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[paparazzi-commits] [4881] moving stuff around
|
From: |
antoine drouin |
|
Subject: |
[paparazzi-commits] [4881] moving stuff around |
|
Date: |
Tue, 27 Apr 2010 18:15:58 +0000 |
Revision: 4881
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4881
Author: poine
Date: 2010-04-27 18:15:57 +0000 (Tue, 27 Apr 2010)
Log Message:
-----------
moving stuff around
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/Poine/beth.xml
Added Paths:
-----------
paparazzi3/trunk/conf/airframes/Poine/
paparazzi3/trunk/conf/airframes/Poine/antenna.xml
paparazzi3/trunk/conf/airframes/Poine/autoplato.xml
paparazzi3/trunk/conf/airframes/Poine/booz2_a1.xml
paparazzi3/trunk/conf/airframes/Poine/booz2_a1p.xml
paparazzi3/trunk/conf/airframes/Poine/booz2_a2.xml
paparazzi3/trunk/conf/airframes/Poine/booz2_a3.xml
paparazzi3/trunk/conf/airframes/Poine/booz2_a4.xml
paparazzi3/trunk/conf/airframes/Poine/booz2_a5.xml
paparazzi3/trunk/conf/airframes/Poine/booz2_a6.xml
Removed Paths:
-------------
paparazzi3/trunk/conf/airframes/antenna.xml
paparazzi3/trunk/conf/airframes/booz2_a1.xml
paparazzi3/trunk/conf/airframes/booz2_a1p.xml
paparazzi3/trunk/conf/airframes/booz2_a2.xml
paparazzi3/trunk/conf/airframes/booz2_a3.xml
paparazzi3/trunk/conf/airframes/booz2_a4.xml
paparazzi3/trunk/conf/airframes/booz2_a5.xml
paparazzi3/trunk/conf/airframes/booz2_a6.xml
paparazzi3/trunk/conf/airframes/poine/
Copied: paparazzi3/trunk/conf/airframes/Poine/antenna.xml (from rev 4877,
paparazzi3/trunk/conf/airframes/antenna.xml)
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/antenna.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/Poine/antenna.xml 2010-04-27 18:15:57 UTC
(rev 4881)
@@ -0,0 +1,64 @@
+<airframe name="ANTENNA">
+
+
+<section name="DATALINK" prefix="DATALINK_">
+ <define name="DEVICE_TYPE" value="PPRZ"/>
+ <define name="DEVICE_ADDRESS" value="...."/>
+</section>
+
+ <makefile>
+
+ARCHI=avr
+ant.ARCHDIR = $(ARCHI)
+ant.ARCH = atmega128
+ant.TARGET = ant
+ant.TARGETDIR = ant
+
+
+# 16MHz resonator
+ant.LOW_FUSE = CF
+ant.HIGH_FUSE = 89
+ant.EXT_FUSE = ff
+ant.LOCK_FUSE = ff
+
+
+ant.CFLAGS += -DBOARD_CONFIG=\"antenna.h\"
+ant.srcs = main_antenna.c sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+ant.CFLAGS += -DLED
+
+ant.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
+ant.srcs += $(SRC_ARCH)/uart_hw.c
+
+ant.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart0
+ant.srcs += downlink.c pprz_transport.c
+
+ant.CFLAGS += -DDOWNLINK_AP_DEVICE=Uart0 -DAP
+ant.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0
+ant.srcs += datalink.c
+ant.srcs += traffic_info.c
+
+ant.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600
+ant.srcs += estimator.c gps_ubx.c gps.c
+
+ant.srcs += avr/ant_tracker.c
+
+
+
+#ant.CFLAGS +=
+ant.srcs += avr/ant_v2x.c avr/ant_spi.c
+
+ant.srcs += avr/ant_servo.c
+
+ant.srcs += avr/ant_h_bridge.c
+
+
+ant.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_1 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD0_4
+ant.srcs += $(SRC_ARCH)/adc_hw.c
+
+
+ </makefile>
+
+</airframe>
+
+
Added: paparazzi3/trunk/conf/airframes/Poine/autoplato.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/autoplato.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/Poine/autoplato.xml 2010-04-27 18:15:57 UTC
(rev 4881)
@@ -0,0 +1,46 @@
+<airframe name="autoplato">
+
+ <makefile>
+
+
+
+ARCH=lpc21
+BOARD_CFG = \"boards/olimex_lpc_h2148.h\"
+ARCHI=arm7
+FLASH_MODE = IAP
+
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+
+test_usb.ARCHDIR = $(ARCHI)
+test_usb.ARCH = arm7tdmi
+test_usb.TARGET = test_usb
+test_usb.TARGETDIR = test_usb
+
+test_usb.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
+test_usb.srcs += $(SRC_BOOZ_TEST)/atpt_main.c
+test_usb.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
+# -DTIME_LED=1
+test_usb.CFLAGS += -DLED
+test_usb.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+
+#test_usb.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+#test_usb.srcs += $(SRC_ARCH)/uart_hw.c
+#test_usb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart1
+#test_usb.srcs += downlink.c pprz_transport.c
+
+test_usb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DUSE_USB_SERIAL
+test_usb.CFLAGS += -DDOWNLINK_DEVICE=UsbS -DPPRZ_UART=UsbS -DDATALINK=PPRZ
+test_usb.srcs += downlink.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/usb_ser_hw.c
pprz_transport.c
+# datalink.c
+test_usb.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c
+test_usb.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c
+
+test_usb.CFLAGS += -DACTUATORS=\"servos_direct_hw.h\" -DSERVOS_NB=6
-DPWM_SERVO_0 -DPWM_SERVO_5
+test_usb.CFLAGS += -DSERVOS_PERIOD='SERVOS_TICS_OF_USEC(12500)'
+test_usb.srcs += $(SRC_ARCH)/servos_direct_hw.c
+
+
+
+ </makefile>
+
+</airframe>
\ No newline at end of file
Modified: paparazzi3/trunk/conf/airframes/Poine/beth.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/poine/beth.xml 2010-04-24 03:58:15 UTC
(rev 4877)
+++ paparazzi3/trunk/conf/airframes/Poine/beth.xml 2010-04-27 18:15:57 UTC
(rev 4881)
@@ -1,44 +1,111 @@
<airframe name="BETH">
+ <section name="IMU" prefix="IMU_">
+
+ <define name="GYRO_P_NEUTRAL" value="31489"/>
+ <define name="GYRO_Q_NEUTRAL" value="31814"/>
+ <define name="GYRO_R_NEUTRAL" value="32752"/>
+
+ <define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
+ <define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
+ <define name="GYRO_R_SENS" value="-1.01" integer="16"/>
+
+
+ <define name="ACCEL_X_SENS" value="-2.58273701242" integer="16"/>
+ <define name="ACCEL_Y_SENS" value="-2.54076215332" integer="16"/>
+ <define name="ACCEL_Z_SENS" value="-2.57633620646" integer="16"/>
+
+ <define name="ACCEL_X_NEUTRAL" value="32857"/>
+ <define name="ACCEL_Y_NEUTRAL" value="32429"/>
+ <define name="ACCEL_Z_NEUTRAL" value="32593"/>
+
+ <define name="MAG_X_SENS" value=" 5.32718104135" integer="16"/>
+ <define name="MAG_Y_SENS" value="-4.87857821202" integer="16"/>
+ <define name="MAG_Z_SENS" value="-3.11986612709" integer="16"/>
+
+ <define name="MAG_X_NEUTRAL" value="-43"/>
+ <define name="MAG_Y_NEUTRAL" value=" 49"/>
+ <define name="MAG_Z_NEUTRAL" value="-66"/>
+
+ <define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0.)"/>
+ <define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0.)"/>
+ <define name="BODY_TO_IMU_PSI" value="RadOfDeg( 90.)"/>
+
+ </section>
+
+
<makefile>
-ARCH=lpc21
-ARCHI=arm7
-BOARD_CFG = \"boards/olimex_lpc_h2148.h\"
-FLASH_MODE = IAP
+#
+# main STM32
+#
+ARCH=stm32
+ARCHI=stm32
+BOARD_CFG = \"boards/lisa_0.99.h\"
+FLASH_MODE = JTAG
+
+SRC_ARCH = $(ARCH)
+SRC_BETH=beth
+SRC_BOOZ=booz
+SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
+SRC_LISA=lisa
+SRC_LISA_ARCH=$(SRC_LISA)/arch/$(ARCH)
+
+main_stm32.ARCHDIR = stm32
+main_stm32.TARGET = main_stm32
+main_stm32.TARGETDIR = main_stm32
+main_stm32.CFLAGS += -I$(SRC_LISA) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
-DPERIPHERALS_AUTO_INIT
+main_stm32.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+main_stm32.srcs = $(SRC_BETH)/main_stm32.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+main_stm32.CFLAGS += -DUSE_LED
+main_stm32.srcs += $(SRC_ARCH)/led_hw.c
+main_stm32.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+main_stm32.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+main_stm32.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+main_stm32.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+main_stm32.srcs += $(SRC_ARCH)/uart_hw.c
+main_stm32.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+main_stm32.srcs += downlink.c pprz_transport.c
+
+main_stm32.CFLAGS += -DUSE_OVERO_LINK
-DOVERO_LINK_MSG_TYPE=AutopilotMessageBeth
+main_stm32.CFLAGS += -DOVERO_LINK_LED_OK=3 -DOVERO_LINK_LED_KO=4
-DUSE_DMA1_C2_IRQ
+main_stm32.srcs += lisa/lisa_overo_link.c
lisa/arch/stm32/lisa_overo_link_arch.c
+
+main_stm32.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
+main_stm32.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
+main_stm32.srcs += $(SRC_BOOZ)/booz_imu.c
+main_stm32.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ
-DUSE_SPI2_IRQ
+main_stm32.srcs += $(SRC_BOOZ)/imu/booz_imu_b2.c
$(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
+main_stm32.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c
$(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
+main_stm32.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c
$(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
+main_stm32.srcs += math/pprz_trig_int.c
+
+
#
-# main
+# main Overo
#
-main.ARCHDIR = $(ARCHI)
-main.ARCH = arm7tdmi
-main.TARGET = main
-main.TARGETDIR = main
-main.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
-main.CFLAGS += -DPERIPHERALS_AUTO_INIT
-main.srcs += beth/main_beth.c
-main.CFLAGS += -DUSE_LED
-main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
-main.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
-main.CFLAGS += -DUSE_USB_SERIAL
-main.srcs += $(SRC_ARCH)/usb_ser_hw.c
-main.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
-main.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
-main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=UsbS
-main.srcs += downlink.c pprz_transport.c
-main.srcs += beth/bench_sensors.c
+USER =
+HOST = beth
+HOST = overo
+TARGET_DIR = ~
+SRC_FMS=fms
-main.CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11
-DI2C1_BUF_LEN=16
-main.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+main_overo.ARCHDIR = omap
+main_overo.CFLAGS = -I. -I$(SRC_FMS)
+main_overo.srcs = $(SRC_BETH)/main_overo.c
+main_overo.srcs += $(SRC_FMS)/fms_spi_link.c
-
</makefile>
</airframe>
Copied: paparazzi3/trunk/conf/airframes/Poine/booz2_a1.xml (from rev 4877,
paparazzi3/trunk/conf/airframes/booz2_a1.xml)
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a1.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a1.xml 2010-04-27 18:15:57 UTC
(rev 4881)
@@ -0,0 +1,232 @@
+<airframe name="BOOZ2_a1">
+
+ <servos min="0" neutral="0" max="0xff">
+ <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
+ <servo name="BACK" no="1" min="0" neutral="0" max="255"/>
+ <servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
+ <servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
+ </servos>
+
+ <commands>
+ <axis name="PITCH" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="YAW" failsafe_value="0"/>
+ <axis name="THRUST" failsafe_value="0"/>
+ </commands>
+
+ <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+ <define name="NB" value="4"/>
+ <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
+ </section>
+
+ <section name="SUPERVISION" prefix="SUPERVISION_">
+ <define name="MIN_MOTOR" value="2"/>
+ <define name="MAX_MOTOR" value="210"/>
+ <define name="TRIM_A" value="0"/>
+ <define name="TRIM_E" value="0"/>
+ <define name="TRIM_R" value="0"/>
+ <define name="NB_MOTOR" value="4"/>
+ <define name="SCALE" value="256"/>
+ <define name="ROLL_COEF" value="{ 0, 0, -256, 256}"/>
+ <define name="PITCH_COEF" value="{ 256, -256, 0, 0}"/>
+ <define name="YAW_COEF" value="{ -256, -256, 256, 256}"/>
+ <define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
+ </section>
+
+ <section name="IMU" prefix="IMU_">
+
+ <define name="GYRO_P_CHAN" value="1"/>
+ <define name="GYRO_Q_CHAN" value="0"/>
+ <define name="GYRO_R_CHAN" value="2"/>
+
+ <define name="GYRO_P_NEUTRAL" value="33924"/>
+ <define name="GYRO_Q_NEUTRAL" value="33417"/>
+ <define name="GYRO_R_NEUTRAL" value="32809"/>
+
+ <define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
+ <define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
+ <define name="GYRO_R_SENS" value="-1.01" integer="16"/>
+
+ <define name="ACCEL_X_CHAN" value="3"/>
+ <define name="ACCEL_Y_CHAN" value="5"/>
+ <define name="ACCEL_Z_CHAN" value="6"/>
+
+ <define name="ACCEL_X_SENS" value="-2.50411474" integer="16"/>
+ <define name="ACCEL_Y_SENS" value="-2.48126183" integer="16"/>
+ <define name="ACCEL_Z_SENS" value="-2.51396167" integer="16"/>
+
+ <define name="ACCEL_X_NEUTRAL" value="32081"/>
+ <define name="ACCEL_Y_NEUTRAL" value="33738"/>
+ <define name="ACCEL_Z_NEUTRAL" value="32441"/>
+
+ <define name="MAG_X_CHAN" value="4"/>
+ <define name="MAG_Y_CHAN" value="0"/>
+ <define name="MAG_Z_CHAN" value="2"/>
+
+ <define name="MAG_X_NEUTRAL" value="2358"/>
+ <define name="MAG_Y_NEUTRAL" value="2362"/>
+ <define name="MAG_Z_NEUTRAL" value="2119"/>
+
+<!-- <define name="MAG_X_SENS" value="-4.94075530" integer="16"/>-->
+<!-- <define name="MAG_Y_SENS" value=" 5.10207664" integer="16"/>-->
+ <define name="MAG_Z_SENS" value="-4.90788848" integer="16"/>
+ <define name="MAG_45_HACK" value="1"/>
+<!-- <define name="MAG_X_SENS" value="-4.94075530 * sqrt(2)/2"
integer="16"/> -->
+<!-- <define name="MAG_Y_SENS" value=" 5.10207664 * sqrt(2)/2"
integer="16"/> -->
+ <define name="MAG_X_SENS" value="-3.4936416" integer="16"/>
+ <define name="MAG_Y_SENS" value=" 3.607713" integer="16"/>
+
+ <define name="BODY_TO_IMU_PHI" value="RadOfDeg(4.)"/>
+ <define name="BODY_TO_IMU_THETA" value="RadOfDeg(3.)"/>
+ <define name="BODY_TO_IMU_PSI" value="RadOfDeg(0.)"/>
+<!--
+ <define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)"/>
+ <define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)"/>
+ <define name="BODY_TO_IMU_PSI" value="RadOfDeg(0.)"/>
+-->
+
+ </section>
+
+ <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+
+ <define name="SP_MAX_P" value="10000"/>
+ <define name="SP_MAX_Q" value="10000"/>
+ <define name="SP_MAX_R" value="10000"/>
+
+ <define name="GAIN_P" value="-400"/>
+ <define name="GAIN_Q" value="-400"/>
+ <define name="GAIN_R" value="-350"/>
+
+ </section>
+
+
+ <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+
+ <!-- setpoints -->
+ <define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
+ <define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
+ <define name="SP_MAX_R" value="RadOfDeg(90.)"/>
+ <define name="DEADBAND_R" value="250"/>
+
+ <!-- reference -->
+ <define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
