedwing">
<target name="ap"
board="tiny_2.11"/>
<target name="sim"
board="pc"/>
<!--define name="AGR_CLIMB"/-->
<!--define name="LOITER_TRIM"/-->
<define name="ALT_KALMAN"/>
<define name="WIND_INFO"/>
<define
name="WIND_INFO_RET"/>
<define name="USE_I2C0"/>
<define name="USE_AIRSPEED"/>
<!--define name="USE_SONAR"/-->
<!--define name="MEASURE_AIRSPEED" /-->
<!--define name="SONAR_SYNC_SEND"/-->
<!--define name="MEASURE_AMSYS_TEMPERATURE"/-->
<subsystem name="radio_control"
type="ppm"/>
<subsystem
name="telemetry"
type="transparent">
<configure name="MODEM_BAUD"
value="B9600"/>
</subsystem>
<subsystem name="i2c">
<define
name="I2C_TRANSACTION_QUEUE_LEN"
value="16"/>
<define name="I2C0_SCLL"
value="400"/>
<define name="I2C0_SCLH"
value="400"/>
</subsystem>
<!--subsystem name="control"
type="adaptive"/-->
<subsystem name="control"/>
<!--subsystem name="attitude" type="infrared"/-->
<!--subsystem name="gyro" type="roll"/-->
<subsystem name="gps"
type="ublox_lea5h">
<configure name="GPS_BAUD"
value="B9600"/>
</subsystem>
<subsystem name="navigation"/>
<!--subsystem name="navigation" type="extra"/-->
<!--needed for BungeeTakeoff and other spezial NavRoutines-->
</firmware>
<modules>
<load name="ins_arduimu_basic.xml"/>
<!--load name="sonar_adc.xml">
<configure name="ADC_SONAR" value="ADC_5"/>
<define name="SONAR_ADC_OFFSET" value="0"/>
<define name="SONAR_ADC_SCALE" value="0.0172"/>
<define name="SONAR_ADC_FILTER" value="0.9"/>
</load-->
<!--**************************************************************-->
<!--load name="airspeed_amsys.xml">
<define name="AIRSPEED_SCALE" value="1."/>
<define name="AIRSPEED_FILTER" value="0.21"/>
</load-->
<load name="airspeed_adc.xml">
<define
name="AIRSPEED_QUADRATIC_SCALE"
value="2"/>
<define name="AIRSPEED_BIAS" value="0.0"/>
<configure name="ADC_AIRSPEED"
value="ADC_5"/>
</load>
<!--load name="baro_amsys.xml">
<define name="BARO_FILTER" value="0."/>
</load-->
<load name="flight_benchmark.xml">
<define
name="BENCHMARK_AIRSPEED"/>
<define
name="BENCHMARK_ALTITUDE"/>
<define
name="BENCHMARK_POSITION"/>
<define
name="BENCHMARK_TOLERANCE_AIRSPEED"
value="0."/>
<define
name="BENCHMARK_TOLERANCE_ALTITUDE"
value="0."/>
<define
name="BENCHMARK_TOLERANCE_POSITION"
value="0."/>
</load>
<!--load name="AOA_adc.xml">
<configure name="ADC_AOA" value="ADC_6"/>
<define name="AOA_OFFSET" value="-0.135000005364"/>
<define name="AOA_FILTER" value="0.875999987125"/>
</load-->
<!--load name="motor_temperature_adc.xml">
<configure name="ADC_TEMPERATURE_ESC" value="ADC_5"/>
<configure name="ADC_TEMPERATURE_MOTOR" value="ADC_6"/>
<define name="MOTOR_TEMPERATURE_FILTER" value="0.0"/>
</load-->
<!--**************************************************************-->
</modules>
<!-- *********** RC SERVOS **************************************************************************/-->
<servos>
<servo name="AILERON_LEFT"
no="0" min="2000" neutral="1500" max="1000"/>
<servo name="ELEVATOR"
no="2" min="1000" neutral="1500" max="2000"/>
<servo name="MOTOR"
no="6" min="1280" neutral="1280" max="1800"/>
<servo name="RUDDER"
no="7" min="1000" neutral="1500" max="2000"/>
<servo name="AILERON_RIGHT"
no="3" min="2000" neutral="1500" max="1000"/>
<!--servo name="LED"
