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[paparazzi-commits] [5395] airframes cleanup.
|
From: |
Felix Ruess |
|
Subject: |
[paparazzi-commits] [5395] airframes cleanup. |
|
Date: |
Sun, 15 Aug 2010 22:53:15 +0000 |
Revision: 5395
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5395
Author: flixr
Date: 2010-08-15 22:53:14 +0000 (Sun, 15 Aug 2010)
Log Message:
-----------
airframes cleanup. Moved airframes that seem not to beeing used anymore into
the subdir obsolete. If you still use one of these airframes please update them
and move them back to the appropriate place.
Added Paths:
-----------
paparazzi3/trunk/conf/airframes/obsolete/
paparazzi3/trunk/conf/airframes/obsolete/black_one.xml
paparazzi3/trunk/conf/airframes/obsolete/dc_mc.xml
paparazzi3/trunk/conf/airframes/obsolete/drops.xml
paparazzi3/trunk/conf/airframes/obsolete/easystar2.xml
paparazzi3/trunk/conf/airframes/obsolete/example.xml
paparazzi3/trunk/conf/airframes/obsolete/funjetfmi1.xml
paparazzi3/trunk/conf/airframes/obsolete/funjetgfi1.xml
paparazzi3/trunk/conf/airframes/obsolete/funjetgfi3.xml
paparazzi3/trunk/conf/airframes/obsolete/funjetgfi4.xml
paparazzi3/trunk/conf/airframes/obsolete/funjetgfi5.xml
paparazzi3/trunk/conf/airframes/obsolete/funjetgfi6.xml
paparazzi3/trunk/conf/airframes/obsolete/funjetgfi7.xml
paparazzi3/trunk/conf/airframes/obsolete/funjetgfi8.xml
paparazzi3/trunk/conf/airframes/obsolete/funjetgfi9.xml
paparazzi3/trunk/conf/airframes/obsolete/glass_one1.xml
paparazzi3/trunk/conf/airframes/obsolete/glass_one2.xml
paparazzi3/trunk/conf/airframes/obsolete/glass_one3.xml
paparazzi3/trunk/conf/airframes/obsolete/kalscott_easystar.xml
paparazzi3/trunk/conf/airframes/obsolete/lila.xml
paparazzi3/trunk/conf/airframes/obsolete/mac06a.xml
paparazzi3/trunk/conf/airframes/obsolete/malolo_sim.xml
paparazzi3/trunk/conf/airframes/obsolete/microjet5.xml
paparazzi3/trunk/conf/airframes/obsolete/microjet5_tp_auto.xml
paparazzi3/trunk/conf/airframes/obsolete/microjet6.xml
paparazzi3/trunk/conf/airframes/obsolete/microjetI.xml
paparazzi3/trunk/conf/airframes/obsolete/microjetII.xml
paparazzi3/trunk/conf/airframes/obsolete/microjetIII.xml
paparazzi3/trunk/conf/airframes/obsolete/minimag_fs.xml
paparazzi3/trunk/conf/airframes/obsolete/miniwing.xml
paparazzi3/trunk/conf/airframes/obsolete/mmlaas_N1.xml
paparazzi3/trunk/conf/airframes/obsolete/mmlaas_N2.xml
paparazzi3/trunk/conf/airframes/obsolete/mmlaas_N3.xml
paparazzi3/trunk/conf/airframes/obsolete/nova.xml
paparazzi3/trunk/conf/airframes/obsolete/red_one.xml
paparazzi3/trunk/conf/airframes/obsolete/slayer1.xml
paparazzi3/trunk/conf/airframes/obsolete/slayer3.xml
paparazzi3/trunk/conf/airframes/obsolete/slayerJH.xml
paparazzi3/trunk/conf/airframes/obsolete/slicer1.xml
paparazzi3/trunk/conf/airframes/obsolete/slicer2.xml
paparazzi3/trunk/conf/airframes/obsolete/spirit.xml
paparazzi3/trunk/conf/airframes/obsolete/spirit_proto.xml
paparazzi3/trunk/conf/airframes/obsolete/storm1.xml
paparazzi3/trunk/conf/airframes/obsolete/tiny2.xml
paparazzi3/trunk/conf/airframes/obsolete/tl.xml
paparazzi3/trunk/conf/airframes/obsolete/twinjet1.xml
paparazzi3/trunk/conf/airframes/obsolete/twinstar1.xml
paparazzi3/trunk/conf/airframes/obsolete/twinstar6.xml
paparazzi3/trunk/conf/airframes/obsolete/twinstarmm.xml
paparazzi3/trunk/conf/airframes/obsolete/twisted.xml
paparazzi3/trunk/conf/airframes/obsolete/tyto1.xml
paparazzi3/trunk/conf/airframes/obsolete/xxx1.xml
Removed Paths:
-------------
paparazzi3/trunk/conf/airframes/black_one.xml
paparazzi3/trunk/conf/airframes/dc_mc.xml
paparazzi3/trunk/conf/airframes/drops.xml
paparazzi3/trunk/conf/airframes/easystar2.xml
paparazzi3/trunk/conf/airframes/example.xml
paparazzi3/trunk/conf/airframes/funjetfmi1.xml
paparazzi3/trunk/conf/airframes/funjetgfi1.xml
paparazzi3/trunk/conf/airframes/funjetgfi3.xml
paparazzi3/trunk/conf/airframes/funjetgfi4.xml
paparazzi3/trunk/conf/airframes/funjetgfi5.xml
paparazzi3/trunk/conf/airframes/funjetgfi6.xml
paparazzi3/trunk/conf/airframes/funjetgfi7.xml
paparazzi3/trunk/conf/airframes/funjetgfi8.xml
paparazzi3/trunk/conf/airframes/funjetgfi9.xml
paparazzi3/trunk/conf/airframes/glass_one1.xml
paparazzi3/trunk/conf/airframes/glass_one2.xml
paparazzi3/trunk/conf/airframes/glass_one3.xml
paparazzi3/trunk/conf/airframes/kalscott_easystar.xml
paparazzi3/trunk/conf/airframes/lila.xml
paparazzi3/trunk/conf/airframes/mac06a.xml
paparazzi3/trunk/conf/airframes/malolo_sim.xml
paparazzi3/trunk/conf/airframes/microjet5.xml
paparazzi3/trunk/conf/airframes/microjet5_tp_auto.xml
paparazzi3/trunk/conf/airframes/microjet6.xml
paparazzi3/trunk/conf/airframes/microjetI.xml
paparazzi3/trunk/conf/airframes/microjetII.xml
paparazzi3/trunk/conf/airframes/microjetIII.xml
paparazzi3/trunk/conf/airframes/minimag_fs.xml
paparazzi3/trunk/conf/airframes/miniwing.xml
paparazzi3/trunk/conf/airframes/mmlaas_N1.xml
paparazzi3/trunk/conf/airframes/mmlaas_N2.xml
paparazzi3/trunk/conf/airframes/mmlaas_N3.xml
paparazzi3/trunk/conf/airframes/nova.xml
paparazzi3/trunk/conf/airframes/red_one.xml
paparazzi3/trunk/conf/airframes/slayer1.xml
paparazzi3/trunk/conf/airframes/slayer3.xml
paparazzi3/trunk/conf/airframes/slayerJH.xml
paparazzi3/trunk/conf/airframes/slicer1.xml
paparazzi3/trunk/conf/airframes/slicer2.xml
paparazzi3/trunk/conf/airframes/spirit.xml
paparazzi3/trunk/conf/airframes/spirit_proto.xml
paparazzi3/trunk/conf/airframes/storm1.xml
paparazzi3/trunk/conf/airframes/tiny2.xml
paparazzi3/trunk/conf/airframes/tl.xml
paparazzi3/trunk/conf/airframes/twinjet1.xml
paparazzi3/trunk/conf/airframes/twinstar1.xml
paparazzi3/trunk/conf/airframes/twinstar6.xml
paparazzi3/trunk/conf/airframes/twinstarmm.xml
paparazzi3/trunk/conf/airframes/twisted.xml
paparazzi3/trunk/conf/airframes/tyto1.xml
paparazzi3/trunk/conf/airframes/xxx1.xml
Deleted: paparazzi3/trunk/conf/airframes/black_one.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/black_one.xml 2010-08-15 22:53:07 UTC
(rev 5394)
+++ paparazzi3/trunk/conf/airframes/black_one.xml 2010-08-15 22:53:14 UTC
(rev 5395)
@@ -1,281 +0,0 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
-
-<!-- The Black One
(http://www.recherche.enac.fr/wiki/index.php/Image:MAC-BlackOne-MAV06.jpg)
- Two ailevons
- Tiny proto, tilted infrared sensor
- 2 cells lipo
- Hatch to drop a paint ball
- Gimballed camera -->
-
-
-<airframe name="BlackOne Tiny proto">
-
-<!-- commands section -->
- <servos>
- <servo name="THROTTLE" no="4" min="1000" neutral="1000" max="2000"/>
- <servo name="AILEVON_LEFT" no="5" min="1900" neutral="1470" max="1100"/>
- <servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1595" max="2000"/>
- <servo name="HATCH" no="1" min="1725" neutral="1725" max="1000"/>
- <!--servo name="CAM_ROLL" no="0" min="1025" neutral="1600"