+ <define name="REF_ZETA_P" value="0.9"/>
+ <define name="REF_MAX_P" value="RadOfDeg(300.)"/>
+ <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
+
+ <define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
+ <define name="REF_ZETA_Q" value="0.9"/>
+ <define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
+ <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
+
+ <define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
+ <define name="REF_ZETA_R" value="0.9"/>
+ <define name="REF_MAX_R" value="RadOfDeg(180.)"/>
+ <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
+
+ <!-- feedback -->
+ <define name="PHI_PGAIN" value="-400"/>
+ <define name="PHI_DGAIN" value="-300"/>
+ <define name="PHI_IGAIN" value="-100"/>
+
+ <define name="THETA_PGAIN" value="-400"/>
+ <define name="THETA_DGAIN" value="-300"/>
+ <define name="THETA_IGAIN" value="-100"/>
+
+ <define name="PSI_PGAIN" value="-380"/>
+ <define name="PSI_DGAIN" value="-320"/>
+ <define name="PSI_IGAIN" value="-75"/>
+
+ <!-- feedforward -->
+ <define name="PHI_DDGAIN" value=" 300"/>
+ <define name="THETA_DDGAIN" value=" 300"/>
+ <define name="PSI_DDGAIN" value=" 300"/>
+
+ </section>
+
+ <section name="INS" prefix="BOOZ_INS_">
+ <define name="BARO_SENS" value="15." integer="16"/>
+ </section>
+
+ <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
+ <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
+ <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
+ <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
+ <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
+ <define name="MAX_SUM_ERR" value="2000000"/>
+ <define name="HOVER_KP" value="-500"/>
+ <define name="HOVER_KD" value="-200"/>
+ <define name="HOVER_KI" value="-100"/>
+ <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
+ <define name="RC_CLIMB_COEF" value ="163"/>
+ <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
+ <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+<!-- <define name="INV_M" value ="0.2"/> -->
+ </section>
+
+
+ <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
+ <define name="PGAIN" value="-100"/>
+ <define name="DGAIN" value="-100"/>
+ <define name="IGAIN" value="-0"/>
+ </section>
+
+ <section name="BAT">
+ <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ <define name="BATTERY_SENS" value="0.48" integer="16"/>
+ </section>
+
+ <section name="AUTOPILOT">
+ <define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
+ <define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
+ <define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
+ </section>
+
+ <section name="FMS">
+
+ </section>
+
+ <section name="MISC">
+ <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
+ </section>
+
+
+ <section name="SIMULATOR" prefix="NPS_">
+ <define name="ACTUATOR_NAMES" value="{"front_motor",
"back_motor", "right_motor", "left_motor"}"/>
+ <define name="INITIAL_CONDITITONS" value=""reset00""/>
+ <define name="SENSORS_PARAMS"
value=""nps_sensors_params_booz2_a1.h""/>
+ </section>
+
+
+
+
+ <makefile>
+
+ARCH=lpc21
+ARCHI=arm7
+BOARD_CFG = \"boards/booz2_v1_0.h\"
+FLASH_MODE = IAP
+
+# prevents motors from ever starting
+#ap.CFLAGS += -DKILL_MOTORS
+ap.CFLAGS += -DMODEM_BAUD=B57600
+
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(CFG_BOOZ)/booz2_autopilot.makefile
+include $(CFG_BOOZ)/booz2_test_progs.makefile
+
+include $(CFG_BOOZ)/booz2_simulator_nps.makefile
+
+include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
+include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
+include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1.makefile
+include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
+
+include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
+
+include $(CFG_BOOZ)/subsystems/booz2_fms_test_signal.makefile
+
+ </makefile>
+
+</airframe>
Copied: paparazzi3/trunk/conf/airframes/Poine/booz2_a1p.xml (from rev 4877,
paparazzi3/trunk/conf/airframes/booz2_a1p.xml)
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a1p.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a1p.xml 2010-04-27 18:15:57 UTC
(rev 4881)
@@ -0,0 +1,230 @@
+<airframe name="BOOZ2_a1">
+
+ <servos min="0" neutral="0" max="0xff">
+ <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
+ <servo name="BACK" no="1" min="0" neutral="0" max="255"/>
+ <servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
+ <servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
+ </servos>
+
+ <commands>
+ <axis name="PITCH" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="YAW" failsafe_value="0"/>
+ <axis name="THRUST" failsafe_value="0"/>
+ </commands>
+
+ <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+ <define name="NB" value="4"/>
+ <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
+ </section>
+
+ <section name="SUPERVISION" prefix="SUPERVISION_">
+ <define name="MIN_MOTOR" value="2"/>
+ <define name="MAX_MOTOR" value="210"/>
+ <define name="TRIM_A" value="0"/>
+ <define name="TRIM_E" value="0"/>
+ <define name="TRIM_R" value="0"/>
+ <define name="NB_MOTOR" value="4"/>
+ <define name="SCALE" value="256"/>
+ <define name="ROLL_COEF" value="{ 0, 0, -256, 256}"/>
+ <define name="PITCH_COEF" value="{ 256, -256, 0, 0}"/>
+ <define name="YAW_COEF" value="{ -256, -256, 256, 256}"/>
+ <define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
+ </section>
+
+ <section name="IMU" prefix="IMU_">
+
+ <define name="GYRO_P_CHAN" value="1"/>
+ <define name="GYRO_Q_CHAN" value="0"/>
+ <define name="GYRO_R_CHAN" value="2"/>
+
+ <define name="GYRO_P_NEUTRAL" value="33924"/>
+ <define name="GYRO_Q_NEUTRAL" value="33417"/>
+ <define name="GYRO_R_NEUTRAL" value="32809"/>
+
+ <define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
+ <define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
+ <define name="GYRO_R_SENS" value="-1.01" integer="16"/>
+
+ <define name="ACCEL_X_CHAN" value="3"/>
+ <define name="ACCEL_Y_CHAN" value="5"/>
+ <define name="ACCEL_Z_CHAN" value="6"/>
+
+ <define name="ACCEL_X_SENS" value="-2.50411474" integer="16"/>
+ <define name="ACCEL_Y_SENS" value="-2.48126183" integer="16"/>
+ <define name="ACCEL_Z_SENS" value="-2.51396167" integer="16"/>
+
+ <define name="ACCEL_X_NEUTRAL" value="32081"/>
+ <define name="ACCEL_Y_NEUTRAL" value="33738"/>
+ <define name="ACCEL_Z_NEUTRAL" value="32441"/>
+
+ <define name="MAG_X_CHAN" value="4"/>
+ <define name="MAG_Y_CHAN" value="0"/>
+ <define name="MAG_Z_CHAN" value="2"/>
+
+ <define name="MAG_X_NEUTRAL" value="2358"/>
+ <define name="MAG_Y_NEUTRAL" value="2362"/>
+ <define name="MAG_Z_NEUTRAL" value="2119"/>
+
+ <define name="MAG_X_SENS" value="-4.94075530" integer="16"/>
+ <define name="MAG_Y_SENS" value=" 5.10207664" integer="16"/>
+ <define name="MAG_Z_SENS" value="-4.90788848" integer="16"/>
+<!-- <define name="MAG_45_HACK" value="1"/> -->
+<!-- <define name="MAG_X_SENS" value="-4.94075530 * sqrt(2)/2"
integer="16"/> -->
+<!-- <define name="MAG_Y_SENS" value=" 5.10207664 * sqrt(2)/2"
integer="16"/> -->
+<!-- <define name="MAG_X_SENS" value="-3.4936416" integer="16"/> -->
+<!-- <define name="MAG_Y_SENS" value=" 3.607713" integer="16"/> -->
+
+ <define name="BODY_TO_IMU_PHI" value="RadOfDeg(4.)"/>
+ <define name="BODY_TO_IMU_THETA" value="RadOfDeg(3.)"/>
+ <define name="BODY_TO_IMU_PSI" value="RadOfDeg(0.)"/>
+
+ </section>
+
+ <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+
+ <define name="SP_MAX_P" value="10000"/>
+ <define name="SP_MAX_Q" value="10000"/>
+ <define name="SP_MAX_R" value="10000"/>
+
+ <define name="GAIN_P" value="-400"/>
+ <define name="GAIN_Q" value="-400"/>
+ <define name="GAIN_R" value="-350"/>
+
+ </section>
+
+
+ <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+
+ <!-- setpoints -->
+ <define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
+ <define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
+ <define name="SP_MAX_R" value="RadOfDeg(90.)"/>
+ <define name="DEADBAND_R" value="250"/>
+
+ <!-- reference -->
+ <define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
+ <define name="REF_ZETA_P" value="0.9"/>
+ <define name="REF_MAX_P" value="RadOfDeg(300.)"/>
+ <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
+
+ <define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
+ <define name="REF_ZETA_Q" value="0.9"/>
+ <define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
+ <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
+
+ <define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
+ <define name="REF_ZETA_R" value="0.9"/>
+ <define name="REF_MAX_R" value="RadOfDeg(180.)"/>
+ <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
+
+ <!-- feedback -->
+ <define name="PHI_PGAIN" value="-400"/>
+ <define name="PHI_DGAIN" value="-300"/>
+ <define name="PHI_IGAIN" value="-100"/>
+
+ <define name="THETA_PGAIN" value="-400"/>
+ <define name="THETA_DGAIN" value="-300"/>
+ <define name="THETA_IGAIN" value="-100"/>
+
+ <define name="PSI_PGAIN" value="-380"/>
+ <define name="PSI_DGAIN" value="-320"/>
+ <define name="PSI_IGAIN" value="-75"/>
+
+ <!-- feedforward -->
+ <define name="PHI_DDGAIN" value=" 300"/>
+ <define name="THETA_DDGAIN" value=" 300"/>
+ <define name="PSI_DDGAIN" value=" 300"/>
+
+ </section>
+
+ <section name="ARHS" prefix="AHRS_">
+ <define name="H_X" value="0.4912"/>
+ <define name="H_Y" value="0.1225"/>
+ <define name="H_Z" value="0.8624"/>
+ </section>
+
+ <section name="INS" prefix="BOOZ_INS_">
+ <define name="BARO_SENS" value="15." integer="16"/>
+ </section>
+
+ <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
+ <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
+ <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
+ <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
+ <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
+ <define name="MAX_SUM_ERR" value="2000000"/>
+ <define name="HOVER_KP" value="-500"/>
+ <define name="HOVER_KD" value="-200"/>
+ <define name="HOVER_KI" value="-100"/>
+ <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
+ <define name="RC_CLIMB_COEF" value ="163"/>
+ <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
+ <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+<!-- <define name="INV_M" value ="0.2"/> -->
+ </section>
+
+
+ <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
+ <define name="PGAIN" value="-100"/>
+ <define name="DGAIN" value="-100"/>
+ <define name="IGAIN" value="-0"/>
+ </section>
+
+ <section name="BAT">
+ <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ <define name="BATTERY_SENS" value="0.48" integer="16"/>
+ </section>
+
+ <section name="AUTOPILOT">
+ <define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
+ <define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
+ <define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
+ </section>
+
+ <section name="FMS">
+
+ </section>
+
+ <section name="MISC">
+ <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
+ </section>
+
+
+ <section name="SIMULATOR" prefix="NPS_">
+ <define name="ACTUATOR_NAMES" value="{"front_motor",
"back_motor", "right_motor", "left_motor"}"/>
+ <define name="INITIAL_CONDITITONS" value=""reset00""/>
+ <define name="SENSORS_PARAMS"
value=""nps_sensors_params_booz2_a1p.h""/>
+ </section>
+
+
+
+
+ <makefile>
+ARCH=lpc21
+BOARD_CFG = \"boards/booz2_v1_0.h\"
+
+# prevents motors from ever starting
+#ap.CFLAGS += -DKILL_MOTORS
+ap.CFLAGS += -DMODEM_BAUD=B57600
+
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(CFG_BOOZ)/booz2_autopilot.makefile
+include $(CFG_BOOZ)/booz2_test_progs.makefile
+
+include $(CFG_BOOZ)/booz2_simulator_nps.makefile
+
+include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
+include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
+include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1.makefile
+include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
+
+include $(CFG_BOOZ)/subsystems/booz_ahrs_mlkf.makefile
+
+include $(CFG_BOOZ)/subsystems/booz2_fms_test_signal.makefile
+
+ </makefile>
+
+</airframe>
Copied: paparazzi3/trunk/conf/airframes/Poine/booz2_a2.xml (from rev 4877,
paparazzi3/trunk/conf/airframes/booz2_a2.xml)
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a2.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a2.xml 2010-04-27 18:15:57 UTC
(rev 4881)
@@ -0,0 +1,192 @@
+<airframe name="BOOZ2_A2">
+
+ <servos min="0" neutral="0" max="0xff">
+ <servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
+ <servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
+ <servo name="YAW" no="2" min="0" neutral="0" max="255"/>
+ <servo name="THRUST" no="3" min="0" neutral="0" max="255"/>
+ </servos>
+
+ <commands>
+ <axis name="PITCH" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="YAW" failsafe_value="0"/>
+ <axis name="THRUST" failsafe_value="0"/>
+ </commands>
+
+ <section name="IMU" prefix="IMU_">
+
+ <define name="GYRO_P_CHAN" value="4"/>
+ <define name="GYRO_Q_CHAN" value="0"/>
+ <define name="GYRO_R_CHAN" value="1"/>
+
+ <define name="GYRO_P_NEUTRAL" value="32734"/>
+ <define name="GYRO_Q_NEUTRAL" value="32272"/>
+ <define name="GYRO_R_NEUTRAL" value="32420"/>
+
+ <define name="GYRO_P_SENS" value="-0.85" integer="16"/>
+ <define name="GYRO_Q_SENS" value=" 0.85" integer="16"/>
+ <define name="GYRO_R_SENS" value=" 0.85" integer="16"/>
+
+ <define name="ACCEL_X_CHAN" value="2"/>
+ <define name="ACCEL_Y_CHAN" value="5"/>
+ <define name="ACCEL_Z_CHAN" value="6"/>
+
+ <define name="ACCEL_X_SENS" value="-6.29676358" integer="16"/>
+ <define name="ACCEL_Y_SENS" value="-6.07991732" integer="16"/>
+ <define name="ACCEL_Z_SENS" value=" 6.62632272" integer="16"/>
+
+ <define name="ACCEL_X_NEUTRAL" value="40385"/>
+ <define name="ACCEL_Y_NEUTRAL" value="39223"/>
+ <define name="ACCEL_Z_NEUTRAL" value="38860"/>
+
+ <define name="MAG_X_CHAN" value="0"/>
+ <define name="MAG_Y_CHAN" value="4"/>
+ <define name="MAG_Z_CHAN" value="2"/>
+
+ <define name="MAG_X_NEUTRAL" value="2339"/>
+ <define name="MAG_Y_NEUTRAL" value="2106"/>
+ <define name="MAG_Z_NEUTRAL" value="1902"/>
+
+ <define name="MAG_X_SENS" value="-4.4039655" integer="16"/>