no="4" min="1000" neutral="1500" max="2000"/-->
</servos>
<commands>
<axis name="ROLL"
failsafe_value="1500"/>
<axis name="PITCH"
failsafe_value="1500"/>
<axis name="THROTTLE"
failsafe_value="1500"/>
<axis name="YAW"
failsafe_value="1500"/>
<!--axis name="LED"
failsafe_value="1500"/-->
</commands>
<rc_commands>
<set command="ROLL"
value="@ROLL"/>
<set command="PITCH"
value="@PITCH"/>
<set command="THROTTLE"
value="@THROTTLE"/>
<set command="YAW"
value="@YAW"/>
<!--set command="LED"
value="@LED"/-->
</rc_commands>
<section name="MIXER">
<!--define name="AILEVON_AILERON_RATE" value="0.75"/>
<define name="AILEVON_ELEVATOR_RATE" value="1.00"/-->
</section>
<command_laws>
<set servo="AILERON_LEFT"
value="@ROLL"/>
<set servo="ELEVATOR"
value="@PITCH"/>
<set servo="MOTOR"
value="@THROTTLE"/>
<set servo="RUDDER"
value="@YAW"/>
<set servo="AILERON_RIGHT"
value="@ROLL"/>
<!--set servo="LED" value="@LED"/-->
</command_laws>
<!--******************************Bungee Takeoff**********************************************--> <!--
<section name="Takeoff" prefix="Takeoff_">
<!--define name="Height" value="50" unit="m"/->
<!--Final height (over TakeOffDirection_WP) -->
<!--Für ZHAWNav nicht benötigt->
<define name="Speed" value="12" unit="m/s"/>
<!--Final speed of Takeoff ->
<define name="Distance" value="15" unit="m"/>
<!--Distance between UAV and ThrottleLine ->
<define name="MinSpeed" value="2" unit="m/s"/>
<!--Speed to stop updating the LaunchLine and min Speed to launch throttle ->
</section>-->
<!--******************************************************************************************-->
<!--******************************ZHAW Landing**********************************************--> <!--
<section name="ZHAWLanding" prefix="Landing_">
<define name="SaveHeight" value="3" unit="m"/>
<define name="SonarHeight" value="6" unit="m"/>
<define name="TDDistance" value="40" unit="m"/>
<define name="FLARE_FACTOR" value="0.12"/> <!--0.6m - 0.2 and 0.3 - 0.4->
</section>-->
<!--******************************************************************************************-->
<!-- *********** TUNING **************************************************************************/-->
<section name="AUTO1"
prefix="AUTO1_">
<define name="MAX_ROLL"
value="0.8"/>
<define name="MAX_PITCH"
value="0.3"/>
</section>
<section name="INS"
prefix="INS_">
<define
name="ROLL_NEUTRAL_DEFAULT"
value="0.0" unit="rad"/>
<define
name="PITCH_NEUTRAL_DEFAULT"
value="0.0450000017881"
unit="rad"/>
</section>
<section
name="HORIZONTAL CONTROL"
prefix="H_CTL_">
<define name="ROLL_PGAIN"
value="-5500"/>
<define
name="COURSE_PGAIN"
value="-2.70700001717"/>
<define name="COURSE_IGAIN"
value="0.0"/>
<define name="COURSE_DGAIN"
value="0.6"/>
<define
name="ROLL_MAX_SETPOINT"
value="0.707000017166"
unit="radians"/>
<define
name="PITCH_MAX_SETPOINT"
value="0.195999994874"
unit="radians"/>
<define
name="PITCH_MIN_SETPOINT"
value="-0.202999994159"
unit="radians"/>
<define
name="PITCH_PGAIN"
value="-22235.5761719"/>
<define name="PITCH_DGAIN"
value="0."/>
<define
name="ELEVATOR_OF_ROLL"
value="552.885009766"/>
<!-- roll rate loop -->
<define
name="ROLL_ATTITUDE_GAIN"
value="-7000"/>
<define
name="ROLL_RATE_GAIN"
