[Top][All Lists]
[Date Prev][Date Next][Thread Prev][Thread Next][Date Index][Thread Index]
[paparazzi-commits] [5263] added Multiplex Mentor airframe from TU Munic
|
From: |
Felix Ruess |
|
Subject: |
[paparazzi-commits] [5263] added Multiplex Mentor airframe from TU Munich |
|
Date: |
Fri, 06 Aug 2010 12:48:58 +0000 |
Revision: 5263
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5263
Author: flixr
Date: 2010-08-06 12:48:58 +0000 (Fri, 06 Aug 2010)
Log Message:
-----------
added Multiplex Mentor airframe from TU Munich
Added Paths:
-----------
paparazzi3/trunk/conf/airframes/mentor_tum.xml
Added: paparazzi3/trunk/conf/airframes/mentor_tum.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/mentor_tum.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/mentor_tum.xml 2010-08-06 12:48:58 UTC
(rev 5263)
@@ -0,0 +1,327 @@
+<!DOCTYPE airframe SYSTEM "airframe.dtd">
+
+<!-- Mentor Multiplex (http://www.multiplex-rc.de/)
+ Twog v1 board (http://paparazzi.enac.fr/wiki/Twog_v1)
+ Tilted infrared sensor
+ XBee modem in transparent mode.
+ Radio PPM encoder
+-->
+
+<airframe name="Mentor Twog AkaModell">
+
+ <modules main_freq="60">
+ <load name="switch_channel.xml"/>
+ <load name="sys_mon.xml"/>
+ </modules>
+
+<!-- commands section -->
+ <commands>
+ <axis name="THROTTLE" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="PITCH" failsafe_value="0"/>
+ <axis name="YAW" failsafe_value="0"/>
+ <axis name="SWITCH" failsafe_value="0"/>
+ </commands>
+
+ <servos>
+ <servo name="AILERON_RIGHT" no="0" min="2000" neutral="1500" max="1000"/>
+ <servo name="ELEVATOR" no="2" min="2000" neutral="1500" max="1000"/>
+ <servo name="THROTTLE" no="3" min="1000" neutral="1000" max="2000"/>
+ <servo name="RUDDER" no="4" min="2000" neutral="1500" max="1000"/>
+ <servo name="AILERON_LEFT" no="6" min="2000" neutral="1500" max="1000"/>
+ <servo name="SWITCH" no="7" min="1000" neutral="1500" max="2000"/>
+ </servos>
+
+ <rc_commands>
+ <set command="ROLL" value="@ROLL"/>
+ <set command="PITCH" value="@PITCH"/>
+ <set command="THROTTLE" value="@THROTTLE"/>
+ <set command="YAW" value="@YAW"/>
+ <!--<set command="SWITCH" value="@SWITCH"/>-->
+ </rc_commands>
+
+ <ap_only_commands>
+ <copy command="SWITCH"/>
+ </ap_only_commands>
+
+ <auto_rc_commands>
+ <!-- <set command="YAW" value="@YAW"/> -->
+ <!-- <set command="SWITCH" value="@SWITCH"/> -->
+ </auto_rc_commands>
+
+ <section name="MIXER">
+ <define name="AILERON_DIFF" value="0.66"/>
+ <define name="COMBI_SWITCH" value="0.3"/>
+ </section>
+
+ <command_laws>
+ <set servo="THROTTLE" value="@THROTTLE"/>
+ <set servo="ELEVATOR" value="@PITCH"/>
+ <set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
+
+ <let var="roll" value="@ROLL"/>
+ <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
+ <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
+
+ <set servo="SWITCH" value="@SWITCH"/>
+ </command_laws>
+
+
+ <section name="AUTO1" prefix="AUTO1_">
+ <define name="MAX_ROLL" value="RadOfDeg(55)"/>
+ <define name="MAX_PITCH" value="RadOfDeg(35)"/>
+ </section>
+
+ <section name="adc" prefix="ADC_CHANNEL_">
+ <define name="IR1" value="ADC_1"/>
+ <define name="IR2" value="ADC_2"/>
+ <define name="IR_TOP" value="ADC_0"/>
+ <define name="IR_NB_SAMPLES" value="16"/>
+ </section>
+
+ <section name="INFRARED" prefix="IR_">
+ <define name="ADC_IR1_NEUTRAL" value="511"/>
+ <define name="ADC_IR2_NEUTRAL" value="516"/>
+ <define name="ADC_TOP_NEUTRAL" value="512"/>
+
+ <define name="LATERAL_CORRECTION" value="0.35"/>
+ <define name="LONGITUDINAL_CORRECTION" value="0.35"/>
+ <define name="VERTICAL_CORRECTION" value="1.0"/>
+
+ <define name="HORIZ_SENSOR_TILTED" value="1"/>
+
+ <define name="IR1_SIGN" value="1"/>
+ <define name="IR2_SIGN" value="-1"/>
+ <define name="TOP_SIGN" value="-1"/>
+
+ <define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="deg"/>
+ <define name="PITCH_NEUTRAL_DEFAULT" value="11.4591560364" unit="deg"/>
+