+ <define name="MAG_Y_SENS" value="-4.2959321" integer="16"/>
+ <define name="MAG_Z_SENS" value="-4.0988408" integer="16"/>
+
+ <define name="BODY_TO_IMU_PHI" value="RadOfDeg( 1.5)"/>
+ <define name="BODY_TO_IMU_THETA" value="RadOfDeg(-1.5)"/>
+ <define name="BODY_TO_IMU_PSI" value="RadOfDeg( 0. )"/>
+
+ </section>
+
+ <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+
+ <define name="SP_MAX_P" value="10000"/>
+ <define name="SP_MAX_Q" value="10000"/>
+ <define name="SP_MAX_R" value="10000"/>
+
+ <define name="GAIN_P" value="-400"/>
+ <define name="GAIN_Q" value="-400"/>
+ <define name="GAIN_R" value="-350"/>
+
+ </section>
+
+ <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+
+ <!-- setpoints -->
+ <define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
+ <define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
+ <define name="SP_MAX_R" value="RadOfDeg(90.)"/>
+ <define name="DEADBAND_R" value="250"/>
+
+ <!-- reference -->
+ <define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
+ <define name="REF_ZETA_P" value="0.85"/>
+ <define name="REF_MAX_P" value="RadOfDeg(300.)"/>
+ <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
+
+ <define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
+ <define name="REF_ZETA_Q" value="0.85"/>
+ <define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
+ <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
+
+ <define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
+ <define name="REF_ZETA_R" value="0.85"/>
+ <define name="REF_MAX_R" value="RadOfDeg(180.)"/>
+ <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
+
+ <!-- feedback -->
+ <define name="PHI_PGAIN" value="-400"/>
+ <define name="PHI_DGAIN" value="-300"/>
+ <define name="PHI_IGAIN" value="-100"/>
+
+ <define name="THETA_PGAIN" value="-400"/>
+ <define name="THETA_DGAIN" value="-300"/>
+ <define name="THETA_IGAIN" value="-100"/>
+
+ <define name="PSI_PGAIN" value="-380"/>
+ <define name="PSI_DGAIN" value="-320"/>
+ <define name="PSI_IGAIN" value="-75"/>
+
+ <!-- feedforward -->
+ <define name="PHI_DDGAIN" value=" 300"/>
+ <define name="THETA_DDGAIN" value=" 300"/>
+ <define name="PSI_DDGAIN" value=" 300"/>
+
+ </section>
+
+ <section name="SUPERVISION" prefix="SUPERVISION_">
+ <define name="TRIM_A" value="0"/>
+ <define name="TRIM_E" value="6"/>
+ <define name="TRIM_R" value="0"/>
+ </section>
+
+ <section name="INS" prefix="BOOZ_INS_">
+ <define name="BARO_SENS" value="14.9" integer="16"/>
+ </section>
+
+
+ <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
+
+ <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
+ <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
+ <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
+ <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
+ <define name="MAX_SUM_ERR" value="2000000"/>
+ <define name="HOVER_KP" value="-500"/>
+ <define name="HOVER_KD" value="-250"/>
+ <define name="HOVER_KI" value="-100"/>
+ <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
+ <define name="RC_CLIMB_COEF" value ="163"/>
+ <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
+ <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+ </section>
+
+ <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
+ <define name="PGAIN" value="-100"/>
+ <define name="DGAIN" value="-100"/>
+ <define name="IGAIN" value="-0"/>
+ </section>
+
+ <section name="BAT">
+ <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ <define name="BATTERY_SENS" value="0.25" integer="16"/>
+<!-- <define name="BATTERY_SENS" value="1" integer="16"/>-->
+ </section>
+
+ <section name="AUTOPILOT">
+ <define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
+ <define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
+ <define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
+ </section>
+
+
+ <section name="MISC">
+ <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
+ </section>
+
+ <makefile>
+
+ARCH=lpc21
+ARCHI=arm7
+BOARD_CFG = \"boards/booz2_v1_0.h\"
+
+# prevents motors from ever starting
+#ap.CFLAGS += -DKILL_MOTORS
+
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(CFG_BOOZ)/booz2_autopilot.makefile
+include $(CFG_BOOZ)/booz2_test_progs.makefile
+
+ap.CFLAGS += -DMODEM_BAUD=B57600
+include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
+include $(CFG_BOOZ)/subsystems/booz2_actuators_asctec.makefile
+include $(CFG_BOOZ)/subsystems/booz2_imu_crista.makefile
+include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
+
+include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
+include $(CFG_BOOZ)/subsystems/booz2_fms_test_signal.makefile
+
+ </makefile>
+
+</airframe>
Copied: paparazzi3/trunk/conf/airframes/Poine/booz2_a3.xml (from rev 4877,
paparazzi3/trunk/conf/airframes/booz2_a3.xml)
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a3.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a3.xml 2010-04-27 18:15:57 UTC
(rev 4881)
@@ -0,0 +1,190 @@
+<airframe name="BOOZ2_A3">
+
+ <servos min="0" neutral="0" max="0xff">
+ <servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
+ <servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
+ <servo name="YAW" no="2" min="0" neutral="0" max="255"/>
+ <servo name="THRUST" no="3" min="0" neutral="0" max="255"/>
+ </servos>
+
+ <commands>
+ <axis name="PITCH" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="YAW" failsafe_value="0"/>
+ <axis name="THRUST" failsafe_value="0"/>
+ </commands>
+
+ <section name="IMU" prefix="IMU_">
+
+ <define name="GYRO_P_CHAN" value="1"/>
+ <define name="GYRO_Q_CHAN" value="0"/>
+ <define name="GYRO_R_CHAN" value="2"/>
+
+ <define name="GYRO_P_NEUTRAL" value="31993"/>
+ <define name="GYRO_Q_NEUTRAL" value="31923"/>
+ <define name="GYRO_R_NEUTRAL" value="32727"/>
+
+ <define name="GYRO_P_SENS" value=" 1.00" integer="16"/>
+ <define name="GYRO_Q_SENS" value="-1.00" integer="16"/>
+ <define name="GYRO_R_SENS" value="-1.01" integer="16"/>
+
+ <define name="ACCEL_X_CHAN" value="5"/>
+ <define name="ACCEL_Y_CHAN" value="3"/>
+ <define name="ACCEL_Z_CHAN" value="4"/>
+
+ <define name="ACCEL_X_SENS" value="-2.58291748" integer="16"/>
+ <define name="ACCEL_Y_SENS" value="-2.53729378" integer="16"/>
+ <define name="ACCEL_Z_SENS" value="-2.57289306" integer="16"/>
+
+ <define name="ACCEL_X_NEUTRAL" value="32803"/>
+ <define name="ACCEL_Y_NEUTRAL" value="32466"/>
+ <define name="ACCEL_Z_NEUTRAL" value="32575"/>
+
+ <define name="MAG_X_CHAN" value="4"/>
+ <define name="MAG_Y_CHAN" value="0"/>
+ <define name="MAG_Z_CHAN" value="2"/>
+
+ <define name="MAG_X_NEUTRAL" value="0"/>
+ <define name="MAG_Y_NEUTRAL" value="0"/>
+ <define name="MAG_Z_NEUTRAL" value="0"/>
+
+ <define name="MAG_X_SENS" value="20." integer="16"/>
+ <define name="MAG_Y_SENS" value="20." integer="16"/>
+ <define name="MAG_Z_SENS" value="15." integer="16"/>
+
+ <define name="BODY_TO_IMU_PHI" value="RadOfDeg( 14.5)"/>
+ <define name="BODY_TO_IMU_THETA" value="RadOfDeg( -8.5)"/>
+ <define name="BODY_TO_IMU_PSI" value="RadOfDeg(-45. )"/>
+
+ </section>
+
+ <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+
+ <define name="SP_MAX_P" value="10000"/>
+ <define name="SP_MAX_Q" value="10000"/>
+ <define name="SP_MAX_R" value="10000"/>
+
+ <define name="GAIN_P" value="-400"/>
+ <define name="GAIN_Q" value="-400"/>
+ <define name="GAIN_R" value="-350"/>
+
+ </section>
+
+ <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+
+ <!-- setpoints -->
+ <define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
+ <define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
+ <define name="SP_MAX_R" value="RadOfDeg(90.)"/>
+ <define name="DEADBAND_R" value="250"/>
+
+ <!-- reference -->
+ <define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
+ <define name="REF_ZETA_P" value="0.85"/>
+ <define name="REF_MAX_P" value="RadOfDeg(300.)"/>
+ <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
+
+ <define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
+ <define name="REF_ZETA_Q" value="0.85"/>
+ <define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
+ <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
+
+ <define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
+ <define name="REF_ZETA_R" value="0.85"/>
+ <define name="REF_MAX_R" value="RadOfDeg(180.)"/>
+ <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
+
+ <!-- feedback -->
+ <define name="PHI_PGAIN" value="-375"/>
+ <define name="PHI_DGAIN" value="-250"/>
+ <define name="PHI_IGAIN" value="-50"/>
+
+ <define name="THETA_PGAIN" value="-375"/>
+ <define name="THETA_DGAIN" value="-250"/>
+ <define name="THETA_IGAIN" value="-50"/>
+
+ <define name="PSI_PGAIN" value="-300"/>
+ <define name="PSI_DGAIN" value="-130"/>
+ <define name="PSI_IGAIN" value="-50"/>
+
+ <!-- feedforward -->
+ <define name="PHI_DDGAIN" value=" 300"/>
+ <define name="THETA_DDGAIN" value=" 300"/>
+ <define name="PSI_DDGAIN" value=" 300"/>
+
+ </section>
+
+ <section name="SUPERVISION" prefix="SUPERVISION_">
+ <define name="TRIM_A" value="0"/>
+ <define name="TRIM_E" value="6"/>
+ <define name="TRIM_R" value="0"/>
+ </section>
+
+ <section name="INS" prefix="BOOZ_INS_">
+ <define name="BARO_SENS" value="14.9" integer="16"/>
+ </section>
+
+
+ <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
+
+ <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
+ <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
+ <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
+ <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
+ <define name="HOVER_KP" value="-500"/>
+ <define name="HOVER_KD" value="-250"/>
+ <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
+ <define name="RC_CLIMB_COEF" value ="163"/>
+ <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
+ <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+ </section>
+
+ <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
+ <define name="PGAIN" value="-100"/>
+ <define name="DGAIN" value="-100"/>
+ <define name="IGAIN" value="-0"/>
+ </section>
+
+ <section name="BAT">
+ <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ <define name="BATTERY_SENS" value="0.25" integer="16"/>
+<!-- <define name="BATTERY_SENS" value="1" integer="16"/>-->
+ </section>
+
+ <section name="AUTOPILOT">
+ <define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
+ <define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
+ <define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
+ </section>
+
+
+ <section name="MISC">
+ <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
+ </section>
+
+ <makefile>
+ARCH=lpc21
+BOARD_CFG = \"boards/booz2_v1_0.h\"
+
+# prevents motors from ever starting
+#ap.CFLAGS += -DKILL_MOTORS
+
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(CFG_BOOZ)/booz2_autopilot.makefile
+include $(CFG_BOOZ)/booz2_test_progs.makefile
+
+include $(CFG_BOOZ)/booz2_simulator_nps.makefile
+
+ap.CFLAGS += -DMODEM_BAUD=B57600
+ap.CFLAGS += -DMODEM_BAUD=B57600
+include $(CFG_BOOZ)/subsystems/booz2_radio_control_spektrum.makefile
+include $(CFG_BOOZ)/subsystems/booz2_actuators_asctec.makefile
+include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1.makefile
+# NO GPS, uses spektrum
+
+include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
+
+ </makefile>
+
+</airframe>
Copied: paparazzi3/trunk/conf/airframes/Poine/booz2_a4.xml (from rev 4877,
paparazzi3/trunk/conf/airframes/booz2_a4.xml)
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a4.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a4.xml 2010-04-27 18:15:57 UTC
(rev 4881)
@@ -0,0 +1,171 @@
+<airframe name="BOOZ2_A4">
+
+ <servos min="0" neutral="0" max="0xff">
+ <servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
+ <servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
+ <servo name="YAW" no="2" min="0" neutral="0" max="255"/>
+ <servo name="THRUST" no="3" min="0" neutral="0" max="255"/>
+ <servo name="AILEVON_R" no="4" min="1000" neutral="1750" max="2000"/>
+ <servo name="AILEVON_L" no="5" min="1000" neutral="1680" max="2000"/>
+ </servos>
+
+ <commands>
+ <axis name="PITCH" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="YAW" failsafe_value="0"/>
+ <axis name="THRUST" failsafe_value="0"/>
+ </commands>
+
+ <section name="IMU" prefix="IMU_">
+
+ <define name="GYRO_Q_CHAN" value="1"/>
+ <define name="GYRO_R_CHAN" value="0"/>
+ <define name="GYRO_P_CHAN" value="2"/>
+
+ <define name="GYRO_Q_NEUTRAL" value="31993"/>
+ <define name="GYRO_R_NEUTRAL" value="31923"/>
+ <define name="GYRO_P_NEUTRAL" value="32727"/>
+
+ <define name="GYRO_Q_SENS" value=" 1.00" integer="16"/>
+ <define name="GYRO_R_SENS" value="-1.00" integer="16"/>
+ <define name="GYRO_P_SENS" value="-1.01" integer="16"/>
+
+ <define name="ACCEL_Y_CHAN" value="5"/>
+ <define name="ACCEL_Z_CHAN" value="3"/>
+ <define name="ACCEL_X_CHAN" value="4"/>
+
+ <define name="ACCEL_Y_SENS" value="-2.58291748" integer="16"/>
+ <define name="ACCEL_Z_SENS" value="-2.53729378" integer="16"/>
+ <define name="ACCEL_X_SENS" value="-2.57289306" integer="16"/>
+
+ <define name="ACCEL_Y_NEUTRAL" value="32803"/>
+ <define name="ACCEL_Z_NEUTRAL" value="32466"/>
+ <define name="ACCEL_X_NEUTRAL" value="32575"/>
+
+ <define name="MAG_Z_CHAN" value="1"/>
+ <define name="MAG_X_CHAN" value="2"/>
+ <define name="MAG_Y_CHAN" value="0"/>
+
+ <define name="MAG_Z_NEUTRAL" value="48"/>
+ <define name="MAG_X_NEUTRAL" value="11"/>
+ <define name="MAG_Y_NEUTRAL" value="-45"/>
+
+ <define name="MAG_Z_SENS" value="-4.65606311" integer="16"/>
+ <define name="MAG_X_SENS" value="-3.03386034" integer="16"/>
+ <define name="MAG_Y_SENS" value=" 4.99085017" integer="16"/>
+
+ <define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0.)"/>
+ <define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0.)"/>
+ <define name="BODY_TO_IMU_PSI" value="RadOfDeg( 0.)"/>
+
+ </section>
+
+ <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+
+ <define name="SP_MAX_P" value="10000"/>
+ <define name="SP_MAX_Q" value="10000"/>
+ <define name="SP_MAX_R" value="10000"/>
+
+ <define name="GAIN_P" value="-400"/>