max="2175"/-->
- <servo name="CAM_ROLL" no="0" min="2150" neutral="1585" max="1020"/>
- <servo name="CAM_PITCH" no="2" min="1000" neutral="1500" max="2000"/>
- </servos>
-
- <commands>
- <axis name="THROTTLE" failsafe_value="0"/>
- <axis name="ROLL" failsafe_value="0"/>
- <axis name="PITCH" failsafe_value="0"/>
- <axis name="HATCH" failsafe_value="0"/>
- <axis name="CAM_ROLL" failsafe_value="0"/>
- <axis name="CAM_PITCH" failsafe_value="0"/>
- </commands>
-
- <rc_commands>
- <set command="THROTTLE" value="@THROTTLE"/>
- <set command="ROLL" value="@ROLL"/>
- <set command="PITCH" value="@PITCH"/>
- <set command="HATCH" value="@GAIN1"/>
- <set command="CAM_ROLL" value="@ROLL"/>
- </rc_commands>
-
- <section name="MIXER">
- <define name="AILEVON_AILERON_RATE" value="0.45"/>
- <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
- </section>
-
- <command_laws>
- <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
- <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
- <set servo="THROTTLE" value="@THROTTLE"/>
- <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
- <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
- <set servo="HATCH" value="@HATCH"/>
- <!--set servo="CAM_ROLL" value="@CAM_ROLL"/-->
- </command_laws>
-
- <section name="AUTO1" prefix="AUTO1_">
- <define name="MAX_ROLL" value="0.6"/>
- <define name="MAX_PITCH" value="0.6"/>
- </section>
-
- <section name="adc" prefix="ADC_CHANNEL_">
- <define name="IR1" value="ADC_0"/>
- <define name="IR2" value="ADC_1"/>
- <define name="IR_TOP" value="ADC_2"/>
- <define name="IR_NB_SAMPLES" value="16"/>
- <define name="VSUPPLY" value="ADC_7"/>
- <define name="GYRO_ROLL" value="ADC_3"/>
- <define name="GYRO_TEMP" value="ADC_4"/>
- <define name="GYRO_NB_SAMPLES" value="16"/>
-
- </section>
-
- <section name="INFRARED" prefix="IR_">
- <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
- <define name="PITCH_NEUTRAL_DEFAULT" value="12" unit="deg"/>
- <define name="DEFAULT_CONTRAST" value="200"/>
- <define name="RAD_OF_IR_CONTRAST" value="0.75"/>
- <linear name="RollOfIrs" arity="2" coeff1="-0.7" coeff2="0.7"/>
- <linear name="PitchOfIrs" arity="2" coeff1="0.7" coeff2="0.7"/>
- <linear name="TopOfIr" arity="1" coeff1="-1"/>
- <define name="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
- <define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
- <define name="ADC_ROLL_NEUTRAL" value="0"/>
- <define name="ADC_PITCH_NEUTRAL" value="716"/>
- <define name="ADC_TOP_NEUTRAL" value="512"/>
-
- <define name="CORRECTION_UP" value="1."/>
- <define name="CORRECTION_DOWN" value="1."/>
- <define name="CORRECTION_LEFT" value="1."/>
- <define name="CORRECTION_RIGHT" value="1."/>
-
- <define name="360_LATERAL_CORRECTION" value="1.3"/>
- <define name="360_LONGITUDINAL_CORRECTION" value="1.3"/>
- <define name="360_VERTICAL_CORRECTION" value="1."/>
- </section>
-
- <section name="GYRO" prefix="GYRO_">
- <define name="ADC_ROLL_NEUTRAL" value="474"/>
- <define name="ADC_TEMP_NEUTRAL" value="476"/>
- <define name="ADC_TEMP_SLOPE" value="0"/>
- <define name="ROLL_SCALE" value="0.44"/>
- <define name="ROLL_DIRECTION" value="-1."/>
- </section>
-
- <section name="BAT">
- <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
- <define name="VOLTAGE_ADC_A" value="0.0174"/>
- <define name="VOLTAGE_ADC_B" value="3.43"/>
- <define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc +
VOLTAGE_ADC_B)"/>
- <define name="LOW_BATTERY" value="6.0" unit="V"/>
- </section>
-
- <section name="MISC">
- <define name="NOMINAL_AIRSPEED" value="15." 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="TRIGGER_DELAY" value="2."/>
- <define name="NAV_GLIDE_PITCH_TRIM"
value="(V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN*V_CTL_ALTITUDE_MAX_CLIMB)"/>
-
- <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
- </section>
-
- <section name="VERTICAL CONTROL" prefix="V_CTL_">
- <!-- outer loop proportional gain -->
- <define name="ALTITUDE_PGAIN" value="-0.025"/>
- <!-- outer loop saturation -->
- <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
- <!-- auto throttle inner loop -->
- <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.40"/>
- <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
- <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
- <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
- <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
- <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2"
unit="%/(m/s)"/>
- <define name="AUTO_THROTTLE_PGAIN" value="-0.03"/>
- <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
- <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
-
- <!-- auto pitch inner loop -->
- <define name="AUTO_PITCH_PGAIN" value="-0.06"/>
- <define name="AUTO_PITCH_IGAIN" value="0.025"/>
- <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
- <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
-
- <define name="THROTTLE_SLEW" value="0.05"/>
-
- </section>
-
- <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
- <define name="COURSE_PGAIN" value="-0.85"/>
- <define name="ROLL_MAX_SETPOINT" value="0.5" unit="radians"/>
- <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
- <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
-
-
- <define name="ROLL_PGAIN" value="8000."/>
- <define name="AILERON_OF_THROTTLE" value="0.0"/>
- <define name="PITCH_PGAIN" value="-8000."/>
- <define name="PITCH_DGAIN" value="0."/>
- <define name="ELEVATOR_OF_ROLL" value="1750"/>
-
- <!-- roll rate loop -->
- <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
- <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
- <define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
- <define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="1500."/>
- <define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="1500."/>
- <define name="ROLL_RATE_IGAIN" value="0."/>
- <define name="ROLL_RATE_DGAIN" value="0."/>
- <define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
-
- </section>
-
- <section name="NAV">
- <define name="NAV_PITCH" value="0."/>
- </section>
-
- <section name="AGGRESSIVE" prefix="AGR_">
- <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate
Aggressive Climb CANNOT BE ZERO!!-->
- <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend
Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
- <define name="CLIMB_THROTTLE" value="0.8"/><!-- Throttle for Aggressive
Climb -->
- <define name="CLIMB_PITCH" value="0.4"/><!-- Pitch for Aggressive Climb -->
- <define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive
Decent -->
- <define name="DESCENT_PITCH" value="-0.4"/><!-- Pitch for Aggressive
Decent -->
- <define name="CLIMB_NAV_RATIO" value="0.5"/><!-- Percent Navigation for
