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[paparazzi-commits] [4409] conf file of an AC simulated by JSBSim
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From: |
Gautier Hattenberger |
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Subject: |
[paparazzi-commits] [4409] conf file of an AC simulated by JSBSim |
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Date: |
Tue, 05 Jan 2010 15:29:16 +0000 |
Revision: 4409
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4409
Author: gautier
Date: 2010-01-05 15:29:16 +0000 (Tue, 05 Jan 2010)
Log Message:
-----------
conf file of an AC simulated by JSBSim
Added Paths:
-----------
paparazzi3/trunk/conf/airframes/ENAC/malolo_sim.xml
Added: paparazzi3/trunk/conf/airframes/ENAC/malolo_sim.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/malolo_sim.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/ENAC/malolo_sim.xml 2010-01-05 15:29:16 UTC
(rev 4409)
@@ -0,0 +1,225 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
+ Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
+ Tilted infrared sensor
(http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
+ Radiotronix modem
+-->
+
+<airframe name="JSBSim test file (from funjet file)">
+
+<!-- commands section -->
+ <servos>
+ <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
+ <servo name="AILEVON_LEFT" no="2" min="1130" neutral="1500" max="1880"/>
+ <servo name="AILEVON_RIGHT" no="6" min="1980" neutral="1515" max="1170"/>
+ </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="0.75"/>
+ <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
+ </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="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="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="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="IR2_SIGN" value="-1"/>
+ <define name="TOP_SIGN" value="-1"/>
+
+ <define name="ROLL_NEUTRAL_DEFAULT" value="-3.6" unit="deg"/>
+ <define name="PITCH_NEUTRAL_DEFAULT" value="6" 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="GYRO" prefix="GYRO_">
+ <define name="ADC_ROLL_NEUTRAL" value="520"/>
+ <define name="ADC_TEMP_NEUTRAL" value="476"/>
+ <define name="ADC_TEMP_SLOPE" value="0"/>
+ <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"/>
+ </section>
+
+ <section name="MISC">
+ <define name="NOMINAL_AIRSPEED" value="17." unit="m/s"/>
+ <define name="MINIMUM_AIRSPEED" value="17." unit="m/s"/>
+ <define name="MAXIMUM_AIRSPEED" value="17." 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="150."/>
+ <define name="MIN_CIRCLE_RADIUS" value="100."/>
+ </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="-0.04"/>
+ <!-- outer loop saturation -->
+ <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+ <!-- auto throttle inner loop -->
+ <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE"
value="0.300000011921"/>
+ <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.3"/>
+ <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="-1000"/>
+ <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1"
unit="%/(m/s)"/>
+ <define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
+ <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
+ <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.37"/>
+
+ <!-- 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="0.5"/>
+
+ </section>
+
+ <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+ <define name="COURSE_PGAIN" value="-1."/>
+
+ <define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/>
+ <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+ <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+
+ <define name="PITCH_PGAIN" value="-50000"/>
+ <define name="PITCH_DGAIN" value="0"/>
+
+ <define name="ELEVATOR_OF_ROLL" value="2500"/>
+
+ <define name="ROLL_ATTITUDE_GAIN" value="-20000"/>
+ <define name="ROLL_RATE_GAIN" value="0"/>
+
+ <define name="ROLL_KFFP" value="-500"/>
+ <define name="ROLL_KFFD" value="0"/>
+ <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="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="0.7"/><!-- Gaz for Aggressive Climb
-->
+ <define name="CLIMB_PITCH" value="0.25"/><!-- Pitch for Aggressive Climb
-->
+ <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive
Decent -->
+ <define name="DESCENT_PITCH" value="-0.15"/><!-- 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="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"/>
+ <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>
+-->
+
+ <section name="SIMU">
+ <!--define name="JSBSIM_MODEL" value=""fulmar""/-->
+ <define name="JSBSIM_MODEL" value=""Malolo1""/>
+ <define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
+ <define name="JSBSIM_IR_PITCH_NEUTRAL" value="RadOfDeg(0.)"/>
+ </section>
+
+ <makefile>
+
+# Config for SITL simulation with JSBSim
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl_jsbsim.makefile
+
+sim.CFLAGS += -I/home/cocoleon/usr/include/JSBSim
+sim.LDFLAGS += -L/home/cocoleon/usr/lib/
+
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += $(SIMDIR)/sim_ac_fw.c
+
+ </makefile>
+</airframe>
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