+ <define name="GAIN_Q" value="-400"/>
+ <define name="GAIN_R" value="-350"/>
+
+ </section>
+
+ <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+
+ <define name="SP_MAX_PHI" value="3000"/>
+ <define name="SP_MAX_THETA" value="6000"/>
+ <define name="SP_MAX_R" value="4000"/>
+ <define name="DEADBAND_R" value="250"/>
+
+ <define name="PHI_THETA_PGAIN" value="-400"/>
+ <define name="PHI_THETA_DGAIN" value="-300"/>
+ <define name="PHI_THETA_DDGAIN" value=" 300"/>
+ <define name="PHI_THETA_IGAIN" value="-50"/>
+
+ <define name="PSI_PGAIN" value="-380"/>
+ <define name="PSI_DGAIN" value="-320"/>
+ <define name="PSI_DDGAIN" value=" 300"/>
+ <define name="PSI_IGAIN" value="-50"/>
+
+ </section>
+
+ <section name="SUPERVISION" prefix="SUPERVISION_">
+ <define name="TRIM_A" value="0"/>
+ <define name="TRIM_E" value="0"/>
+ <define name="TRIM_R" value="0"/>
+ <define name="HACK_45" value="1"/>
+ </section>
+
+ <section name="INS" prefix="BOOZ_INS_">
+ <define name="BARO_SENS" value="14.9" integer="16"/>
+ </section>
+
+
+ <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
+
+ <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
+ <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
+ <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
+ <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
+ <define name="HOVER_KP" value="-500"/>
+ <define name="HOVER_KD" value="-250"/>
+ <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
+ <define name="RC_CLIMB_COEF" value ="163"/>
+ <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
+ <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+ </section>
+
+ <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
+ <define name="PGAIN" value="-100"/>
+ <define name="DGAIN" value="-100"/>
+ <define name="IGAIN" value="-0"/>
+ </section>
+
+ <section name="BAT">
+ <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ <define name="BATTERY_SENS" value="0.25" integer="16"/>
+<!-- <define name="BATTERY_SENS" value="1" integer="16"/>-->
+ </section>
+
+ <section name="AUTOPILOT">
+ <define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
+ <define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
+ <define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
+ </section>
+
+
+ <section name="MISC">
+ <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
+ </section>
+
+ <makefile>
+ARCH=lpc21
+BOARD_CFG = \"boards/booz2_v1_0.h\"
+
+# prevents motors from ever starting
+#ap.CFLAGS += -DKILL_MOTORS
+
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_autopilot.makefile
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_test_progs.makefile
+
+sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_simulator.makefile
+
+ap.CFLAGS += -DMODEM_BAUD=B57600
+include $(PAPARAZZI_SRC)/conf/autopilot/radio_control_spektrum.makefile
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_asctec.makefile
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_imu_b2v1_1.makefile
+
+include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
+
+ap.CFLAGS += -DUSE_BOOZ2_CONTROL_SURFACES -DUSE_BOOZ2_SERVOS_DIRECT
+ap.CFLAGS += -DUSE_BOOZ2_SERVOS_DIRECT_0 -DUSE_BOOZ2_SERVOS_DIRECT_1
+ap.srcs += $(SRC_BOOZ_ARCH)/booz2_servos_direct_hw.c
+
+ </makefile>
+
+</airframe>
Copied: paparazzi3/trunk/conf/airframes/Poine/booz2_a5.xml (from rev 4877,
paparazzi3/trunk/conf/airframes/booz2_a5.xml)
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a5.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a5.xml 2010-04-27 18:15:57 UTC
(rev 4881)
@@ -0,0 +1,210 @@
+<airframe name="booz2_a5">
+
+ <servos min="0" neutral="0" max="0xff">
+ <servo name="BACK_RIGHT" no="0" min="0" neutral="0" max="255"/>
+ <servo name="BACK_LEFT" no="1" min="0" neutral="0" max="255"/>
+ <servo name="CENTER_RIGHT" no="2" min="0" neutral="0" max="255"/>
+ <servo name="CENTER_LEFT" no="3" min="0" neutral="0" max="255"/>
+ <servo name="FRONT_RIGHT" no="4" min="0" neutral="0" max="255"/>
+ <servo name="FRONT_LEFT" no="5" min="0" neutral="0" max="255"/>
+ </servos>
+
+ <commands>
+ <axis name="PITCH" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="YAW" failsafe_value="0"/>
+ <axis name="THRUST" failsafe_value="0"/>
+ </commands>
+
+ <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+ <define name="NB" value="6"/>
+ <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58, 0x5A, 0X5C }"/>
+ </section>
+
+ <section name="SUPERVISION" prefix="SUPERVISION_">
+ <define name="MIN_MOTOR" value="2"/>
+ <define name="MAX_MOTOR" value="210"/>
+ <define name="TRIM_A" value="0"/>
+ <define name="TRIM_E" value="0"/>
+ <define name="TRIM_R" value="0"/>
+ <define name="NB_MOTOR" value="6"/>
+ <define name="SCALE" value="256"/>
+ <define name="ROLL_COEF" value="{ -69, 69, -256, 256, -186, 186 }"/>
+ <define name="PITCH_COEF" value="{ -256, -256, 0, 0, 256, 256 }"/>
+ <define name="YAW_COEF" value="{ -153, 153, 256, -256, -115, 115 }"/>
+ <define name="THRUST_COEF" value="{ 256, 256, 256, 256, 256, 256 }"/>
+ </section>
+
+ <section name="IMU" prefix="IMU_">
+
+ <define name="GYRO_P_CHAN" value="1"/>
+ <define name="GYRO_Q_CHAN" value="0"/>
+ <define name="GYRO_R_CHAN" value="2"/>
+
+ <define name="GYRO_P_NEUTRAL" value="31489"/>
+ <define name="GYRO_Q_NEUTRAL" value="31814"/>
+ <define name="GYRO_R_NEUTRAL" value="32752"/>
+
+ <define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
+ <define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
+ <define name="GYRO_R_SENS" value="-1.01" integer="16"/>
+
+
+ <define name="ACCEL_X_CHAN" value="5"/>
+ <define name="ACCEL_Y_CHAN" value="3"/>
+ <define name="ACCEL_Z_CHAN" value="4"/>
+
+ <define name="ACCEL_X_SENS" value="-2.53973936" integer="16"/>
+ <define name="ACCEL_Y_SENS" value="-2.58673329" integer="16"/>
+ <define name="ACCEL_Z_SENS" value="-2.58223257" integer="16"/>
+
+ <define name="ACCEL_X_NEUTRAL" value="32877"/>
+ <define name="ACCEL_Y_NEUTRAL" value="32415"/>
+ <define name="ACCEL_Z_NEUTRAL" value="32612"/>
+
+ <define name="MAG_X_CHAN" value="0"/>
+ <define name="MAG_Y_CHAN" value="1"/>
+ <define name="MAG_Z_CHAN" value="2"/>
+
+
+ <define name="MAG_X_SENS" value="5.00200577" integer="16"/>
+ <define name="MAG_Y_SENS" value="-4.68598036" integer="16"/>
+ <define name="MAG_Z_SENS" value="-2.98216964" integer="16"/>
+
+ <define name="MAG_X_NEUTRAL" value="-47"/>
+ <define name="MAG_Y_NEUTRAL" value="24"/>
+ <define name="MAG_Z_NEUTRAL" value="28"/>
+
+ <define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0.)"/>
+ <define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0.)"/>
+ <define name="BODY_TO_IMU_PSI" value="RadOfDeg(-45.)"/>
+
+ </section>
+
+ <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+
+ <define name="SP_MAX_P" value="10000"/>
+ <define name="SP_MAX_Q" value="10000"/>
+ <define name="SP_MAX_R" value="10000"/>
+
+ <define name="GAIN_P" value="-400"/>
+ <define name="GAIN_Q" value="-400"/>
+ <define name="GAIN_R" value="-350"/>
+
+ </section>
+
+ <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+
+ <!-- setpoints -->
+ <define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
+ <define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
+ <define name="SP_MAX_R" value="RadOfDeg(90.)"/>
+ <define name="DEADBAND_R" value="250"/>
+
+ <!-- reference -->
+ <define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
+ <define name="REF_ZETA_P" value="0.85"/>
+ <define name="REF_MAX_P" value="RadOfDeg(300.)"/>
+ <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
+
+ <define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
+ <define name="REF_ZETA_Q" value="0.85"/>
+ <define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
+ <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
+
+ <define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
+ <define name="REF_ZETA_R" value="0.85"/>
+ <define name="REF_MAX_R" value="RadOfDeg(180.)"/>
+ <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
+
+ <!-- feedback -->
+ <define name="PHI_PGAIN" value="-400"/>
+ <define name="PHI_DGAIN" value="-300"/>
+ <define name="PHI_IGAIN" value="-100"/>
+
+ <define name="THETA_PGAIN" value="-400"/>
+ <define name="THETA_DGAIN" value="-300"/>
+ <define name="THETA_IGAIN" value="-100"/>
+
+ <define name="PSI_PGAIN" value="-380"/>
+ <define name="PSI_DGAIN" value="-320"/>
+ <define name="PSI_IGAIN" value="-75"/>
+
+ <!-- feedforward -->
+ <define name="PHI_DDGAIN" value=" 300"/>
+ <define name="THETA_DDGAIN" value=" 300"/>
+ <define name="PSI_DDGAIN" value=" 300"/>
+
+ </section>
+
+ <section name="INS" prefix="BOOZ_INS_">
+ <define name="BARO_SENS" value="15." integer="16"/>
+ </section>
+
+ <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
+ <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
+ <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
+ <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
+ <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
+ <define name="MAX_SUM_ERR" value="2000000"/>
+ <define name="HOVER_KP" value="-500"/>
+ <define name="HOVER_KD" value="-200"/>
+ <define name="HOVER_KI" value="-100"/>
+ <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
+ <define name="RC_CLIMB_COEF" value ="163"/>
+ <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
+ <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+ <define name="INV_M" value ="0.2"/>
+ </section>
+
+
+ <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
+ <define name="PGAIN" value="-100"/>
+ <define name="DGAIN" value="-100"/>
+ <define name="IGAIN" value="-0"/>
+ </section>
+
+ <section name="BAT">
+ <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ <define name="BATTERY_SENS" value="0.48" integer="16"/>
+ </section>
+
+ <section name="MISC">
+ <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
+ </section>
+
+ <section name="AUTOPILOT">
+ <define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
+ <define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
+ <define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
+ </section>
+
+ <makefile>
+
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+
+ARCH=lpc21
+BOARD_CFG = \"boards/booz2_v1_0.h\"
+ap.CFLAGS += -DMODEM_BAUD=B57600
+
+# prevents motors from ever starting
+#ap.CFLAGS += -DKILL_MOTORS
+
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(CFG_BOOZ)/booz2_autopilot.makefile
+include $(CFG_BOOZ)/booz2_test_progs.makefile
+
+include $(CFG_BOOZ)/subsystems/booz2_radio_control_spektrum.makefile
+include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
+include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
+#include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
+
+include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
+
+
+
+ </makefile>
+
+</airframe>
+
Copied: paparazzi3/trunk/conf/airframes/Poine/booz2_a6.xml (from rev 4877,
paparazzi3/trunk/conf/airframes/booz2_a6.xml)
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a6.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a6.xml 2010-04-27 18:15:57 UTC
(rev 4881)
@@ -0,0 +1,205 @@
+<airframe name="booz2_a6">
+
+ <servos min="0" neutral="0" max="0xff">
+ <servo name="BACK_RIGHT" no="0" min="0" neutral="0" max="255"/>
+ <servo name="BACK_LEFT" no="1" min="0" neutral="0" max="255"/>
+ <servo name="CENTER_RIGHT" no="2" min="0" neutral="0" max="255"/>
+ <servo name="CENTER_LEFT" no="3" min="0" neutral="0" max="255"/>
+ <servo name="FRONT_RIGHT" no="4" min="0" neutral="0" max="255"/>
+ <servo name="FRONT_LEFT" no="5" min="0" neutral="0" max="255"/>
+ </servos>
+
+ <commands>
+ <axis name="PITCH" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="YAW" failsafe_value="0"/>
+ <axis name="THRUST" failsafe_value="0"/>
+ </commands>
+
+ <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+ <define name="NB" value="6"/>
+ <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58, 0x5A, 0X5C }"/>
+ </section>
+
+ <section name="SUPERVISION" prefix="SUPERVISION_">
+ <define name="MIN_MOTOR" value="2"/>
+ <define name="MAX_MOTOR" value="210"/>
+ <define name="TRIM_A" value="0"/>
+ <define name="TRIM_E" value="0"/>
+ <define name="TRIM_R" value="0"/>
+ <define name="NB_MOTOR" value="6"/>
+ <define name="SCALE" value="256"/>
+ <define name="ROLL_COEF" value="{ -69, 69, -256, 256, -186, 186 }"/>
+ <define name="PITCH_COEF" value="{ -256, -256, 0, 0, 256, 256 }"/>
+ <define name="YAW_COEF" value="{ -153, 153, 256, -256, -115, 115 }"/>
+ <define name="THRUST_COEF" value="{ 256, 256, 256, 256, 256, 256 }"/>
+ </section>
+
+ <section name="IMU" prefix="IMU_">
+
+ <define name="GYRO_P_NEUTRAL" value="31489"/>
+ <define name="GYRO_Q_NEUTRAL" value="31814"/>
+ <define name="GYRO_R_NEUTRAL" value="32752"/>
+
+ <define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
+ <define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
+ <define name="GYRO_R_SENS" value="-1.01" integer="16"/>
+
+
+ <define name="ACCEL_X_SENS" value="-2.58273701242" integer="16"/>
+ <define name="ACCEL_Y_SENS" value="-2.54076215332" integer="16"/>
+ <define name="ACCEL_Z_SENS" value="-2.57633620646" integer="16"/>
+
+ <define name="ACCEL_X_NEUTRAL" value="32857"/>
+ <define name="ACCEL_Y_NEUTRAL" value="32429"/>
+ <define name="ACCEL_Z_NEUTRAL" value="32593"/>
+
+ <define name="MAG_X_SENS" value=" 5.32718104135" integer="16"/>
+ <define name="MAG_Y_SENS" value="-4.87857821202" integer="16"/>
+ <define name="MAG_Z_SENS" value="-3.11986612709" integer="16"/>
+
+ <define name="MAG_X_NEUTRAL" value="-43"/>
+ <define name="MAG_Y_NEUTRAL" value=" 49"/>
+ <define name="MAG_Z_NEUTRAL" value="-66"/>
+
+ <define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0.)"/>
+ <define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0.)"/>
+ <define name="BODY_TO_IMU_PSI" value="RadOfDeg( 90.)"/>
+
+ </section>
+
+ <section name="AUTOPILOT">
+ <define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
+ <define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
+ <define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
+ </section>
+
+ <section name="BAT">