Altitude Error Equal to Start Altitude -->
- <define name="DESCENT_NAV_RATIO" value="1.0"/>
- </section>
-
-
- <section name="GYRO_GAINS">
- <define name="GYRO_MAX_RATE" value="200."/>
- <define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
- <define name="ALT_ROLL__PGAIN" value="1.0"/>
- <define name="ROLL_RATE_PGAIN" value="1000.0"/>
- <define name="ROLL_RATE_IGAIN" value="0.0"/>
- <define name="ROLL_RATE_DGAIN" value="0.0"/>
- </section>
-
- <section name="FAILSAFE" prefix="FAILSAFE_">
- <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
- <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
- <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
- <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
- <define name="HOME_RADIUS" value="100" unit="m"/>
-</section>
-
-<section name="CAM" prefix="CAM_">
- <define name="PHI0" value="-45" unit="deg"/>
-</section>
-
- <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
-
-FLASH_MODE=IAP
-
-ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny.h\" -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
-
-ap.srcs += commands.c
-
-ap.CFLAGS += -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015
-ap.srcs += $(SRC_ARCH)/servos_4015_hw_new.c actuators.c
-
-ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
-
-#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0
-DDATALINK=XBEE -DUART0_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
-
-ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0
-DDATALINK=PPRZ -DUART0_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
-
-ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c
-
-ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_1 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD1
-DUSE_AD1_7 -DUSE_AD1_3 -DUSE_AD1_2
-ap.srcs += $(SRC_ARCH)/adc_hw.c
-
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
-DGPS_CONFIGURE -DZ_CONTRAST_DEFAULT=1
-
-ap.srcs += gps_ubx.c gps.c
-
-ap.CFLAGS += -DINFRARED -DALT_KALMAN -DIR_360
-ap.srcs += infrared.c estimator.c
-
-ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
-
-ap.CFLAGS += -DGYRO -DADXRS150
-ap.srcs += gyro.c
-
-ap.srcs += bomb.c
-
-#Cap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM
-#Cap.srcs += traffic_info.c point.c cam.c
-
-
-# Video switch
-ap.CFLAGS += -DUSE_GPIO
-ap.srcs += $(SRC_ARCH)/gpio.c
-
-
-# Hardware In The Loop
-
-#ap.CFLAGS += -DHITL
-
-
-# Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP
-DLOITER_TRIM -DIR_360
-sim.srcs += bomb.c
-
-#Csim.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM
-#Csim.srcs += traffic_info.c point.c
-
-
- </makefile>
-</airframe>
Deleted: paparazzi3/trunk/conf/airframes/dc_mc.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/dc_mc.xml 2010-08-15 22:53:07 UTC (rev
5394)
+++ paparazzi3/trunk/conf/airframes/dc_mc.xml 2010-08-15 22:53:14 UTC (rev
5395)
@@ -1,39 +0,0 @@
-<!-- dc motor controller -->
-<airframe name="dc_mc">
-
- <makefile>
-
-ARCHI=avr
-
-main.ARCHDIR=$(ARCHI)
-main.ARCH = atmega8
-main.TARGET = main
-main.TARGETDIR = main
-
-# to check : 16MHz reso
-main.LOW_FUSE = 2e
-main.HIGH_FUSE = cb
-main.EXT_FUSE = ff
-main.LOCK_FUSE = ff
-
-main.CFLAGS += -DBOARD_CONFIG=\"conf_dc_mc.h\"
-main.srcs = main_dc_mc.c
-
-main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-2)'
-main.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-main.CFLAGS += -DLED
-#-DTIME_LED=1
-
-main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
-main.srcs += $(SRC_ARCH)/uart_hw.c
-
-main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart0
-main.srcs += downlink.c pprz_transport.c
-
-main.srcs += $(SRC_ARCH)/dc_mc_link.c
-main.srcs += $(SRC_ARCH)/dc_mc_power.c
-
- </makefile>
-
-</airframe>
\ No newline at end of file
Deleted: paparazzi3/trunk/conf/airframes/drops.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/drops.xml 2010-08-15 22:53:07 UTC (rev
5394)
+++ paparazzi3/trunk/conf/airframes/drops.xml 2010-08-15 22:53:14 UTC (rev
5395)
@@ -1,284 +0,0 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
-
-<!-- Twinstar II, 2x Jeti 12 advance
- Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
- PerkinElmer TPS334 IR Sensors
- Tilted infrared sensor
- XBee modem
- K66, LEA 5H
--->
-
-<airframe name="Drops K66">
-
-<!-- commands section -->
- <servos>
- <servo name="MOTOR_LEFT" no="0" min="1000" neutral="1000" max="2000"/>
- <servo name="AILERON_LEFT" no="1" min="1900" neutral="1500" max="1100"/>
- <servo name="ELEVATOR" no="2" min="1900" neutral="1500" max="1100"/>
- <servo name="RUDDER" no="3" min="1100" neutral="1500" max="1900"/>
- <servo name="AILERON_RIGHT" no="4" min="1900" neutral="1500" max="1100"/>
- <servo name="HATCH" no="5" min="1860" neutral="1860" max="1022"/>
- <servo name="MOTOR_RIGHT" no="6" min="1000" neutral="1000" max="2000"/>
- </servos>
-
- <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="HATCH" failsafe_value="0"/>
- <axis name="GAIN1" failsafe_value="0"/>
- </commands>
-
- <rc_commands>
- <set command="THROTTLE" value="@THROTTLE"/>
- <set command="ROLL" value="@ROLL"/>
- <set command="PITCH" value="@PITCH"/>
- <set command="YAW" value="@YAW"/>
- <set command="HATCH" value="@CALIB"/>
- <set command="GAIN1" value="@GAIN1"/>
- </rc_commands>
-
- <auto_rc_commands>
- <set command="YAW" value="@YAW"/>
- <set command="GAIN1" value="@GAIN1"/>
- </auto_rc_commands>
-
- <section name="MIXER">
- <define name="AILERON_DIFF" value="0.8"/>
- </section>
-
- <command_laws>
- <set servo="MOTOR_LEFT" value="@THROTTLE"/>
- <set servo="MOTOR_RIGHT" value="(@GAIN1 > 0 ? @THROTTLE : 0)"/>
- <set servo="ELEVATOR" value="@PITCH"/>
- <set servo="RUDDER" value="@YAW"/>
- <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="HATCH" value="@HATCH"/>
- </command_laws>
-
- <section name="AUTO1" prefix="AUTO1_">
- <define name="MAX_ROLL" value="0.85"/>
- <define name="MAX_PITCH" value="0.6"/>
- </section>
-
- <section name="adc" prefix="ADC_CHANNEL_">
- <define name="IR1" value="ADC_1"/>
- <define name="IR2" value="ADC_2"/>
- <define name="IR_TOP" value="ADC_0"/>
- <define name="IR_NB_SAMPLES" value="16"/>
- <define name="GYRO_ROLL" value="ADC_3"/>
- <define name="GYRO_NB_SAMPLES" value="32"/>
- </section>
-
- <section name="INFRARED" prefix="IR_">
- <define name="ADC_IR1_NEUTRAL" value="512"/>
- <define name="ADC_IR2_NEUTRAL" value="512"/>
- <define name="ADC_TOP_NEUTRAL" value="512"/>
-
- <define name="CORRECTION_UP" value="1."/>
- <define name="CORRECTION_DOWN" value="1."/>
- <define name="CORRECTION_LEFT" value="1."/>
- <define name="CORRECTION_RIGHT" value="1."/>
-
- <define name="LATERAL_CORRECTION" value="-1"/>
- <define name="LONGITUDINAL_CORRECTION" value="1"/>
- <define name="VERTICAL_CORRECTION" value="1.7"/>
-
- <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="0" unit="deg"/>