+ <define name="CORRECTION_UP" value="1."/>
+ <define name="CORRECTION_DOWN" value="1."/>
+ <define name="CORRECTION_LEFT" value="1."/>
+ <define name="CORRECTION_RIGHT" value="1."/>
+ </section>
+
+
+ <section name="BAT">
+ <define name="MILLIAMP_AT_FULL_THROTTLE" value="20000" unit="mA"/>
+ <define name="CATASTROPHIC_BAT_LEVEL" value="12" unit="V"/>
+ <define name="CRITIC_BAT_LEVEL" value="12.5" unit="V"/>
+ <define name="LOW_BAT_LEVEL" value="13.5" unit="V"/>
+ <define name="MAX_BAT_LEVEL" value="16" unit="V"/>
+ </section>
+
+ <section name="MISC">
+ <define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
+ <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
+ <define name="MAXIMUM_AIRSPEED" value="20." unit="m/s"/>
+ <define name="CARROT" value="5." unit="s"/>
+ <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
+ <define name="CONTROL_RATE" value="60" unit="Hz"/>
+ <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
+
+ <define name="TRIGGER_DELAY" value="1."/>
+ <define name="DEFAULT_CIRCLE_RADIUS" value="100."/>
+ <define name="MIN_CIRCLE_RADIUS" value="40."/>
+ </section>
+
+ <section name="VERTICAL CONTROL" prefix="V_CTL_">
+ <define name="POWER_CTL_BAT_NOMINAL" value="14.8" unit="volt"/>
+ <!-- outer loop proportional gain -->
+ <define name="ALTITUDE_PGAIN" value="-0.04" unit="(m/s)/m"/>
+ <!-- outer loop saturation -->
+ <define name="ALTITUDE_MAX_CLIMB" value="2.5" unit="m/s"/>
+
+ <!-- auto throttle inner loop -->
+ <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"
unit="%"/>
+ <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30" unit="%"/>
+ <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80" unit="%"/>
+ <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" unit="pprz_t"/>
+ <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000" unit="pprz_t"/>
+ <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1"
unit="%/(m/s)"/>
+ <define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
+ <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
+ <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.5"
unit="rad/(m/s)"/>
+
+ <!-- auto pitch inner loop -->
+ <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
+ <define name="AUTO_PITCH_IGAIN" value="0.075"/>
+ <define name="AUTO_PITCH_MAX_PITCH" value="0.35" unit="rad"/>
+ <define name="AUTO_PITCH_MIN_PITCH" value="-0.35" unit="rad"/>
+
+ <define name="THROTTLE_SLEW" value="0.25"/>
+ </section>
+
+ <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+ <define name="COURSE_PGAIN" value="-1.1"/>
+
+ <define name="ROLL_MAX_SETPOINT" value="RadOfDeg(50)" unit="rad"/>
+ <define name="PITCH_MAX_SETPOINT" value="RadOfDeg(30)" unit="rad"/>
+ <define name="PITCH_MIN_SETPOINT" value="RadOfDeg(-25)" unit="rad"/>
+
+ <define name="PITCH_PGAIN" value="-7000."/>
+ <define name="PITCH_DGAIN" value="1.5"/>
+
+ <define name="AILERON_OF_THROTTLE" value="0.0"/>
+ <define name="ELEVATOR_OF_ROLL" value="1250"/>
+
+ <define name="ROLL_ATTITUDE_GAIN" value="-7500."/>
+ <!-- <define name="ROLL_RATE_GAIN" value="-1500"/> -->
+ </section>
+
+ <section name="NAV">
+ <define name="NAV_PITCH" value="0."/>
+ <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+ </section>
+
+ <section name="AGGRESSIVE" prefix="AGR_">
+ <define name="BLEND_START" value="25"/><!-- Altitude Error to Initiate
Aggressive Climb CANNOT BE ZERO!!-->
+ <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend
Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
+ <define name="CLIMB_THROTTLE" value="0.8"/><!-- Gaz for Aggressive Climb
-->
+ <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
+ <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive
Decent -->
+ <define name="DESCENT_PITCH" value="-0.15"/><!-- Pitch for Aggressive
Decent -->
+ <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for
Altitude Error Equal to Start Altitude -->
+ <define name="DESCENT_NAV_RATIO" value="1.0"/>
+ </section>
+
+ <section name="FAILSAFE" prefix="FAILSAFE_">