+ <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ <define name="BATTERY_SENS" value="0.48" integer="16"/>
+ </section>
+
+
+ <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+
+ <define name="SP_MAX_P" value="10000"/>
+ <define name="SP_MAX_Q" value="10000"/>
+ <define name="SP_MAX_R" value="10000"/>
+
+ <define name="GAIN_P" value="-400"/>
+ <define name="GAIN_Q" value="-400"/>
+ <define name="GAIN_R" value="-350"/>
+
+ </section>
+
+ <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+
+ <!-- setpoints -->
+ <define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
+ <define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
+ <define name="SP_MAX_R" value="RadOfDeg(90.)"/>
+ <define name="DEADBAND_R" value="250"/>
+
+ <!-- reference -->
+ <define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
+ <define name="REF_ZETA_P" value="0.85"/>
+ <define name="REF_MAX_P" value="RadOfDeg(300.)"/>
+ <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
+
+ <define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
+ <define name="REF_ZETA_Q" value="0.85"/>
+ <define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
+ <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
+
+ <define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
+ <define name="REF_ZETA_R" value="0.85"/>
+ <define name="REF_MAX_R" value="RadOfDeg(180.)"/>
+ <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
+
+ <!-- feedback -->
+ <define name="PHI_PGAIN" value="-400"/>
+ <define name="PHI_DGAIN" value="-300"/>
+ <define name="PHI_IGAIN" value="-100"/>
+
+ <define name="THETA_PGAIN" value="-400"/>
+ <define name="THETA_DGAIN" value="-300"/>
+ <define name="THETA_IGAIN" value="-100"/>
+
+ <define name="PSI_PGAIN" value="-380"/>
+ <define name="PSI_DGAIN" value="-320"/>
+ <define name="PSI_IGAIN" value="-75"/>
+
+ <!-- feedforward -->
+ <define name="PHI_DDGAIN" value=" 300"/>
+ <define name="THETA_DDGAIN" value=" 300"/>
+ <define name="PSI_DDGAIN" value=" 300"/>
+
+ </section>
+
+ <section name="INS" prefix="BOOZ_INS_">
+ <define name="BARO_SENS" value="15." integer="16"/>
+ </section>
+
+ <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
+ <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
+ <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
+ <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
+ <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
+ <define name="MAX_SUM_ERR" value="2000000"/>
+ <define name="HOVER_KP" value="-500"/>
+ <define name="HOVER_KD" value="-200"/>
+ <define name="HOVER_KI" value="-100"/>
+ <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
+ <define name="RC_CLIMB_COEF" value ="163"/>
+ <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
+ <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+ <define name="INV_M" value ="0.2"/>
+ </section>
+
+
+ <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
+ <define name="PGAIN" value="-100"/>
+ <define name="DGAIN" value="-100"/>
+ <define name="IGAIN" value="-0"/>
+ </section>
+
+ <section name="MISC">
+ <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
+ </section>
+
+
+ <makefile>
+
+
+USER =
+#HOST = 10.31.4.22
+HOST = overo
+TARGET_DIR = ~
+
+SRC_FMS=fms
+
+
+ARCH=stm32
+ARCHI=stm32
+BOARD_CFG=\"boards/lisa_0.99.h\"
+FLASH_MODE = JTAG
+
+ap.CFLAGS += -DMODEM_BAUD=B57600
+
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(CFG_BOOZ)/booz2_autopilot.makefile
+
+include $(CFG_BOOZ)/subsystems/booz2_radio_control_spektrum.makefile
+include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
+include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
+#include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
+include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
+
+
+include $(PAPARAZZI_SRC)/conf/autopilot/lisa_test_progs.makefile
+
+
+ </makefile>
+
+</airframe>
Deleted: paparazzi3/trunk/conf/airframes/antenna.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/antenna.xml 2010-04-27 10:19:48 UTC (rev
4880)
+++ paparazzi3/trunk/conf/airframes/antenna.xml 2010-04-27 18:15:57 UTC (rev
4881)
@@ -1,64 +0,0 @@
-<airframe name="ANTENNA">
-
-
-<section name="DATALINK" prefix="DATALINK_">
- <define name="DEVICE_TYPE" value="PPRZ"/>
- <define name="DEVICE_ADDRESS" value="...."/>
-</section>
-
- <makefile>
-
-ARCHI=avr
-ant.ARCHDIR = $(ARCHI)
-ant.ARCH = atmega128
-ant.TARGET = ant
-ant.TARGETDIR = ant
-
-
-# 16MHz resonator
-ant.LOW_FUSE = CF
-ant.HIGH_FUSE = 89
-ant.EXT_FUSE = ff
-ant.LOCK_FUSE = ff
-
-
-ant.CFLAGS += -DBOARD_CONFIG=\"antenna.h\"
-ant.srcs = main_antenna.c sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-ant.CFLAGS += -DLED
-
-ant.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
-ant.srcs += $(SRC_ARCH)/uart_hw.c
-
-ant.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart0
-ant.srcs += downlink.c pprz_transport.c
-
-ant.CFLAGS += -DDOWNLINK_AP_DEVICE=Uart0 -DAP
-ant.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0
-ant.srcs += datalink.c
-ant.srcs += traffic_info.c
-
-ant.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600
-ant.srcs += estimator.c gps_ubx.c gps.c
-
-ant.srcs += avr/ant_tracker.c
-
-
-
-#ant.CFLAGS +=
-ant.srcs += avr/ant_v2x.c avr/ant_spi.c
-
-ant.srcs += avr/ant_servo.c
-
-ant.srcs += avr/ant_h_bridge.c
-
-
-ant.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_1 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD0_4
-ant.srcs += $(SRC_ARCH)/adc_hw.c
-
-
- </makefile>
-
-</airframe>
-
-
Deleted: paparazzi3/trunk/conf/airframes/booz2_a1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_a1.xml 2010-04-27 10:19:48 UTC
(rev 4880)
+++ paparazzi3/trunk/conf/airframes/booz2_a1.xml 2010-04-27 18:15:57 UTC
(rev 4881)
@@ -1,232 +0,0 @@
-<airframe name="BOOZ2_a1">
-
- <servos min="0" neutral="0" max="0xff">
- <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
- <servo name="BACK" no="1" min="0" neutral="0" max="255"/>
- <servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
- <servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
- </servos>
-
- <commands>
- <axis name="PITCH" failsafe_value="0"/>
- <axis name="ROLL" failsafe_value="0"/>
- <axis name="YAW" failsafe_value="0"/>
- <axis name="THRUST" failsafe_value="0"/>
- </commands>
-
- <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
- <define name="NB" value="4"/>
- <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
- </section>
-
- <section name="SUPERVISION" prefix="SUPERVISION_">
- <define name="MIN_MOTOR" value="2"/>
- <define name="MAX_MOTOR" value="210"/>
- <define name="TRIM_A" value="0"/>
- <define name="TRIM_E" value="0"/>
- <define name="TRIM_R" value="0"/>
- <define name="NB_MOTOR" value="4"/>
- <define name="SCALE" value="256"/>
- <define name="ROLL_COEF" value="{ 0, 0, -256, 256}"/>
- <define name="PITCH_COEF" value="{ 256, -256, 0, 0}"/>
- <define name="YAW_COEF" value="{ -256, -256, 256, 256}"/>
- <define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
- </section>
-
- <section name="IMU" prefix="IMU_">
-
- <define name="GYRO_P_CHAN" value="1"/>
- <define name="GYRO_Q_CHAN" value="0"/>
- <define name="GYRO_R_CHAN" value="2"/>
-
- <define name="GYRO_P_NEUTRAL" value="33924"/>
- <define name="GYRO_Q_NEUTRAL" value="33417"/>
- <define name="GYRO_R_NEUTRAL" value="32809"/>
-
- <define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
- <define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
- <define name="GYRO_R_SENS" value="-1.01" integer="16"/>
-
- <define name="ACCEL_X_CHAN" value="3"/>
- <define name="ACCEL_Y_CHAN" value="5"/>
- <define name="ACCEL_Z_CHAN" value="6"/>
-
- <define name="ACCEL_X_SENS" value="-2.50411474" integer="16"/>
- <define name="ACCEL_Y_SENS" value="-2.48126183" integer="16"/>
- <define name="ACCEL_Z_SENS" value="-2.51396167" integer="16"/>
-
- <define name="ACCEL_X_NEUTRAL" value="32081"/>
- <define name="ACCEL_Y_NEUTRAL" value="33738"/>
- <define name="ACCEL_Z_NEUTRAL" value="32441"/>
-
- <define name="MAG_X_CHAN" value="4"/>
- <define name="MAG_Y_CHAN" value="0"/>
- <define name="MAG_Z_CHAN" value="2"/>
-
- <define name="MAG_X_NEUTRAL" value="2358"/>
- <define name="MAG_Y_NEUTRAL" value="2362"/>
- <define name="MAG_Z_NEUTRAL" value="2119"/>
-
-<!-- <define name="MAG_X_SENS" value="-4.94075530" integer="16"/>-->
-<!-- <define name="MAG_Y_SENS" value=" 5.10207664" integer="16"/>-->
- <define name="MAG_Z_SENS" value="-4.90788848" integer="16"/>
- <define name="MAG_45_HACK" value="1"/>
-<!-- <define name="MAG_X_SENS" value="-4.94075530 * sqrt(2)/2"
integer="16"/> -->
-<!-- <define name="MAG_Y_SENS" value=" 5.10207664 * sqrt(2)/2"
integer="16"/> -->
- <define name="MAG_X_SENS" value="-3.4936416" integer="16"/>
- <define name="MAG_Y_SENS" value=" 3.607713" integer="16"/>
-
- <define name="BODY_TO_IMU_PHI" value="RadOfDeg(4.)"/>
- <define name="BODY_TO_IMU_THETA" value="RadOfDeg(3.)"/>
- <define name="BODY_TO_IMU_PSI" value="RadOfDeg(0.)"/>
-<!--
- <define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)"/>
- <define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)"/>
- <define name="BODY_TO_IMU_PSI" value="RadOfDeg(0.)"/>
--->
-
- </section>
-
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
-
- <define name="SP_MAX_P" value="10000"/>
- <define name="SP_MAX_Q" value="10000"/>
- <define name="SP_MAX_R" value="10000"/>
-
- <define name="GAIN_P" value="-400"/>
- <define name="GAIN_Q" value="-400"/>
- <define name="GAIN_R" value="-350"/>
-
- </section>
-
-
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
-
- <!-- setpoints -->
- <define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
- <define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
- <define name="SP_MAX_R" value="RadOfDeg(90.)"/>
- <define name="DEADBAND_R" value="250"/>
-
- <!-- reference -->
- <define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
- <define name="REF_ZETA_P" value="0.9"/>
- <define name="REF_MAX_P" value="RadOfDeg(300.)"/>
- <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
-
- <define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
- <define name="REF_ZETA_Q" value="0.9"/>
- <define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
- <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
-
- <define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
- <define name="REF_ZETA_R" value="0.9"/>
- <define name="REF_MAX_R" value="RadOfDeg(180.)"/>
- <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
-
- <!-- feedback -->
- <define name="PHI_PGAIN" value="-400"/>
- <define name="PHI_DGAIN" value="-300"/>
- <define name="PHI_IGAIN" value="-100"/>
-
- <define name="THETA_PGAIN" value="-400"/>
- <define name="THETA_DGAIN" value="-300"/>
- <define name="THETA_IGAIN" value="-100"/>
-
- <define name="PSI_PGAIN" value="-380"/>
- <define name="PSI_DGAIN" value="-320"/>
- <define name="PSI_IGAIN" value="-75"/>
-
- <!-- feedforward -->
- <define name="PHI_DDGAIN" value=" 300"/>
- <define name="THETA_DDGAIN" value=" 300"/>
- <define name="PSI_DDGAIN" value=" 300"/>
-
- </section>
-
- <section name="INS" prefix="BOOZ_INS_">
- <define name="BARO_SENS" value="15." integer="16"/>
- </section>
-
- <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
- <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
- <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
- <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
- <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
- <define name="MAX_SUM_ERR" value="2000000"/>
- <define name="HOVER_KP" value="-500"/>
- <define name="HOVER_KD" value="-200"/>
- <define name="HOVER_KI" value="-100"/>
- <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
- <define name="RC_CLIMB_COEF" value ="163"/>
- <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
- <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
-<!-- <define name="INV_M" value ="0.2"/> -->
- </section>
-
-
- <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
- <define name="PGAIN" value="-100"/>
- <define name="DGAIN" value="-100"/>
- <define name="IGAIN" value="-0"/>
- </section>
-
- <section name="BAT">
- <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
- <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- <define name="BATTERY_SENS" value="0.48" integer="16"/>
- </section>
-
- <section name="AUTOPILOT">
- <define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
- <define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
- <define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
- </section>
-
- <section name="FMS">
-
- </section>
-
- <section name="MISC">
- <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
- </section>
-
-
- <section name="SIMULATOR" prefix="NPS_">
- <define name="ACTUATOR_NAMES" value="{"front_motor",
"back_motor", "right_motor", "left_motor"}"/>
- <define name="INITIAL_CONDITITONS" value=""reset00""/>
- <define name="SENSORS_PARAMS"
value=""nps_sensors_params_booz2_a1.h""/>
- </section>
-
-
-
-
- <makefile>
-
-ARCH=lpc21
-ARCHI=arm7
-BOARD_CFG = \"boards/booz2_v1_0.h\"
-FLASH_MODE = IAP
-
-# prevents motors from ever starting
-#ap.CFLAGS += -DKILL_MOTORS
-ap.CFLAGS += -DMODEM_BAUD=B57600
-
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
-include $(CFG_BOOZ)/booz2_autopilot.makefile
-include $(CFG_BOOZ)/booz2_test_progs.makefile
-
-include $(CFG_BOOZ)/booz2_simulator_nps.makefile
-
-include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
-include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
-include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1.makefile
-include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
-
-include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
-
-include $(CFG_BOOZ)/subsystems/booz2_fms_test_signal.makefile
-
- </makefile>
-
-</airframe>
Deleted: paparazzi3/trunk/conf/airframes/booz2_a1p.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_a1p.xml 2010-04-27 10:19:48 UTC
(rev 4880)
+++ paparazzi3/trunk/conf/airframes/booz2_a1p.xml 2010-04-27 18:15:57 UTC
(rev 4881)
@@ -1,230 +0,0 @@
-<airframe name="BOOZ2_a1">
-
- <servos min="0" neutral="0" max="0xff">