- </section>
-
- <section name="GYRO" prefix="GYRO_">
- <define name="ADC_ROLL_NEUTRAL" value="520"/>
- <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
- <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
- <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
- <define name="ROLL_SCALE"
value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)"
unit="deg/s/adc_unit"/>
- <define name="ROLL_DIRECTION" value="-1."/>
- </section>
-
- <section name="BAT">
- <define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
- <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- <!-- 0.0247311828 -->
- <!-- 0.02432905 -->
- <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
- </section>
-
- <section name="MISC">
- <define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
- <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
- <define name="MAXIMUM_AIRSPEED" value="18." unit="m/s"/>
- <define name="CARROT" value="5." unit="s"/>
- <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
- <define name="CONTROL_RATE" value="60" unit="Hz"/>
-<!-- <define name="XBEE_INIT" value=""ATPL2\rATRN1\rATTT80\r""/>
-->
-<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
- <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
-
- <define name="TRIGGER_DELAY" value="1."/>
- <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
- <define name="MIN_CIRCLE_RADIUS" value="50."/>
- </section>
-
- <section name="VERTICAL CONTROL" prefix="V_CTL_">
-
- <!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
- <!-- outer loop proportional gain -->
- <define name="ALTITUDE_PGAIN" value="-0.06"/>
- <!-- outer loop saturation -->
- <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
- <!-- auto throttle inner loop -->
- <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
- <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
- <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
- <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
- <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
- <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2"
unit="%/(m/s)"/>
- <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/>
- <define name="AUTO_THROTTLE_IGAIN" value="0.101000003517"/>
- <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
-
- <!-- auto pitch inner loop -->
- <define name="AUTO_PITCH_PGAIN" value="-0.06"/>
- <define name="AUTO_PITCH_IGAIN" value="0.0"/>
- <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
- <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
-
- <define name="THROTTLE_SLEW" value="0.1"/>
-
- </section>
-
- <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
- <define name="COURSE_PGAIN" value="-1.0340000391"/>
- <define name="ROLL_MAX_SETPOINT" value="0.60" unit="radians"/>
- <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
- <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
-
- <define name="ROLL_PGAIN" value="6000."/>
- <define name="AILERON_OF_THROTTLE" value="0.0"/>
- <define name="PITCH_PGAIN" value="-8898.3046875"/>
- <define name="PITCH_DGAIN" value="-1694.91503906"/>
-
- <define name="ELEVATOR_OF_ROLL" value="1520.73706055"/>
-
- <define name="ROLL_ATTITUDE_GAIN" value="-5847.45800781"/>
- <define name="ROLL_RATE_GAIN" value="-2923.72900391"/>
-
- <define name="ROLL_KFF" value="-500"/>
- <define name="ROLL_IGAIN" value="-5000"/>
- </section>
-
- <section name="NAV">
- <define name="NAV_PITCH" value="0."/>
- <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
- </section>
-
- <section name="AGGRESSIVE" prefix="AGR_">
- <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate
Aggressive Climb CANNOT BE ZERO!!-->
- <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend
Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
- <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb
-->
- <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb
-->
- <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive
Decent -->
- <define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive
Decent -->
- <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for
Altitude Error Equal to Start Altitude -->
- <define name="DESCENT_NAV_RATIO" value="1.0"/>
- </section>
-
- <section name="GYRO_GAINS">
- <define name="GYRO_MAX_RATE" value="200."/>
- <define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
- <define name="ALT_ROLL__PGAIN" value="1.0"/>
- <define name="ROLL_RATE_PGAIN" value="1000.0"/>
- <define name="ROLL_RATE_IGAIN" value="0.0"/>
- <define name="ROLL_RATE_DGAIN" value="0.0"/>
- </section>
-
- <section name="FAILSAFE" prefix="FAILSAFE_">
- <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
- <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
- <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
- <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
- <define name="HOME_RADIUS" value="100" unit="m"/>
-</section>
-
- <section name="DATALINK" prefix="DATALINK_">
- <define name="DEVICE_TYPE" value="XBEE"/>
- <define name="DEVICE_ADDRESS" value="...."/>
- </section>
- <makefile>
-CONFIG = \"tiny_2_1.h\"
-
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
-
-FLASH_MODE=IAP
-
-ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
-
-ap.srcs += commands.c
-
-ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
-ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
-
-ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_AUTO1
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
-
-ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport
-DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
-
-#TRANSPARENT
-#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1
-DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
-
-ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c
-
-ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
-ap.srcs += $(SRC_ARCH)/adc_hw.c
-
-ap.CFLAGS += -DGYRO -DADXRS150
-ap.srcs += gyro.c
-
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
-DGPS_USE_LATLONG
-# -DGPS_LED=2
-ap.srcs += gps_ubx.c gps.c latlong.c
-
-ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
-ap.srcs += infrared.c estimator.c
-
-ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl_a.c fw_v_ctl.c
-
-ap.srcs += nav_line.c
-ap.srcs += nav_survey_rectangle.c
-
-ap.srcs += bomb.c
-
-ap.srcs += snav.c
-
-# Config for SITL simulation
-# include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.ARCHDIR = $(ARCHI)
-sim.ARCH = sitl
-sim.TARGET = autopilot
-sim.TARGETDIR = autopilot
-sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK
-DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO
-sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c
infrared.c fw_h_ctl_a.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c