value="-432.691986084"/>
</section>
<section
name="VERTICAL CONTROL"
prefix="V_CTL_">
<!-- outer loop proportional gain -->
<define
name="ALTITUDE_PGAIN"
value="-0.153999999166"/>
<!-- outer loop saturation -->
<define
name="ALTITUDE_MAX_CLIMB"
value="2."/>
<!--define name="AUTO_CLIMB_LIMIT" value="0.125"/-->
<!-- auto throttle inner loop -->
<define
name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE"
value="0.405999988317"/>
<define
name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE"
value=".3"/>
<define
name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE"
value="1"/>
<define
name="AUTO_THROTTLE_LOITER_TRIM"
value="2000."/>
<define
name="AUTO_THROTTLE_DASH_TRIM"
value="-1500"/>
<define
name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"
value="0.202000007033"
unit="%/(m/s)"/>
<define
name="AUTO_THROTTLE_PGAIN"
value="-0.011"/>
<define
name="AUTO_THROTTLE_IGAIN"
value="0."/>
<define
name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"
value="0.181999996305"/>
<define
name="AUTO_THROTTLE_PITCH_OF_VZ_DGAIN"
value="0.0"/>
<define
name="THROTTLE_SLEW_LIMITER"
value="2" unit="s"/>
<!-- auto airspeed -->
<define
name="AUTO_AIRSPEED_SETPOINT"
value="20" unit="m/s"/>
<define
name="AUTO_AIRSPEED_DEADBAND"
value="42." unit="m/s"/>
<!--define name="AIRSPEED_MODE" value="AS_MODE_STANDARD"/-->
<!-- Vassillis -->
<define
name="AUTO_AIRSPEED_THROTTLE_PGAIN_V"
value="0.127000004053"/>
<define
name="AUTO_AIRSPEED_THROTTLE_IGAIN_V"
value="0.01600000076"/>
<define
name="AUTO_AIRSPEED_PITCH_PGAIN_V"
value="-0.0359999984503"/>
<define
name="AUTO_AIRSPEED_PITCH_IGAIN_V"
value="0.0920000001788"/>
<!-- AirSpeed Pitch Climbrate -->
<define
name="AUTO_AIRSPEED_THROTTLE_PGAIN_ASPC"
value="-0.0250000003725"/>
<define
name="AUTO_AIRSPEED_THROTTLE_IGAIN_ASPC"
value="0."/>
<define
name="AUTO_AIRSPEED_PRETHROTTLE_ASPC"
value="0.600000023842"/>
<define
name="AUTO_AIRSPEED_PITCH_PGAIN_ASPC"
value="-0.10000000149"/>
<define
name="AUTO_AIRSPEED_PITCH_IGAIN_ASPC"
value="0.0179999992251"/>
<!-- AirSpeed Pitch Simple -->
<define
name="AUTO_AIRSPEED_THROTTLE_PGAIN_ASPS"
value="-0.0179999992251"/>
<define
name="AUTO_AIRSPEED_THROTTLE_IGAIN_ASPS"
value="0.0240000002086"/>
<define
name="AUTO_AIRSPEED_PRETHROTTLE_ASPS"
value="0.507000029087"/>
<define
name="AUTO_AIRSPEED_PITCH_PGAIN_ASPS"
value="-0.00999999977648"/>
<define
name="AUTO_AIRSPEED_PITCH_IGAIN_ASPS"
value="0."/>
<!-- AirSpeed Manual Power -->
<define
name="AUTO_AIRSPEED_THROTTLESETP_ASMP"
value="0.5"/>
<define
name="AUTO_AIRSPEED_PITCH_PGAIN_ASMP"
value="-0.0399999991059"/>
<define
name="AUTO_AIRSPEED_PITCH_IGAIN_ASMP"
value="0.0010000000475"/>
<!-- AirSpeed Pitch Acceleration -->
<define
name="AUTO_AIRSPEED_THROTTLE_PGAIN_ASPA"
value="-0.00999999977648"/>
<define
name="AUTO_AIRSPEED_THROTTLE_IGAIN_ASPA"
value="0."/>
<define
name="AUTO_AIRSPEED_PRETHROTTLE_ASPA"
value="0.600000023842"/>
<define
name="AUTO_AIRSPEED_PITCH_PGAIN_ASPA"
value="-0.0149999996647"/>
<define
name="AUTO_AIRSPEED_PITCH_IGAIN_ASPA"
value="0."/>
<define
name="ALTITUDE_MAX_ACCEL"
value="1." unit="m/s2"/>
<define
name="AIRSPEED_ACC_FILTER_VALUE"
value="0.0780000016093"/>
<define name="ACCEL_PGAIN"
value="0.5"/>