- <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
- <servo name="BACK" no="1" min="0" neutral="0" max="255"/>
- <servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
- <servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
- </servos>
-
- <commands>
- <axis name="PITCH" failsafe_value="0"/>
- <axis name="ROLL" failsafe_value="0"/>
- <axis name="YAW" failsafe_value="0"/>
- <axis name="THRUST" failsafe_value="0"/>
- </commands>
-
- <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
- <define name="NB" value="4"/>
- <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
- </section>
-
- <section name="SUPERVISION" prefix="SUPERVISION_">
- <define name="MIN_MOTOR" value="2"/>
- <define name="MAX_MOTOR" value="210"/>
- <define name="TRIM_A" value="0"/>
- <define name="TRIM_E" value="0"/>
- <define name="TRIM_R" value="0"/>
- <define name="NB_MOTOR" value="4"/>
- <define name="SCALE" value="256"/>
- <define name="ROLL_COEF" value="{ 0, 0, -256, 256}"/>
- <define name="PITCH_COEF" value="{ 256, -256, 0, 0}"/>
- <define name="YAW_COEF" value="{ -256, -256, 256, 256}"/>
- <define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
- </section>
-
- <section name="IMU" prefix="IMU_">
-
- <define name="GYRO_P_CHAN" value="1"/>
- <define name="GYRO_Q_CHAN" value="0"/>
- <define name="GYRO_R_CHAN" value="2"/>
-
- <define name="GYRO_P_NEUTRAL" value="33924"/>
- <define name="GYRO_Q_NEUTRAL" value="33417"/>
- <define name="GYRO_R_NEUTRAL" value="32809"/>
-
- <define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
- <define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
- <define name="GYRO_R_SENS" value="-1.01" integer="16"/>
-
- <define name="ACCEL_X_CHAN" value="3"/>
- <define name="ACCEL_Y_CHAN" value="5"/>
- <define name="ACCEL_Z_CHAN" value="6"/>
-
- <define name="ACCEL_X_SENS" value="-2.50411474" integer="16"/>
- <define name="ACCEL_Y_SENS" value="-2.48126183" integer="16"/>
- <define name="ACCEL_Z_SENS" value="-2.51396167" integer="16"/>
-
- <define name="ACCEL_X_NEUTRAL" value="32081"/>
- <define name="ACCEL_Y_NEUTRAL" value="33738"/>
- <define name="ACCEL_Z_NEUTRAL" value="32441"/>
-
- <define name="MAG_X_CHAN" value="4"/>
- <define name="MAG_Y_CHAN" value="0"/>
- <define name="MAG_Z_CHAN" value="2"/>
-
- <define name="MAG_X_NEUTRAL" value="2358"/>
- <define name="MAG_Y_NEUTRAL" value="2362"/>
- <define name="MAG_Z_NEUTRAL" value="2119"/>
-
- <define name="MAG_X_SENS" value="-4.94075530" integer="16"/>
- <define name="MAG_Y_SENS" value=" 5.10207664" integer="16"/>
- <define name="MAG_Z_SENS" value="-4.90788848" integer="16"/>
-<!-- <define name="MAG_45_HACK" value="1"/> -->
-<!-- <define name="MAG_X_SENS" value="-4.94075530 * sqrt(2)/2"
integer="16"/> -->
-<!-- <define name="MAG_Y_SENS" value=" 5.10207664 * sqrt(2)/2"
integer="16"/> -->
-<!-- <define name="MAG_X_SENS" value="-3.4936416" integer="16"/> -->
-<!-- <define name="MAG_Y_SENS" value=" 3.607713" integer="16"/> -->
-
- <define name="BODY_TO_IMU_PHI" value="RadOfDeg(4.)"/>
- <define name="BODY_TO_IMU_THETA" value="RadOfDeg(3.)"/>
- <define name="BODY_TO_IMU_PSI" value="RadOfDeg(0.)"/>
-
- </section>
-
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
-
- <define name="SP_MAX_P" value="10000"/>
- <define name="SP_MAX_Q" value="10000"/>
- <define name="SP_MAX_R" value="10000"/>
-
- <define name="GAIN_P" value="-400"/>
- <define name="GAIN_Q" value="-400"/>
- <define name="GAIN_R" value="-350"/>
-
- </section>
-
-
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
-
- <!-- setpoints -->
- <define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
- <define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
- <define name="SP_MAX_R" value="RadOfDeg(90.)"/>
- <define name="DEADBAND_R" value="250"/>
-
- <!-- reference -->
- <define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
- <define name="REF_ZETA_P" value="0.9"/>
- <define name="REF_MAX_P" value="RadOfDeg(300.)"/>
- <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
-
- <define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
- <define name="REF_ZETA_Q" value="0.9"/>
- <define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
- <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
-
- <define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
- <define name="REF_ZETA_R" value="0.9"/>
- <define name="REF_MAX_R" value="RadOfDeg(180.)"/>
- <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
-
- <!-- feedback -->
- <define name="PHI_PGAIN" value="-400"/>
- <define name="PHI_DGAIN" value="-300"/>
- <define name="PHI_IGAIN" value="-100"/>
-
- <define name="THETA_PGAIN" value="-400"/>
- <define name="THETA_DGAIN" value="-300"/>
- <define name="THETA_IGAIN" value="-100"/>
-
- <define name="PSI_PGAIN" value="-380"/>
- <define name="PSI_DGAIN" value="-320"/>
- <define name="PSI_IGAIN" value="-75"/>
-
- <!-- feedforward -->
- <define name="PHI_DDGAIN" value=" 300"/>
- <define name="THETA_DDGAIN" value=" 300"/>
- <define name="PSI_DDGAIN" value=" 300"/>
-
- </section>
-
- <section name="ARHS" prefix="AHRS_">
- <define name="H_X" value="0.4912"/>
- <define name="H_Y" value="0.1225"/>
- <define name="H_Z" value="0.8624"/>
- </section>
-
- <section name="INS" prefix="BOOZ_INS_">
- <define name="BARO_SENS" value="15." integer="16"/>
- </section>
-
- <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
- <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
- <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
- <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
- <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
- <define name="MAX_SUM_ERR" value="2000000"/>
- <define name="HOVER_KP" value="-500"/>
- <define name="HOVER_KD" value="-200"/>
- <define name="HOVER_KI" value="-100"/>
- <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
- <define name="RC_CLIMB_COEF" value ="163"/>
- <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
- <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
-<!-- <define name="INV_M" value ="0.2"/> -->
- </section>
-
-
- <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
- <define name="PGAIN" value="-100"/>
- <define name="DGAIN" value="-100"/>
- <define name="IGAIN" value="-0"/>
- </section>
-
- <section name="BAT">
- <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
- <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- <define name="BATTERY_SENS" value="0.48" integer="16"/>
- </section>
-
- <section name="AUTOPILOT">
- <define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
- <define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
- <define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
- </section>
-
- <section name="FMS">
-
- </section>
-
- <section name="MISC">
- <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
- </section>
-
-
- <section name="SIMULATOR" prefix="NPS_">
- <define name="ACTUATOR_NAMES" value="{"front_motor",
"back_motor", "right_motor", "left_motor"}"/>
- <define name="INITIAL_CONDITITONS" value=""reset00""/>
- <define name="SENSORS_PARAMS"
value=""nps_sensors_params_booz2_a1p.h""/>
- </section>
-
-
-
-
- <makefile>
-ARCH=lpc21
-BOARD_CFG = \"boards/booz2_v1_0.h\"
-
-# prevents motors from ever starting
-#ap.CFLAGS += -DKILL_MOTORS
-ap.CFLAGS += -DMODEM_BAUD=B57600
-
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
-include $(CFG_BOOZ)/booz2_autopilot.makefile
-include $(CFG_BOOZ)/booz2_test_progs.makefile
-
-include $(CFG_BOOZ)/booz2_simulator_nps.makefile
-
-include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
-include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
-include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1.makefile
-include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
-
-include $(CFG_BOOZ)/subsystems/booz_ahrs_mlkf.makefile
-
-include $(CFG_BOOZ)/subsystems/booz2_fms_test_signal.makefile
-
- </makefile>
-
-</airframe>
Deleted: paparazzi3/trunk/conf/airframes/booz2_a2.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_a2.xml 2010-04-27 10:19:48 UTC
(rev 4880)
+++ paparazzi3/trunk/conf/airframes/booz2_a2.xml 2010-04-27 18:15:57 UTC
(rev 4881)
@@ -1,192 +0,0 @@
-<airframe name="BOOZ2_A2">
-
- <servos min="0" neutral="0" max="0xff">
- <servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
- <servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
- <servo name="YAW" no="2" min="0" neutral="0" max="255"/>
- <servo name="THRUST" no="3" min="0" neutral="0" max="255"/>
- </servos>
-
- <commands>
- <axis name="PITCH" failsafe_value="0"/>
- <axis name="ROLL" failsafe_value="0"/>
- <axis name="YAW" failsafe_value="0"/>
- <axis name="THRUST" failsafe_value="0"/>
- </commands>
-
- <section name="IMU" prefix="IMU_">
-
- <define name="GYRO_P_CHAN" value="4"/>
- <define name="GYRO_Q_CHAN" value="0"/>
- <define name="GYRO_R_CHAN" value="1"/>
-
- <define name="GYRO_P_NEUTRAL" value="32734"/>
- <define name="GYRO_Q_NEUTRAL" value="32272"/>
- <define name="GYRO_R_NEUTRAL" value="32420"/>
-
- <define name="GYRO_P_SENS" value="-0.85" integer="16"/>
- <define name="GYRO_Q_SENS" value=" 0.85" integer="16"/>
- <define name="GYRO_R_SENS" value=" 0.85" integer="16"/>
-
- <define name="ACCEL_X_CHAN" value="2"/>
- <define name="ACCEL_Y_CHAN" value="5"/>
- <define name="ACCEL_Z_CHAN" value="6"/>
-
- <define name="ACCEL_X_SENS" value="-6.29676358" integer="16"/>
- <define name="ACCEL_Y_SENS" value="-6.07991732" integer="16"/>
- <define name="ACCEL_Z_SENS" value=" 6.62632272" integer="16"/>
-
- <define name="ACCEL_X_NEUTRAL" value="40385"/>
- <define name="ACCEL_Y_NEUTRAL" value="39223"/>
- <define name="ACCEL_Z_NEUTRAL" value="38860"/>
-
- <define name="MAG_X_CHAN" value="0"/>
- <define name="MAG_Y_CHAN" value="4"/>
- <define name="MAG_Z_CHAN" value="2"/>
-
- <define name="MAG_X_NEUTRAL" value="2339"/>
- <define name="MAG_Y_NEUTRAL" value="2106"/>
- <define name="MAG_Z_NEUTRAL" value="1902"/>
-
- <define name="MAG_X_SENS" value="-4.4039655" integer="16"/>
- <define name="MAG_Y_SENS" value="-4.2959321" integer="16"/>
- <define name="MAG_Z_SENS" value="-4.0988408" integer="16"/>
-
- <define name="BODY_TO_IMU_PHI" value="RadOfDeg( 1.5)"/>
- <define name="BODY_TO_IMU_THETA" value="RadOfDeg(-1.5)"/>
- <define name="BODY_TO_IMU_PSI" value="RadOfDeg( 0. )"/>
-
- </section>
-
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
-
- <define name="SP_MAX_P" value="10000"/>
- <define name="SP_MAX_Q" value="10000"/>
- <define name="SP_MAX_R" value="10000"/>
-
- <define name="GAIN_P" value="-400"/>
- <define name="GAIN_Q" value="-400"/>
- <define name="GAIN_R" value="-350"/>
-
- </section>
-
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
-
- <!-- setpoints -->
- <define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
- <define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
- <define name="SP_MAX_R" value="RadOfDeg(90.)"/>
- <define name="DEADBAND_R" value="250"/>
-
- <!-- reference -->
- <define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
- <define name="REF_ZETA_P" value="0.85"/>
- <define name="REF_MAX_P" value="RadOfDeg(300.)"/>
- <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
-
- <define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
- <define name="REF_ZETA_Q" value="0.85"/>
- <define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
- <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
-
- <define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
- <define name="REF_ZETA_R" value="0.85"/>
- <define name="REF_MAX_R" value="RadOfDeg(180.)"/>
- <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
-
- <!-- feedback -->
- <define name="PHI_PGAIN" value="-400"/>
- <define name="PHI_DGAIN" value="-300"/>
- <define name="PHI_IGAIN" value="-100"/>
-
- <define name="THETA_PGAIN" value="-400"/>
- <define name="THETA_DGAIN" value="-300"/>
- <define name="THETA_IGAIN" value="-100"/>
-
- <define name="PSI_PGAIN" value="-380"/>
- <define name="PSI_DGAIN" value="-320"/>
- <define name="PSI_IGAIN" value="-75"/>
-
- <!-- feedforward -->
- <define name="PHI_DDGAIN" value=" 300"/>
- <define name="THETA_DDGAIN" value=" 300"/>
- <define name="PSI_DDGAIN" value=" 300"/>
-
- </section>
-
- <section name="SUPERVISION" prefix="SUPERVISION_">
- <define name="TRIM_A" value="0"/>
- <define name="TRIM_E" value="6"/>
- <define name="TRIM_R" value="0"/>
- </section>
-
- <section name="INS" prefix="BOOZ_INS_">
- <define name="BARO_SENS" value="14.9" integer="16"/>
- </section>
-
-
- <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
-
- <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
- <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
- <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
- <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
- <define name="MAX_SUM_ERR" value="2000000"/>
- <define name="HOVER_KP" value="-500"/>
- <define name="HOVER_KD" value="-250"/>
- <define name="HOVER_KI" value="-100"/>
- <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
- <define name="RC_CLIMB_COEF" value ="163"/>
- <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
- <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
- </section>
-
- <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
- <define name="PGAIN" value="-100"/>
- <define name="DGAIN" value="-100"/>
- <define name="IGAIN" value="-0"/>
- </section>
-
- <section name="BAT">
- <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
- <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- <define name="BATTERY_SENS" value="0.25" integer="16"/>
-<!-- <define name="BATTERY_SENS" value="1" integer="16"/>-->
- </section>
-
- <section name="AUTOPILOT">
- <define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
- <define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
- <define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
- </section>
-
-
- <section name="MISC">
- <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
- </section>
-
- <makefile>
-
-ARCH=lpc21
-ARCHI=arm7
-BOARD_CFG = \"boards/booz2_v1_0.h\"
-
-# prevents motors from ever starting
-#ap.CFLAGS += -DKILL_MOTORS