main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c
$(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c
$(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
-
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
-
-sim.srcs += bomb.c
-
- </makefile>
-</airframe>
Deleted: paparazzi3/trunk/conf/airframes/easystar2.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/easystar2.xml 2010-08-15 22:53:07 UTC
(rev 5394)
+++ paparazzi3/trunk/conf/airframes/easystar2.xml 2010-08-15 22:53:14 UTC
(rev 5395)
@@ -1,237 +0,0 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
-
-<!--
- Multiplex EasyStar, using rudder
- TWOG v1 board
- Tilted infrared sensor
- XBee 2.4GHz modem in transparent mode
--->
-
-<airframe name="EasyStar2 - TWOG v1">
-
- <modules>
- <load name="campod.xml"/>
- </modules>
-
-<!-- commands section -->
- <servos>
- <servo name="THROTTLE" no="0" min="1120" neutral="1120" max="1920"/>
- <servo name="ELEVATOR" no="6" min="1100" neutral="1514" max="1900"/>
- <servo name="RUDDER" no="7" min="2050" neutral="1612" max="950"/>
- <servo name="CAM_PAN" no="3" min="1000" neutral="1500" max="2000"/>
- <servo name="CAM_TILT" no="4" min="1000" neutral="1450" max="2000"/>
- </servos>
-
- <commands>
- <axis name="THROTTLE" failsafe_value="0"/>
- <axis name="ROLL" failsafe_value="0"/>
- <axis name="PITCH" failsafe_value="0"/>
- <axis name="CAM_PAN" failsafe_value="0"/>
- <axis name="CAM_TILT" failsafe_value="0"/>
- </commands>
-
- <rc_commands>
- <set command="ROLL" value="@ROLL"/>
- <set command="PITCH" value="@PITCH"/>
- <set command="THROTTLE" value="@THROTTLE"/>
- <set command="CAM_PAN" value="@CAM_PAN"/>
- <set command="CAM_TILT" value="@CAM_TILT"/>
- </rc_commands>
-
- <command_laws>
- <set servo="THROTTLE" value="@THROTTLE"/>
- <set servo="RUDDER" value="@ROLL"/>
- <set servo="ELEVATOR" value="@PITCH"/>
- <set servo="CAM_PAN" value="@CAM_PAN"/>
- <set servo="CAM_TILT" value="@CAM_TILT"/>
- </command_laws>
-
- <section name="AUTO1" prefix="AUTO1_">
- <define name="MAX_ROLL" value="RadOfDeg(50)"/>
- <define name="MAX_PITCH" value="RadOfDeg(40)"/>
- </section>
-
- <section name="adc" prefix="ADC_CHANNEL_">
- <define name="IR1" value="ADC_1"/>
- <define name="IR2" value="ADC_2"/>
- <define name="IR_TOP" value="ADC_0"/>
- <define name="IR_NB_SAMPLES" value="16"/>
- </section>
-
- <section name="INFRARED" prefix="IR_">
- <define name="ADC_IR1_NEUTRAL" value="512"/>
- <define name="ADC_IR2_NEUTRAL" value="510"/>
- <define name="ADC_TOP_NEUTRAL" value="516"/>
-
- <define name="LATERAL_CORRECTION" value="0.7"/>
- <define name="LONGITUDINAL_CORRECTION" value="0.7"/>
- <define name="VERTICAL_CORRECTION" value="1."/>
-
- <define name="HORIZ_SENSOR_TILTED" value="1"/>
- <define name="IR1_SIGN" value="1"/>
- <define name="IR2_SIGN" value="-1"/>
- <define name="TOP_SIGN" value="1"/>
-
- <define name="ROLL_NEUTRAL_DEFAULT" value="-5.3" unit="deg"/>
- <define name="PITCH_NEUTRAL_DEFAULT" value="-3" unit="deg"/>
-
- <define name="CORRECTION_UP" value="1."/>
- <define name="CORRECTION_DOWN" value="1."/>
- <define name="CORRECTION_LEFT" value="1."/>
- <define name="CORRECTION_RIGHT" value="1."/>
- </section>
-
- <section name="BAT">
- <define name="MILLIAMP_AT_FULL_THROTTLE" value="20000" unit="mA"/>
- <define name="CATASTROPHIC_BAT_LEVEL" value="8.0" unit="V"/>
- <define name="CRITIC_BAT_LEVEL" value="8.5" unit="V"/>
- <define name="LOW_BAT_LEVEL" value="9.5" unit="V"/>
- <define name="MAX_BAT_LEVEL" value="12.5" unit="V"/>
- </section>
-
- <section name="MISC">
- <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
- <define name="CARROT" value="4." unit="s"/>
- <define name="KILL_MODE_DISTANCE" value="(2.0*MAX_DIST_FROM_HOME)"/>
- <define name="CONTROL_RATE" value="60" unit="Hz"/>
- <define name="NO_XBEE_API_INIT" value="TRUE"/>
- <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
- <define name="TRIGGER_DELAY" value="1."/>
- <define name="DEFAULT_CIRCLE_RADIUS" value="90."/>
- <define name="MIN_CIRCLE_RADIUS" value="60."/>
- </section>
-
- <section name="VERTICAL CONTROL" prefix="V_CTL_">
- <define name="POWER_CTL_BAT_NOMINAL" value="11.0" unit="volt"/>
- <!-- outer loop -->
- <define name="ALTITUDE_PGAIN" value="-0.075" unit="(m/s)/m"/>
- <define name="ALTITUDE_MAX_CLIMB" value="4." unit="m/s"/>
- <!-- auto throttle inner loop -->
- <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5" unit="%"/>
- <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.4" unit="%"/>
- <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.8" unit="%"/>
- <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" unit="pprz_t"/>
- <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000" unit="pprz_t"/>
- <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1"
unit="%/(m/s)"/>
- <define name="AUTO_THROTTLE_PGAIN" value="-0.02" unit="%/(m/s)"/>
- <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
- <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"
unit="rad/(m/s)"/>
- <!-- auto airspeed and altitude inner loop -->
- <define name="AUTO_AIRSPEED_SETPOINT" value="14.5" unit="m/s"/>
- <define name="AUTO_AIRSPEED_PGAIN" value="0.060"/>
- <define name="AUTO_AIRSPEED_IGAIN" value="0.050"/>
- <define name="AUTO_GROUNDSPEED_SETPOINT" value="6.0" unit="m/s"/>
- <define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
- <define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>
- <define name="AUTO_PITCH_PGAIN" value="-0.125"/>
- <define name="AUTO_PITCH_IGAIN" value="0.025"/>
- <define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
- <define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-25)"/>
- <define name="THROTTLE_SLEW" value="1.0"/>
- </section>
-
- <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
- <define name="COURSE_PGAIN" value="-0.7"/>
- <define name="ROLL_MAX_SETPOINT" value="RadOfDeg(35)" unit="radians"/>
- <define name="PITCH_MAX_SETPOINT" value="RadOfDeg(25)" unit="radians"/>
- <define name="PITCH_MIN_SETPOINT" value="RadOfDeg(-25)" unit="radians"/>
- <define name="PITCH_PGAIN" value="-20000."/>
- <define name="PITCH_DGAIN" value="1.5"/>
- <define name="ELEVATOR_OF_ROLL" value="2500"/>
- <define name="ROLL_ATTITUDE_GAIN" value="-7400"/>
- <define name="ROLL_RATE_GAIN" value="-200"/>
- </section>
-
- <section name="NAV">
- <define name="NAV_PITCH" value="0."/>
- <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
- </section>
-
- <section name="AGGRESSIVE" prefix="AGR_">
- <define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate
Aggressive Climb CANNOT BE ZERO!!-->
- <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend
Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
- <define name="CLIMB_THROTTLE" value="0.70"/><!-- Gaz for Aggressive Climb