<!-- "Airspeed" with fixed Pitch - FP -->
<define
name="AUTO_AIRSPEED_THROTTLE_PGAIN_FP"
value="-0.0489999987185"/>
<define
name="AUTO_AIRSPEED_THROTTLE_IGAIN_FP"
value="0.00899999961257"/>
<define
name="AUTO_AIRSPEED_PRETHROTTLE_FP"
value="0.307999998331"/>
<define
name="AUTO_AIRSPEED_PITCHSETP_FP"
value="0.10000000149"/>
<!-- minimal groundspeed -->
<define
name="AUTO_GROUNDSPEED_SETPOINT"
value="20." unit="m/s"/>
<define
name="AUTO_GROUNDSPEED_PGAIN"
value="0."/>
<define
name="AUTO_GROUNDSPEED_IGAIN"
value="0."/>
<!-- auto pitch inner loop -->
<define
name="AUTO_PITCH_MAX_PITCH"
value="0.6"/>
<define
name="AUTO_PITCH_MIN_PITCH"
value="-0.6"/>
<!-- vorher +-0.35-->
</section>
<section name="CHANGE
PARAMS" prefix="NAV_">
<!-- Mesure Params -->
<define
name="MEASURE_MAX_ROLL"
value="0.3"/>
<define
name="MEASURE_MAX_PITCH"
value="0.2"/>
<define
name="MEASURE_MIN_PITCH"
value="-0.2"/>
<!-- Start Params -->
<define name="START_MAX_ROLL"
value="0.2"/>
<define
name="START_MAX_PITCH"
value="0.3"/>
<define
name="START_MIN_PITCH"
value="-0.3"/>
<!-- Landing Params -->
<define name="LAND_MAX_ROLL"
value="0.5"/>
<define name="LAND_MAX_PITCH"
value="0.2"/>
<define
name="LAND_MIN_PITCH"
value="-0.2"/>
</section>
<section name="NAV">
<define name="NAV_PITCH"
value="0."/>
<define
name="NAV_GLIDE_PITCH_TRIM"
value="0."/>
<define
name="DEFAULT_CIRCLE_RADIUS"
value="125"/>
<define
name="MIN_CIRCLE_RADIUS"
value="60."/>
</section>
<section name="BAT">
<define
name="MILLIAMP_AT_FULL_THROTTLE"
value="18000"/>
<define
name="CATASTROPHIC_BAT_LEVEL"
value="5.6" unit="V"/>
<define name="CRITIC_BAT_LEVEL"
value="6.0" unit="V"/>
<define name="LOW_BAT_LEVEL"
value="6.4" unit="V"/>
<define name="MAX_BAT_LEVEL"
value="8.2" unit="V"/>
<define
name="VoltageOfAdc(adc)"
value="(0.02455*adc)"/>
</section>
<section name="MISC">
<define name="MAXIMUM_AIRSPEED"
value="30" unit="m/s"/>
<define name="NOMINAL_AIRSPEED"
value="20" unit="m/s"/>
<define name="MINIMUM_AIRSPEED"
value="12" unit="m/s"/>
<define name="CARROT"
value="5." unit="s"/>
<define
name="KILL_MODE_DISTANCE"
value="(MAX_DIST_FROM_HOME*1.5)"
unit="s"/>
</section>
<section name="FAILSAFE"
prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS"
value="2" unit="s"/>
<define
name="DEFAULT_THROTTLE"
value="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE+0.05"
unit="%"/>
<define name="DEFAULT_ROLL"
value="0.17" unit="rad"/>
<define name="DEFAULT_PITCH"
value="0.08" unit="rad"/>
<define name="HOME_RADIUS"
value="50" unit="m"/>
<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
</section>
<section name="AGGRESSIVE"
prefix="AGR_">
<define
name="CLIMB_THROTTLE"
value="1"/><!--
Throttle for Aggressive Climb -->
<define
name="DESCENT_THROTTLE"
value="0.1"/><!--
Throttle for Aggressive Decent -->
<define
name="CLIMB_PITCH"
value="0.2"/><!--
Pitch for Aggressive Climb -->
<define
name="DESCENT_PITCH"
value="-0.25"/><!--
Pitch for Aggressive Decent -->
<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_NAV_RATIO"
value="0.8"/><!--
Percent Navigation for Altitude Error Equal to Start Altitude -->
<define
name="DESCENT_NAV_RATIO"
value="1.0"/>
</section> </airframe> Hello everyone, |
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