+ <define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
+ <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+ <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+ <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+ <define name="HOME_RADIUS" value="70" unit="m"/>
+ </section>
+
+<!--
+ <section name="DATALINK" prefix="DATALINK_">
+ <define name="DEVICE_TYPE" value="PPRZ"/>
+ <define name="DEVICE_ADDRESS" value="...."/>
+ </section>
+-->
+
+ <section name="SIMU">
+ <define name="JSBSIM_MODEL" value=""Malolo1""/>
+ <define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
+ <define name="JSBSIM_IR_PITCH_NEUTRAL" value="RadOfDeg(0.)"/>
+ </section>
+
+
+ <makefile>
+CONFIG = \"tiny_2_1_1.h\"
+
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+FLASH_MODE=IAP
+
+# main autopilot control
+ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c
main_ap.c main.c commands.c
+
+# servo stuff
+ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
+ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
+
+# radio control
+ap.CFLAGS += -DRADIO_CONTROL
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+
+#### set FBW debug messages (for PPM message)
+#ap.CFLAGS += -DTELEMETRY_MODE_FBW=1
+
+ap.CFLAGS += -DINTER_MCU
+ap.srcs += inter_mcu.c
+
+############# MODEM BAUD RATE AND UART SETTINGS ##################
+
+ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DUART1_BAUD=B57600
+
+# XBEE_MODEM
+# For XBEE_MODEM uncomment the below two lines otherwise use the TRANSPARENT
mode.
+#ap.CFLAGS += -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1
-DDATALINK=XBEE
+#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+
+# TRANSPARENT MODE
+# For TRANSPARENT mode uncomment the below two lines otherwise use the XBEE
mode above.
+ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DPPRZ_UART=Uart1
-DDATALINK=PPRZ -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+
+
+############# GPS BAUD RATE AND UART SETTINGS ####################
+
+ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
-DGPS_LED=2
+
+# For LEA 5H Gps module uncomment the below definition.
+ap.CFLAGS += -DGPS_USE_LATLONG
+
+#Use the below line for a UBLOX gps unit
+ap.srcs += gps_ubx.c gps.c latlong.c
+
+#Use the below line for a NMEA gps unit
+#ap.srcs += gps_nmea.c gps.c latlong.c
+
+
+####################### INFRARED #################################
+
+ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
+ap.srcs += $(SRC_ARCH)/adc_hw.c
+
+ap.CFLAGS += -DINFRARED -DALT_KALMAN
+ap.srcs += infrared.c estimator.c
+
+
+
+
+###### Strong Wind compensation, use on windy areas and days.
+#ap.CFLAGS += -DSTRONG_WIND
+
+ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DWIND_INFO
+ap.srcs += nav.c fw_v_ctl.c fw_h_ctl.c
+
+##### navigation routines
+ap.srcs += nav_line.c discsurvey.c nav_survey_rectangle.c nav_cube.c
+ap.srcs += snav.c
+ap.srcs += OSAMNav.c
+
+### Use Modules
+ap.CFLAGS += -DUSE_MODULES
+
+
+
+
+#
+############### Config for SITL simulation ######################
+#
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+
+sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += discsurvey.c nav_cube.c
+sim.srcs += snav.c
+sim.srcs += OSAMNav.c
+
+sim.CFLAGS += -DUSE_MODULES
+
+
+#
+############ Config for SITL simulation with JSBSim #############
+#
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl_jsbsim.makefile
+
+jsbsim.CFLAGS += -I/opt/jsbsim/include/JSBSim
+jsbsim.LDFLAGS += -L/opt/jsbsim/lib/
+
+jsbsim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM
-DALT_KALMAN
+jsbsim.srcs += $(SIMDIR)/sim_ac_fw.c
+
+jsbsim.srcs += nav_line.c nav_survey_rectangle.c
+jsbsim.srcs += discsurvey.c nav_cube.c
+jsbsim.srcs += snav.c
+jsbsim.srcs += OSAMNav.c
+
+jsbsim.CFLAGS += -DUSE_MODULES
+
+ </makefile>
+</airframe>
| [Prev in Thread] |
Current Thread |
[Next in Thread] |
- [paparazzi-commits] [5263] added Multiplex Mentor airframe from TU Munich,
Felix Ruess <=