-->
- <define name="CLIMB_PITCH" value="RadOfDeg(18)"/><!-- Pitch for Aggressive
Climb -->
- <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive
Decent -->
- <define name="DESCENT_PITCH" value="RadOfDeg(-20)"/><!-- Pitch for
Aggressive Decent -->
- <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for
Altitude Error Equal to Start Altitude -->
- <define name="DESCENT_NAV_RATIO" value="1.0"/>
- </section>
-
- <section name="FAILSAFE" prefix="FAILSAFE_">
- <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
- <define name="DEFAULT_THROTTLE" value="0.4" unit="%"/>
- <define name="DEFAULT_ROLL" value="RadOfDeg(15)" unit="rad"/>
- <define name="DEFAULT_PITCH" value="RadOfDeg(0)" unit="rad"/>
- <define name="HOME_RADIUS" value="90" unit="m"/>
- </section>
-
- <section name="DATALINK" prefix="DATALINK_">
- <define name="DEVICE_TYPE" value="PPRZ"/>
- <define name="DEVICE_ADDRESS" value="...."/>
- </section>
-
- <makefile>
-CONFIG = \"tiny_2_1_1.h\"
-
-# Target configuration
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
-
-FLASH_MODE=IAP
-
-ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
-DUSE_MODULES
-ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c
main_ap.c main.c
-
-ap.srcs += commands.c
-
-# Servo driver
-ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
-ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
-
-# Radio configuration
-ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
-
-# Telemetry configuration
-ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1
-DDATALINK=PPRZ -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
-
-ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c
-
-# ADC configuration
-ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
-ap.srcs += $(SRC_ARCH)/adc_hw.c
-
-# GPS configuration
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
-DGPS_USE_LATLONG -DGPS_LED=2
-ap.srcs += gps_ubx.c gps.c latlong.c
-
-ap.CFLAGS += -DINFRARED -DALT_KALMAN
-ap.srcs += infrared.c estimator.c
-
-# Control loops
-ap.CFLAGS += -DNAV -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
-
-ap.srcs += nav_line.c
-ap.srcs += nav_survey_rectangle.c
-
-# Camera control
-#ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
-#-DTEST_CAM
-#ap.srcs += cam.c point.c
-
-# EagleTree sensors (altimeter and airspeed)
-ap.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0
-DAGR_CLIMB
-ap.srcs += airspeed.c airspeed_ets.c baro_ets.c i2c.c $(SRC_ARCH)/i2c_hw.c
-
-# Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN
-DUSE_MODULES
-sim.srcs += nav_line.c nav_survey_rectangle.c
-sim.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0
-DAGR_CLIMB
-sim.srcs += airspeed.c airspeed_ets.c baro_ets.c i2c.c $(SRC_ARCH)/i2c_hw.c
-
- </makefile>
-</airframe>
Deleted: paparazzi3/trunk/conf/airframes/example.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/example.xml 2010-08-15 22:53:07 UTC (rev
5394)
+++ paparazzi3/trunk/conf/airframes/example.xml 2010-08-15 22:53:14 UTC (rev
5395)
@@ -1,43 +0,0 @@
-<airframe name="Examples">
-
- <makefile>
-
-ARCHI=arm7
-
-FLASH_MODE = IAP
-
-
-
-#
-# GPS :
-#
-#
-example_gps.ARCHDIR = $(ARCHI)
-example_gps.ARCH = arm7tdmi
-example_gps.TARGET = example_gps
-example_gps.TARGETDIR = example_gps
-
-example_gps.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\"
-example_gps.srcs = example/example_gps.c
-
-example_gps.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-2)'
-example_gps.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-example_gps.CFLAGS += -DLED
-
-example_gps.srcs += $(SRC_ARCH)/armVIC.c
-
-example_gps.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
-example_gps.srcs += $(SRC_ARCH)/uart_hw.c
-
-example_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart0
-example_gps.srcs += downlink.c pprz_transport.c
-
-example_gps.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400
-example_gps.CFLAGS += -DGPS -DUBX -DGPS_LINK=Uart0 -DDOWNLINK_GPS_DEVICE=Uart0
-DGPS_BAUD=38400
-example_gps.srcs += gps_ubx.c gps.c latlong.c
-
-
- </makefile>
-
-</airframe>
Deleted: paparazzi3/trunk/conf/airframes/funjetfmi1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/funjetfmi1.xml 2010-08-15 22:53:07 UTC
(rev 5394)
+++ paparazzi3/trunk/conf/airframes/funjetfmi1.xml 2010-08-15 22:53:14 UTC
(rev 5395)
@@ -1,247 +0,0 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
-
-<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
- Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
- PerkinElmer TPS334 IR Sensors
- Tilted infrared sensor
(http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
- XBee modem
- Payload: Sensirion humidity/temp, VTI pressure/temp
- K66, LEA 4P
--->
-
-<airframe name="Funjet FMI 1 K66">
-
-<!-- commands section -->
- <servos>
- <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
- <servo name="AILEVON_LEFT" no="2" min="1900" neutral="1521" max="1100"/>
- <servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1510" max="1900"/>
- </servos>
-
- <commands>
- <axis name="THROTTLE" failsafe_value="0"/>
- <axis name="ROLL" failsafe_value="0"/>
- <axis name="PITCH" failsafe_value="0"/>
- </commands>
-
- <rc_commands>
- <set command="THROTTLE" value="@THROTTLE"/>
- <set command="ROLL" value="@ROLL"/>
- <set command="PITCH" value="@PITCH"/>
- </rc_commands>
-
- <section name="MIXER">
- <define name="AILEVON_AILERON_RATE" value="0.45"/>
- <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
- </section>
-
- <command_laws>
- <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
- <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
- <set servo="MOTOR" value="@THROTTLE"/>
- <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
- <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
- </command_laws>
-
- <section name="AUTO1" prefix="AUTO1_">
- <define name="MAX_ROLL" value="0.85"/>
- <define name="MAX_PITCH" value="0.6"/>
- </section>
-
- <section name="adc" prefix="ADC_CHANNEL_">
- <define name="IR1" value="ADC_1"/>
- <define name="IR2" value="ADC_2"/>
- <define name="IR_TOP" value="ADC_0"/>
- <define name="IR_NB_SAMPLES" value="16"/>
- </section>
-
- <section name="INFRARED" prefix="IR_">
- <define name="ADC_IR1_NEUTRAL" value="512"/>
- <define name="ADC_IR2_NEUTRAL" value="512"/>
- <define name="ADC_TOP_NEUTRAL" value="512"/>
-
- <define name="CORRECTION_UP" value="1."/>
- <define name="CORRECTION_DOWN" value="1."/>
- <define name="CORRECTION_LEFT" value="1."/>
- <define name="CORRECTION_RIGHT" value="1."/>
-
- <define name="LATERAL_CORRECTION" value="-1"/>
- <define name="LONGITUDINAL_CORRECTION" value="1"/>
- <define name="VERTICAL_CORRECTION" value="1.5"/>
-
- <define name="HORIZ_SENSOR_TILTED" value="1"/>
- <define name="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="0" unit="deg"/>