-
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
-include $(CFG_BOOZ)/booz2_autopilot.makefile
-include $(CFG_BOOZ)/booz2_test_progs.makefile
-
-ap.CFLAGS += -DMODEM_BAUD=B57600
-include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
-include $(CFG_BOOZ)/subsystems/booz2_actuators_asctec.makefile
-include $(CFG_BOOZ)/subsystems/booz2_imu_crista.makefile
-include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
-
-include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
-include $(CFG_BOOZ)/subsystems/booz2_fms_test_signal.makefile
-
- </makefile>
-
-</airframe>
Deleted: paparazzi3/trunk/conf/airframes/booz2_a3.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_a3.xml 2010-04-27 10:19:48 UTC
(rev 4880)
+++ paparazzi3/trunk/conf/airframes/booz2_a3.xml 2010-04-27 18:15:57 UTC
(rev 4881)
@@ -1,190 +0,0 @@
-<airframe name="BOOZ2_A3">
-
- <servos min="0" neutral="0" max="0xff">
- <servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
- <servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
- <servo name="YAW" no="2" min="0" neutral="0" max="255"/>
- <servo name="THRUST" no="3" min="0" neutral="0" max="255"/>
- </servos>
-
- <commands>
- <axis name="PITCH" failsafe_value="0"/>
- <axis name="ROLL" failsafe_value="0"/>
- <axis name="YAW" failsafe_value="0"/>
- <axis name="THRUST" failsafe_value="0"/>
- </commands>
-
- <section name="IMU" prefix="IMU_">
-
- <define name="GYRO_P_CHAN" value="1"/>
- <define name="GYRO_Q_CHAN" value="0"/>
- <define name="GYRO_R_CHAN" value="2"/>
-
- <define name="GYRO_P_NEUTRAL" value="31993"/>
- <define name="GYRO_Q_NEUTRAL" value="31923"/>
- <define name="GYRO_R_NEUTRAL" value="32727"/>
-
- <define name="GYRO_P_SENS" value=" 1.00" integer="16"/>
- <define name="GYRO_Q_SENS" value="-1.00" integer="16"/>
- <define name="GYRO_R_SENS" value="-1.01" integer="16"/>
-
- <define name="ACCEL_X_CHAN" value="5"/>
- <define name="ACCEL_Y_CHAN" value="3"/>
- <define name="ACCEL_Z_CHAN" value="4"/>
-
- <define name="ACCEL_X_SENS" value="-2.58291748" integer="16"/>
- <define name="ACCEL_Y_SENS" value="-2.53729378" integer="16"/>
- <define name="ACCEL_Z_SENS" value="-2.57289306" integer="16"/>
-
- <define name="ACCEL_X_NEUTRAL" value="32803"/>
- <define name="ACCEL_Y_NEUTRAL" value="32466"/>
- <define name="ACCEL_Z_NEUTRAL" value="32575"/>
-
- <define name="MAG_X_CHAN" value="4"/>
- <define name="MAG_Y_CHAN" value="0"/>
- <define name="MAG_Z_CHAN" value="2"/>
-
- <define name="MAG_X_NEUTRAL" value="0"/>
- <define name="MAG_Y_NEUTRAL" value="0"/>
- <define name="MAG_Z_NEUTRAL" value="0"/>
-
- <define name="MAG_X_SENS" value="20." integer="16"/>
- <define name="MAG_Y_SENS" value="20." integer="16"/>
- <define name="MAG_Z_SENS" value="15." integer="16"/>
-
- <define name="BODY_TO_IMU_PHI" value="RadOfDeg( 14.5)"/>
- <define name="BODY_TO_IMU_THETA" value="RadOfDeg( -8.5)"/>
- <define name="BODY_TO_IMU_PSI" value="RadOfDeg(-45. )"/>
-
- </section>
-
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
-
- <define name="SP_MAX_P" value="10000"/>
- <define name="SP_MAX_Q" value="10000"/>
- <define name="SP_MAX_R" value="10000"/>
-
- <define name="GAIN_P" value="-400"/>
- <define name="GAIN_Q" value="-400"/>
- <define name="GAIN_R" value="-350"/>
-
- </section>
-
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
-
- <!-- setpoints -->
- <define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
- <define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
- <define name="SP_MAX_R" value="RadOfDeg(90.)"/>
- <define name="DEADBAND_R" value="250"/>
-
- <!-- reference -->
- <define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
- <define name="REF_ZETA_P" value="0.85"/>
- <define name="REF_MAX_P" value="RadOfDeg(300.)"/>
- <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
-
- <define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
- <define name="REF_ZETA_Q" value="0.85"/>
- <define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
- <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
-
- <define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
- <define name="REF_ZETA_R" value="0.85"/>
- <define name="REF_MAX_R" value="RadOfDeg(180.)"/>
- <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
-
- <!-- feedback -->
- <define name="PHI_PGAIN" value="-375"/>
- <define name="PHI_DGAIN" value="-250"/>
- <define name="PHI_IGAIN" value="-50"/>
-
- <define name="THETA_PGAIN" value="-375"/>
- <define name="THETA_DGAIN" value="-250"/>
- <define name="THETA_IGAIN" value="-50"/>
-
- <define name="PSI_PGAIN" value="-300"/>
- <define name="PSI_DGAIN" value="-130"/>
- <define name="PSI_IGAIN" value="-50"/>
-
- <!-- feedforward -->
- <define name="PHI_DDGAIN" value=" 300"/>
- <define name="THETA_DDGAIN" value=" 300"/>
- <define name="PSI_DDGAIN" value=" 300"/>
-
- </section>
-
- <section name="SUPERVISION" prefix="SUPERVISION_">
- <define name="TRIM_A" value="0"/>
- <define name="TRIM_E" value="6"/>
- <define name="TRIM_R" value="0"/>
- </section>
-
- <section name="INS" prefix="BOOZ_INS_">
- <define name="BARO_SENS" value="14.9" integer="16"/>
- </section>
-
-
- <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
-
- <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
- <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
- <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
- <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
- <define name="HOVER_KP" value="-500"/>
- <define name="HOVER_KD" value="-250"/>
- <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
- <define name="RC_CLIMB_COEF" value ="163"/>
- <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
- <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
- </section>
-
- <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
- <define name="PGAIN" value="-100"/>
- <define name="DGAIN" value="-100"/>
- <define name="IGAIN" value="-0"/>
- </section>
-
- <section name="BAT">
- <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
- <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- <define name="BATTERY_SENS" value="0.25" integer="16"/>
-<!-- <define name="BATTERY_SENS" value="1" integer="16"/>-->
- </section>
-
- <section name="AUTOPILOT">
- <define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
- <define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
- <define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
- </section>
-
-
- <section name="MISC">
- <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
- </section>
-
- <makefile>
-ARCH=lpc21
-BOARD_CFG = \"boards/booz2_v1_0.h\"
-
-# prevents motors from ever starting
-#ap.CFLAGS += -DKILL_MOTORS
-
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
-include $(CFG_BOOZ)/booz2_autopilot.makefile
-include $(CFG_BOOZ)/booz2_test_progs.makefile
-
-include $(CFG_BOOZ)/booz2_simulator_nps.makefile
-
-ap.CFLAGS += -DMODEM_BAUD=B57600
-ap.CFLAGS += -DMODEM_BAUD=B57600
-include $(CFG_BOOZ)/subsystems/booz2_radio_control_spektrum.makefile
-include $(CFG_BOOZ)/subsystems/booz2_actuators_asctec.makefile
-include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1.makefile
-# NO GPS, uses spektrum
-
-include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
-
- </makefile>
-
-</airframe>
Deleted: paparazzi3/trunk/conf/airframes/booz2_a4.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_a4.xml 2010-04-27 10:19:48 UTC
(rev 4880)
+++ paparazzi3/trunk/conf/airframes/booz2_a4.xml 2010-04-27 18:15:57 UTC
(rev 4881)
@@ -1,171 +0,0 @@
-<airframe name="BOOZ2_A4">
-
- <servos min="0" neutral="0" max="0xff">
- <servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
- <servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
- <servo name="YAW" no="2" min="0" neutral="0" max="255"/>
- <servo name="THRUST" no="3" min="0" neutral="0" max="255"/>
- <servo name="AILEVON_R" no="4" min="1000" neutral="1750" max="2000"/>
- <servo name="AILEVON_L" no="5" min="1000" neutral="1680" max="2000"/>
- </servos>
-
- <commands>
- <axis name="PITCH" failsafe_value="0"/>
- <axis name="ROLL" failsafe_value="0"/>
- <axis name="YAW" failsafe_value="0"/>
- <axis name="THRUST" failsafe_value="0"/>
- </commands>
-
- <section name="IMU" prefix="IMU_">
-
- <define name="GYRO_Q_CHAN" value="1"/>
- <define name="GYRO_R_CHAN" value="0"/>
- <define name="GYRO_P_CHAN" value="2"/>
-
- <define name="GYRO_Q_NEUTRAL" value="31993"/>
- <define name="GYRO_R_NEUTRAL" value="31923"/>
- <define name="GYRO_P_NEUTRAL" value="32727"/>
-
- <define name="GYRO_Q_SENS" value=" 1.00" integer="16"/>
- <define name="GYRO_R_SENS" value="-1.00" integer="16"/>
- <define name="GYRO_P_SENS" value="-1.01" integer="16"/>
-
- <define name="ACCEL_Y_CHAN" value="5"/>
- <define name="ACCEL_Z_CHAN" value="3"/>
- <define name="ACCEL_X_CHAN" value="4"/>
-
- <define name="ACCEL_Y_SENS" value="-2.58291748" integer="16"/>
- <define name="ACCEL_Z_SENS" value="-2.53729378" integer="16"/>
- <define name="ACCEL_X_SENS" value="-2.57289306" integer="16"/>
-
- <define name="ACCEL_Y_NEUTRAL" value="32803"/>
- <define name="ACCEL_Z_NEUTRAL" value="32466"/>
- <define name="ACCEL_X_NEUTRAL" value="32575"/>
-
- <define name="MAG_Z_CHAN" value="1"/>
- <define name="MAG_X_CHAN" value="2"/>
- <define name="MAG_Y_CHAN" value="0"/>
-
- <define name="MAG_Z_NEUTRAL" value="48"/>
- <define name="MAG_X_NEUTRAL" value="11"/>
- <define name="MAG_Y_NEUTRAL" value="-45"/>
-
- <define name="MAG_Z_SENS" value="-4.65606311" integer="16"/>
- <define name="MAG_X_SENS" value="-3.03386034" integer="16"/>
- <define name="MAG_Y_SENS" value=" 4.99085017" integer="16"/>
-
- <define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0.)"/>
- <define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0.)"/>
- <define name="BODY_TO_IMU_PSI" value="RadOfDeg( 0.)"/>
-
- </section>
-
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
-
- <define name="SP_MAX_P" value="10000"/>
- <define name="SP_MAX_Q" value="10000"/>
- <define name="SP_MAX_R" value="10000"/>
-
- <define name="GAIN_P" value="-400"/>
- <define name="GAIN_Q" value="-400"/>
- <define name="GAIN_R" value="-350"/>
-
- </section>
-
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
-
- <define name="SP_MAX_PHI" value="3000"/>
- <define name="SP_MAX_THETA" value="6000"/>
- <define name="SP_MAX_R" value="4000"/>
- <define name="DEADBAND_R" value="250"/>
-
- <define name="PHI_THETA_PGAIN" value="-400"/>
- <define name="PHI_THETA_DGAIN" value="-300"/>
- <define name="PHI_THETA_DDGAIN" value=" 300"/>
- <define name="PHI_THETA_IGAIN" value="-50"/>
-
- <define name="PSI_PGAIN" value="-380"/>
- <define name="PSI_DGAIN" value="-320"/>
- <define name="PSI_DDGAIN" value=" 300"/>
- <define name="PSI_IGAIN" value="-50"/>
-
- </section>
-
- <section name="SUPERVISION" prefix="SUPERVISION_">
- <define name="TRIM_A" value="0"/>
- <define name="TRIM_E" value="0"/>
- <define name="TRIM_R" value="0"/>
- <define name="HACK_45" value="1"/>
- </section>
-
- <section name="INS" prefix="BOOZ_INS_">
- <define name="BARO_SENS" value="14.9" integer="16"/>
- </section>
-
-
- <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
-
- <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
- <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
- <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
- <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
- <define name="HOVER_KP" value="-500"/>
- <define name="HOVER_KD" value="-250"/>
- <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
- <define name="RC_CLIMB_COEF" value ="163"/>
- <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
- <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
- </section>
-
- <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
- <define name="PGAIN" value="-100"/>
- <define name="DGAIN" value="-100"/>
- <define name="IGAIN" value="-0"/>
- </section>
-
- <section name="BAT">
- <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
- <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- <define name="BATTERY_SENS" value="0.25" integer="16"/>
-<!-- <define name="BATTERY_SENS" value="1" integer="16"/>-->
- </section>
-
- <section name="AUTOPILOT">
- <define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
- <define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
- <define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
- </section>
-
-
- <section name="MISC">
- <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
- </section>
-
- <makefile>
-ARCH=lpc21
-BOARD_CFG = \"boards/booz2_v1_0.h\"
-
-# prevents motors from ever starting
-#ap.CFLAGS += -DKILL_MOTORS
-
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_autopilot.makefile
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_test_progs.makefile
-
-sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_simulator.makefile
-
-ap.CFLAGS += -DMODEM_BAUD=B57600
-include $(PAPARAZZI_SRC)/conf/autopilot/radio_control_spektrum.makefile
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_asctec.makefile
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_imu_b2v1_1.makefile
-
-include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
-
-ap.CFLAGS += -DUSE_BOOZ2_CONTROL_SURFACES -DUSE_BOOZ2_SERVOS_DIRECT
-ap.CFLAGS += -DUSE_BOOZ2_SERVOS_DIRECT_0 -DUSE_BOOZ2_SERVOS_DIRECT_1
-ap.srcs += $(SRC_BOOZ_ARCH)/booz2_servos_direct_hw.c
-
- </makefile>
-
-</airframe>
Deleted: paparazzi3/trunk/conf/airframes/booz2_a5.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_a5.xml 2010-04-27 10:19:48 UTC
(rev 4880)
+++ paparazzi3/trunk/conf/airframes/booz2_a5.xml 2010-04-27 18:15:57 UTC
(rev 4881)
@@ -1,210 +0,0 @@
-<airframe name="booz2_a5">
-
- <servos min="0" neutral="0" max="0xff">
- <servo name="BACK_RIGHT" no="0" min="0" neutral="0" max="255"/>
- <servo name="BACK_LEFT" no="1" min="0" neutral="0" max="255"/>
- <servo name="CENTER_RIGHT" no="2" min="0" neutral="0" max="255"/>
- <servo name="CENTER_LEFT" no="3" min="0" neutral="0" max="255"/>
- <servo name="FRONT_RIGHT" no="4" min="0" neutral="0" max="255"/>
- <servo name="FRONT_LEFT" no="5" min="0" neutral="0" max="255"/>
- </servos>
-
