[paparazzi-commits] [4433] Initial check in of KalScott Airframe.

[Anton K.]

Revision: 4433
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4433
Author:   antonk
Date:     2010-01-16 01:08:35 +0000 (Sat, 16 Jan 2010)
Log Message:
-----------
Initial check in of KalScott Airframe.

Added Paths:
-----------
    paparazzi3/trunk/conf/airframes/PPZUAV/fixed-wing/kalscott_easystar.xml

Added: paparazzi3/trunk/conf/airframes/PPZUAV/fixed-wing/kalscott_easystar.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/PPZUAV/fixed-wing/kalscott_easystar.xml     
                        (rev 0)
+++ paparazzi3/trunk/conf/airframes/PPZUAV/fixed-wing/kalscott_easystar.xml     
2010-01-16 01:08:35 UTC (rev 4433)
@@ -0,0 +1,206 @@
+<!DOCTYPE airframe SYSTEM "airframe.dtd">
+
+<!-- 
+       Multiplex EasyStar, using rudder
+       TWOG v1 board
+       Tilted infrared sensor
+       XBee 2.4GHz modem in transparent mode           
+-->
+
+<!-- commands section -->
+  <servos>
+    <servo name="THROTTLE"      no="0" min="1120" neutral="1120" max="1920"/>  
+    <servo name="ELEVATOR"      no="6" min="1100" neutral="1514" max="1900"/>
+    <servo name="RUDDER"        no="7" min="2050" neutral="1612" max="950"/>
+  </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="ROLL"      value="@ROLL"/>
+    <set command="PITCH"     value="@PITCH"/>
+    <set command="THROTTLE"  value="@THROTTLE"/> 
+  </rc_commands> 
+
+  <command_laws>
+    <set servo="THROTTLE"    value="@THROTTLE"/>
+    <set servo="RUDDER"      value="@ROLL"/>  
+    <set servo="ELEVATOR"    value="@PITCH"/>      
+  </command_laws>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="RadOfDeg(50)"/>
+    <define name="MAX_PITCH" value="RadOfDeg(40)"/>
+  </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"/>
+  </section>
+
+  <section name="INFRARED" prefix="IR_">
+    <define name="ADC_IR1_NEUTRAL" value="512"/>
+    <define name="ADC_IR2_NEUTRAL" value="510"/>
+    <define name="ADC_TOP_NEUTRAL" value="516"/>
+
+    <define name="LATERAL_CORRECTION" value="0.7"/>
+    <define name="LONGITUDINAL_CORRECTION" value="0.7"/>
+    <define name="VERTICAL_CORRECTION" value="1."/>
+
+    <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="-5.3" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="-3" 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="CATASTROPHIC_BAT_LEVEL" value="8.0" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="8.5" unit="V"/>
+    <define name="LOW_BAT_LEVEL" value="9.5" unit="V"/>
+    <define name="MAX_BAT_LEVEL" value="12.5" unit="V"/>
+  </section>
+
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
+    <define name="CARROT" value="4." unit="s"/>
+    <define name="KILL_MODE_DISTANCE" value="(2.0*MAX_DIST_FROM_HOME)"/>
+    <define name="CONTROL_RATE" value="60" unit="Hz"/>
+    <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="90."/>
+    <define name="MIN_CIRCLE_RADIUS" value="60."/>
+  </section>
+ 
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+    <define name="POWER_CTL_BAT_NOMINAL" value="11.0" unit="volt"/>
+    <!-- outer loop -->
+    <define name="ALTITUDE_PGAIN" value="-0.075" unit="(m/s)/m"/>
+    <define name="ALTITUDE_MAX_CLIMB" value="4." unit="m/s"/>
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5" unit="%"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.4" unit="%"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.8" unit="%"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" unit="pprz_t"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000" unit="pprz_t"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" 
unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="-0.02" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05" 
unit="rad/(m/s)"/>
+    <define name="AUTO_PITCH_PGAIN" value="-0.125"/>
+    <define name="AUTO_PITCH_IGAIN" value="0.025"/>
+    <define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
+    <define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-25)"/>
+    <define name="THROTTLE_SLEW" value="1.0"/>
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="-0.7"/>
+    <define name="ROLL_MAX_SETPOINT" value="RadOfDeg(35)" unit="radians"/>
+    <define name="PITCH_MAX_SETPOINT" value="RadOfDeg(25)" unit="radians"/>
+    <define name="PITCH_MIN_SETPOINT" value="RadOfDeg(-25)" unit="radians"/>
+    <define name="PITCH_PGAIN" value="-20000."/>
+    <define name="PITCH_DGAIN" value="1.5"/>
+    <define name="ELEVATOR_OF_ROLL" value="2500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="-7400"/>
+    <define name="ROLL_RATE_GAIN" value="-200"/>
+  </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="0.9"/><!-- Gaz for Aggressive Climb 
-->
+    <define name="CLIMB_PITCH" value="RadOfDeg(18)"/><!-- Pitch for Aggressive 
Climb -->
+    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive 
Decent -->
+    <define name="DESCENT_PITCH" value="RadOfDeg(-20)"/><!-- 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="3" unit="s"/>
+    <define name="DEFAULT_THROTTLE" value="0.4" unit="%"/>
+    <define name="DEFAULT_ROLL" value="RadOfDeg(15)" unit="rad"/>
+    <define name="DEFAULT_PITCH" value="RadOfDeg(0)" unit="rad"/>
+    <define name="HOME_RADIUS" value="90" unit="m"/>
+  </section>
+  
+  <section name="DATALINK" prefix="DATALINK_">
+    <define name="DEVICE_TYPE" value="PPRZ"/>
+    <define name="DEVICE_ADDRESS" value="...."/>
+  </section>  
+
+  <makefile>
+CONFIG = \"tiny_2_1_1.h\"
+
+# Target configuration
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+FLASH_MODE=IAP
+
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 
-DUSE_MODULES 
+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
+
+# Servo driver
+ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
+ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
+
+# Radio configuration
+ap.CFLAGS += -DRADIO_CONTROL
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+
+# Telemetry configuration
+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 
+
+# ADC configuration
+ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 
+ap.srcs += $(SRC_ARCH)/adc_hw.c
+
+# GPS configuration
+ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 
-DGPS_USE_LATLONG -DGPS_LED=2 
+ap.srcs += gps_ubx.c gps.c latlong.c
+
+ap.CFLAGS += -DINFRARED -DALT_KALMAN
+ap.srcs += infrared.c estimator.c
+
+# Control loops
+ap.CFLAGS += -DNAV -DLOITER_TRIM 
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c 
+
+ap.srcs += nav_line.c
+ap.srcs += nav_survey_rectangle.c
+
+
+
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN 
-DUSE_MODULES 
+sim.srcs += nav_line.c nav_survey_rectangle.c 
+
+  </makefile>
+</airframe>