- </section>
-
- <section name="BAT">
- <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
- <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- <!-- 0.0247311828 -->
- <!-- 0.02432905 -->
- <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
- </section>
-
- <section name="MISC">
- <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
- <define name="CARROT" value="5." unit="s"/>
- <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
- <define name="CONTROL_RATE" value="60" unit="Hz"/>
-<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
-<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
- <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
-
- <define name="TRIGGER_DELAY" value="1."/>
- <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
- <define name="MIN_CIRCLE_RADIUS" value="50."/>
- </section>
-
- <section name="VERTICAL CONTROL" prefix="V_CTL_">
-
- <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
- <!-- outer loop proportional gain -->
- <define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
- <!-- outer loop saturation -->
- <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
- <!-- auto throttle inner loop -->
- <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
- <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
- <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
- <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
- <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
- <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2"
unit="%/(m/s)"/>
- <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
- <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
- <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
-
- <!-- auto pitch inner loop -->
- <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
- <define name="AUTO_PITCH_IGAIN" value="0.0"/>
- <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
- <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
-
- <define name="THROTTLE_SLEW" value="0.1"/>
-
- </section>
-
- <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
- <define name="COURSE_PGAIN" value="-0.9"/>
- <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
- <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
- <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
-
- <define name="ROLL_PGAIN" value="6600."/>
- <define name="AILERON_OF_THROTTLE" value="0.0"/>
- <define name="PITCH_PGAIN" value="-5500."/>
- <define name="PITCH_DGAIN" value="0.4"/>
-
- <define name="ELEVATOR_OF_ROLL" value="2400"/>
-
- <!--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="50"/><!-- Altitude Error to Initiate
Aggressive Climb CANNOT BE ZERO!!-->
- <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend
Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
- <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb
-->
- <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb
-->
- <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive
Decent -->
- <define name="DESCENT_PITCH" value="-0.35"/><!-- 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="2" unit="s"/>
- <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
- <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
- <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
- <define name="HOME_RADIUS" value="100" unit="m"/>
-</section>
-
- <section name="DATALINK" prefix="DATALINK_">
- <define name="DEVICE_TYPE" value="XBEE"/>
- <define name="DEVICE_ADDRESS" value="...."/>
- </section>
-
- <section name="SIMU">
- <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
- </section>
-
- <makefile>
-CONFIG = \"tiny_2_1.h\"
-
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
-
-FLASH_MODE=IAP
-
-ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
-
-ap.srcs += commands.c
-
-ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
-ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
-
-ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
-
-ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport
-DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
-
-#TRANSPARENT
-#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1
-DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
-
-
-ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c
-
-ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
-ap.srcs += $(SRC_ARCH)/adc_hw.c
-
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
-DGPS_USE_LATLONG
-# -DGPS_LED=2
-ap.srcs += gps_ubx.c gps.c latlong.c
-
-ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
-ap.srcs += infrared.c estimator.c
-
-ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
-
-ap.srcs += nav_line.c
-ap.srcs += nav_survey_rectangle.c
-
-ap.srcs += humid_sht.c
-ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3 -DSCK_PIN=2
-
-ap.srcs += baro_scp.c
-ap.CFLAGS += -DUSE_BARO_SCP
-
-ap.srcs += joystick.c
-ap.CFLAGS += -DUSE_JOYSTICK
-
-# Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
-
-sim.srcs += joystick.c
-sim.CFLAGS += -DUSE_JOYSTICK
-
-
- </makefile>
-</airframe>
Deleted: paparazzi3/trunk/conf/airframes/funjetgfi1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/funjetgfi1.xml 2010-08-15 22:53:07 UTC
(rev 5394)
+++ paparazzi3/trunk/conf/airframes/funjetgfi1.xml 2010-08-15 22:53:14 UTC
(rev 5395)
@@ -1,245 +0,0 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
-
-<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
- Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
- PerkinElmer TPS334 IR Sensors
- Tilted infrared sensor
(http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
- XBee modem
- Payload: Sensirion humidity/temp, VTI pressure/temp
- K62, LEA 5
--->
-
-<airframe name="Funjet GFI 1 K62">
-
-<!-- commands section -->
- <servos>
- <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
- <servo name="AILEVON_LEFT" no="2" min="1900" neutral="1426" max="1100"/>
- <servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1571" max="1900"/>
- </servos>
-
- <commands>
- <axis name="THROTTLE" failsafe_value="0"/>
- <axis name="ROLL" failsafe_value="0"/>
- <axis name="PITCH" failsafe_value="0"/>
- </commands>
-
- <rc_commands>
- <set command="THROTTLE" value="@THROTTLE"/>
- <set command="ROLL" value="@ROLL"/>
- <set command="PITCH" value="@PITCH"/>
- </rc_commands>
-
- <section name="MIXER">
- <define name="AILEVON_AILERON_RATE" value="0.45"/>
- <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
- </section>
-
- <command_laws>
- <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
- <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
- <set servo="MOTOR" value="@THROTTLE"/>
- <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
- <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