- <commands>
- <axis name="PITCH" failsafe_value="0"/>
- <axis name="ROLL" failsafe_value="0"/>
- <axis name="YAW" failsafe_value="0"/>
- <axis name="THRUST" failsafe_value="0"/>
- </commands>
-
- <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
- <define name="NB" value="6"/>
- <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58, 0x5A, 0X5C }"/>
- </section>
-
- <section name="SUPERVISION" prefix="SUPERVISION_">
- <define name="MIN_MOTOR" value="2"/>
- <define name="MAX_MOTOR" value="210"/>
- <define name="TRIM_A" value="0"/>
- <define name="TRIM_E" value="0"/>
- <define name="TRIM_R" value="0"/>
- <define name="NB_MOTOR" value="6"/>
- <define name="SCALE" value="256"/>
- <define name="ROLL_COEF" value="{ -69, 69, -256, 256, -186, 186 }"/>
- <define name="PITCH_COEF" value="{ -256, -256, 0, 0, 256, 256 }"/>
- <define name="YAW_COEF" value="{ -153, 153, 256, -256, -115, 115 }"/>
- <define name="THRUST_COEF" value="{ 256, 256, 256, 256, 256, 256 }"/>
- </section>
-
- <section name="IMU" prefix="IMU_">
-
- <define name="GYRO_P_CHAN" value="1"/>
- <define name="GYRO_Q_CHAN" value="0"/>
- <define name="GYRO_R_CHAN" value="2"/>
-
- <define name="GYRO_P_NEUTRAL" value="31489"/>
- <define name="GYRO_Q_NEUTRAL" value="31814"/>
- <define name="GYRO_R_NEUTRAL" value="32752"/>
-
- <define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
- <define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
- <define name="GYRO_R_SENS" value="-1.01" integer="16"/>
-
-
- <define name="ACCEL_X_CHAN" value="5"/>
- <define name="ACCEL_Y_CHAN" value="3"/>
- <define name="ACCEL_Z_CHAN" value="4"/>
-
- <define name="ACCEL_X_SENS" value="-2.53973936" integer="16"/>
- <define name="ACCEL_Y_SENS" value="-2.58673329" integer="16"/>
- <define name="ACCEL_Z_SENS" value="-2.58223257" integer="16"/>
-
- <define name="ACCEL_X_NEUTRAL" value="32877"/>
- <define name="ACCEL_Y_NEUTRAL" value="32415"/>
- <define name="ACCEL_Z_NEUTRAL" value="32612"/>
-
- <define name="MAG_X_CHAN" value="0"/>
- <define name="MAG_Y_CHAN" value="1"/>
- <define name="MAG_Z_CHAN" value="2"/>
-
-
- <define name="MAG_X_SENS" value="5.00200577" integer="16"/>
- <define name="MAG_Y_SENS" value="-4.68598036" integer="16"/>
- <define name="MAG_Z_SENS" value="-2.98216964" integer="16"/>
-
- <define name="MAG_X_NEUTRAL" value="-47"/>
- <define name="MAG_Y_NEUTRAL" value="24"/>
- <define name="MAG_Z_NEUTRAL" value="28"/>
-
- <define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0.)"/>
- <define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0.)"/>
- <define name="BODY_TO_IMU_PSI" value="RadOfDeg(-45.)"/>
-
- </section>
-
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
-
- <define name="SP_MAX_P" value="10000"/>
- <define name="SP_MAX_Q" value="10000"/>
- <define name="SP_MAX_R" value="10000"/>
-
- <define name="GAIN_P" value="-400"/>
- <define name="GAIN_Q" value="-400"/>
- <define name="GAIN_R" value="-350"/>
-
- </section>
-
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
-
- <!-- setpoints -->
- <define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
- <define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
- <define name="SP_MAX_R" value="RadOfDeg(90.)"/>
- <define name="DEADBAND_R" value="250"/>
-
- <!-- reference -->
- <define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
- <define name="REF_ZETA_P" value="0.85"/>
- <define name="REF_MAX_P" value="RadOfDeg(300.)"/>
- <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
-
- <define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
- <define name="REF_ZETA_Q" value="0.85"/>
- <define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
- <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
-
- <define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
- <define name="REF_ZETA_R" value="0.85"/>
- <define name="REF_MAX_R" value="RadOfDeg(180.)"/>
- <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
-
- <!-- feedback -->
- <define name="PHI_PGAIN" value="-400"/>
- <define name="PHI_DGAIN" value="-300"/>
- <define name="PHI_IGAIN" value="-100"/>
-
- <define name="THETA_PGAIN" value="-400"/>
- <define name="THETA_DGAIN" value="-300"/>
- <define name="THETA_IGAIN" value="-100"/>
-
- <define name="PSI_PGAIN" value="-380"/>
- <define name="PSI_DGAIN" value="-320"/>
- <define name="PSI_IGAIN" value="-75"/>
-
- <!-- feedforward -->
- <define name="PHI_DDGAIN" value=" 300"/>
- <define name="THETA_DDGAIN" value=" 300"/>
- <define name="PSI_DDGAIN" value=" 300"/>
-
- </section>
-
- <section name="INS" prefix="BOOZ_INS_">
- <define name="BARO_SENS" value="15." integer="16"/>
- </section>
-
- <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
- <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
- <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
- <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
- <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
- <define name="MAX_SUM_ERR" value="2000000"/>
- <define name="HOVER_KP" value="-500"/>
- <define name="HOVER_KD" value="-200"/>
- <define name="HOVER_KI" value="-100"/>
- <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
- <define name="RC_CLIMB_COEF" value ="163"/>
- <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
- <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
- <define name="INV_M" value ="0.2"/>
- </section>
-
-
- <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
- <define name="PGAIN" value="-100"/>
- <define name="DGAIN" value="-100"/>
- <define name="IGAIN" value="-0"/>
- </section>
-
- <section name="BAT">
- <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
- <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- <define name="BATTERY_SENS" value="0.48" integer="16"/>
- </section>
-
- <section name="MISC">
- <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
- </section>
-
- <section name="AUTOPILOT">
- <define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
- <define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
- <define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
- </section>
-
- <makefile>
-
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
-
-ARCH=lpc21
-BOARD_CFG = \"boards/booz2_v1_0.h\"
-ap.CFLAGS += -DMODEM_BAUD=B57600
-
-# prevents motors from ever starting
-#ap.CFLAGS += -DKILL_MOTORS
-
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
-include $(CFG_BOOZ)/booz2_autopilot.makefile
-include $(CFG_BOOZ)/booz2_test_progs.makefile
-
-include $(CFG_BOOZ)/subsystems/booz2_radio_control_spektrum.makefile
-include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
-include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
-#include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
-
-include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
-
-
-
- </makefile>
-
-</airframe>
-
Deleted: paparazzi3/trunk/conf/airframes/booz2_a6.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_a6.xml 2010-04-27 10:19:48 UTC
(rev 4880)
+++ paparazzi3/trunk/conf/airframes/booz2_a6.xml 2010-04-27 18:15:57 UTC
(rev 4881)
@@ -1,205 +0,0 @@
-<airframe name="booz2_a6">
-
- <servos min="0" neutral="0" max="0xff">
- <servo name="BACK_RIGHT" no="0" min="0" neutral="0" max="255"/>
- <servo name="BACK_LEFT" no="1" min="0" neutral="0" max="255"/>
- <servo name="CENTER_RIGHT" no="2" min="0" neutral="0" max="255"/>
- <servo name="CENTER_LEFT" no="3" min="0" neutral="0" max="255"/>
- <servo name="FRONT_RIGHT" no="4" min="0" neutral="0" max="255"/>
- <servo name="FRONT_LEFT" no="5" min="0" neutral="0" max="255"/>
- </servos>
-
- <commands>
- <axis name="PITCH" failsafe_value="0"/>
- <axis name="ROLL" failsafe_value="0"/>
- <axis name="YAW" failsafe_value="0"/>
- <axis name="THRUST" failsafe_value="0"/>
- </commands>
-
- <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
- <define name="NB" value="6"/>
- <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58, 0x5A, 0X5C }"/>
- </section>
-
- <section name="SUPERVISION" prefix="SUPERVISION_">
- <define name="MIN_MOTOR" value="2"/>
- <define name="MAX_MOTOR" value="210"/>
- <define name="TRIM_A" value="0"/>
- <define name="TRIM_E" value="0"/>
- <define name="TRIM_R" value="0"/>
- <define name="NB_MOTOR" value="6"/>
- <define name="SCALE" value="256"/>
- <define name="ROLL_COEF" value="{ -69, 69, -256, 256, -186, 186 }"/>
- <define name="PITCH_COEF" value="{ -256, -256, 0, 0, 256, 256 }"/>
- <define name="YAW_COEF" value="{ -153, 153, 256, -256, -115, 115 }"/>
- <define name="THRUST_COEF" value="{ 256, 256, 256, 256, 256, 256 }"/>
- </section>
-
- <section name="IMU" prefix="IMU_">
-
- <define name="GYRO_P_NEUTRAL" value="31489"/>
- <define name="GYRO_Q_NEUTRAL" value="31814"/>
- <define name="GYRO_R_NEUTRAL" value="32752"/>
-
- <define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
- <define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
- <define name="GYRO_R_SENS" value="-1.01" integer="16"/>
-
-
- <define name="ACCEL_X_SENS" value="-2.58273701242" integer="16"/>
- <define name="ACCEL_Y_SENS" value="-2.54076215332" integer="16"/>
- <define name="ACCEL_Z_SENS" value="-2.57633620646" integer="16"/>
-
- <define name="ACCEL_X_NEUTRAL" value="32857"/>
- <define name="ACCEL_Y_NEUTRAL" value="32429"/>
- <define name="ACCEL_Z_NEUTRAL" value="32593"/>
-
- <define name="MAG_X_SENS" value=" 5.32718104135" integer="16"/>
- <define name="MAG_Y_SENS" value="-4.87857821202" integer="16"/>
- <define name="MAG_Z_SENS" value="-3.11986612709" integer="16"/>
-
- <define name="MAG_X_NEUTRAL" value="-43"/>
- <define name="MAG_Y_NEUTRAL" value=" 49"/>
- <define name="MAG_Z_NEUTRAL" value="-66"/>
-
- <define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0.)"/>
- <define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0.)"/>
- <define name="BODY_TO_IMU_PSI" value="RadOfDeg( 90.)"/>
-
- </section>
-
- <section name="AUTOPILOT">
- <define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
- <define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
- <define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
- </section>
-
- <section name="BAT">
- <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
- <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- <define name="BATTERY_SENS" value="0.48" integer="16"/>
- </section>
-
-
- <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
-
- <define name="SP_MAX_P" value="10000"/>
- <define name="SP_MAX_Q" value="10000"/>
- <define name="SP_MAX_R" value="10000"/>
-
- <define name="GAIN_P" value="-400"/>
- <define name="GAIN_Q" value="-400"/>
- <define name="GAIN_R" value="-350"/>
-
- </section>
-
- <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
-
- <!-- setpoints -->
- <define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
- <define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
- <define name="SP_MAX_R" value="RadOfDeg(90.)"/>
- <define name="DEADBAND_R" value="250"/>
-
- <!-- reference -->
- <define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
- <define name="REF_ZETA_P" value="0.85"/>
- <define name="REF_MAX_P" value="RadOfDeg(300.)"/>
- <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
-
- <define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
- <define name="REF_ZETA_Q" value="0.85"/>
- <define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
- <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
-
- <define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
- <define name="REF_ZETA_R" value="0.85"/>
- <define name="REF_MAX_R" value="RadOfDeg(180.)"/>
- <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
-
- <!-- feedback -->
- <define name="PHI_PGAIN" value="-400"/>
- <define name="PHI_DGAIN" value="-300"/>
- <define name="PHI_IGAIN" value="-100"/>
-
- <define name="THETA_PGAIN" value="-400"/>
- <define name="THETA_DGAIN" value="-300"/>
- <define name="THETA_IGAIN" value="-100"/>
-
- <define name="PSI_PGAIN" value="-380"/>
- <define name="PSI_DGAIN" value="-320"/>
- <define name="PSI_IGAIN" value="-75"/>
-
- <!-- feedforward -->
- <define name="PHI_DDGAIN" value=" 300"/>
- <define name="THETA_DDGAIN" value=" 300"/>
- <define name="PSI_DDGAIN" value=" 300"/>
-
- </section>
-
- <section name="INS" prefix="BOOZ_INS_">
- <define name="BARO_SENS" value="15." integer="16"/>
- </section>
-
- <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
- <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
- <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
- <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
- <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
- <define name="MAX_SUM_ERR" value="2000000"/>
- <define name="HOVER_KP" value="-500"/>
- <define name="HOVER_KD" value="-200"/>
- <define name="HOVER_KI" value="-100"/>
- <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
- <define name="RC_CLIMB_COEF" value ="163"/>
- <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
- <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
- <define name="INV_M" value ="0.2"/>
- </section>
-
-
- <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
- <define name="PGAIN" value="-100"/>
- <define name="DGAIN" value="-100"/>
- <define name="IGAIN" value="-0"/>
- </section>
-
- <section name="MISC">
- <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
- </section>
-
-
- <makefile>
-
-
-USER =
-#HOST = 10.31.4.22
-HOST = overo
-TARGET_DIR = ~
-
-SRC_FMS=fms
-
-
-ARCH=stm32
-ARCHI=stm32
-BOARD_CFG=\"boards/lisa_0.99.h\"
-FLASH_MODE = JTAG
-
-ap.CFLAGS += -DMODEM_BAUD=B57600
-
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
-include $(CFG_BOOZ)/booz2_autopilot.makefile
-
-include $(CFG_BOOZ)/subsystems/booz2_radio_control_spektrum.makefile
-include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
-include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
-#include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
-include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
-
-
-include $(PAPARAZZI_SRC)/conf/autopilot/lisa_test_progs.makefile
-
-
- </makefile>
-
-</airframe>
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