- </command_laws>
-
- <section name="AUTO1" prefix="AUTO1_">
- <define name="MAX_ROLL" value="0.85"/>
- <define name="MAX_PITCH" value="0.6"/>
- </section>
-
- <section name="adc" prefix="ADC_CHANNEL_">
- <define name="IR1" value="ADC_1"/>
- <define name="IR2" value="ADC_2"/>
- <define name="IR_TOP" value="ADC_0"/>
- <define name="IR_NB_SAMPLES" value="16"/>
- </section>
-
- <section name="INFRARED" prefix="IR_">
- <define name="ADC_IR1_NEUTRAL" value="512"/>
- <define name="ADC_IR2_NEUTRAL" value="512"/>
- <define name="ADC_TOP_NEUTRAL" value="512"/>
-
- <define name="CORRECTION_UP" value="1."/>
- <define name="CORRECTION_DOWN" value="1."/>
- <define name="CORRECTION_LEFT" value="1."/>
- <define name="CORRECTION_RIGHT" value="1."/>
-
- <define name="LATERAL_CORRECTION" value="-1"/>
- <define name="LONGITUDINAL_CORRECTION" value="1"/>
- <define name="VERTICAL_CORRECTION" value="1.5"/>
-
- <define name="HORIZ_SENSOR_TILTED" value="1"/>
- <define name="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="0" unit="deg"/>
- </section>
-
- <section name="BAT">
- <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
- <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- <!-- 0.0247311828 -->
- <!-- 0.02432905 -->
- <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
- </section>
-
- <section name="MISC">
- <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
- <define name="CARROT" value="5." unit="s"/>
- <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
- <define name="CONTROL_RATE" value="60" unit="Hz"/>
- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
-<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
- <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
-
- <define name="TRIGGER_DELAY" value="1."/>
- <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
- <define name="MIN_CIRCLE_RADIUS" value="50."/>
- </section>
-
- <section name="VERTICAL CONTROL" prefix="V_CTL_">
- <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
- <!-- outer loop proportional gain -->
- <define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
- <!-- outer loop saturation -->
- <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
- <!-- auto throttle inner loop -->
- <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
- <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
- <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
- <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
- <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
- <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2"
unit="%/(m/s)"/>
- <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
- <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
- <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
-
- <!-- auto pitch inner loop -->
- <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
- <define name="AUTO_PITCH_IGAIN" value="0.0"/>
- <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
- <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
-
- <define name="THROTTLE_SLEW" value="0.1"/>
-
- </section>
-
- <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
- <define name="COURSE_PGAIN" value="-0.9"/>
- <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
- <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
- <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
-
- <define name="ROLL_PGAIN" value="6600."/>
- <define name="AILERON_OF_THROTTLE" value="0.0"/>
- <define name="PITCH_PGAIN" value="-5500."/>
- <define name="PITCH_DGAIN" value="0.4"/>
- <define name="ELEVATOR_OF_ROLL" value="2400"/>
-
- <!--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="50"/><!-- Altitude Error to Initiate
Aggressive Climb CANNOT BE ZERO!!-->
- <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend
Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
- <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb
-->
- <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb
-->
- <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive
Decent -->
- <define name="DESCENT_PITCH" value="-0.35"/><!-- 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="2" unit="s"/>
- <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
- <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
- <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
- <define name="HOME_RADIUS" value="100" unit="m"/>
-</section>
-
- <section name="DATALINK" prefix="DATALINK_">
- <define name="DEVICE_TYPE" value="XBEE"/>
- <define name="DEVICE_ADDRESS" value="...."/>
- </section>
-
- <section name="SIMU">
- <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
- </section>
-
- <makefile>
-CONFIG = \"tiny_2_1.h\"
-
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
-
-FLASH_MODE=IAP
-
-ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
-
-ap.srcs += commands.c
-
-ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
-ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
-
-ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
-
-ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport
-DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
-
-#TRANSPARENT
-#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1
-DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
-
-
-ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c
-
-ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
-ap.srcs += $(SRC_ARCH)/adc_hw.c
-
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
-DGPS_USE_LATLONG
-# -DGPS_LED=2
-ap.srcs += gps_ubx.c gps.c latlong.c
-
-ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
-ap.srcs += infrared.c estimator.c
-
-ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
-
-ap.srcs += nav_line.c
-ap.srcs += nav_survey_rectangle.c
-
-ap.srcs += humid_sht.c
-ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3 -DSCK_PIN=2
-
-ap.srcs += baro_scp.c
-ap.CFLAGS += -DUSE_BARO_SCP
-
-ap.srcs += joystick.c
-ap.CFLAGS += -DUSE_JOYSTICK
-
-# Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
-
-sim.srcs += joystick.c
-sim.CFLAGS += -DUSE_JOYSTICK
-
- </makefile>
-</airframe>
-
Deleted: paparazzi3/trunk/conf/airframes/funjetgfi3.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/funjetgfi3.xml 2010-08-15 22:53:07 UTC
(rev 5394)
+++ paparazzi3/trunk/conf/airframes/funjetgfi3.xml 2010-08-15 22:53:14 UTC
(rev 5395)
@@ -1,272 +0,0 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
-
-
-<airframe name="FunJetmm Tiny 1.1">
-
-<!-- commands section -->
- <servos>
- <servo name="THROTTLE" no="2" min="1550" neutral="1550" max="1900"/>
- <servo name="LIGHT" no="1" min="1000" neutral="1000" max="2000"/>
- <servo name="AILEVON_LEFT" no="5" min="1900" neutral="1480" max="1100"/>
- <servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1553" max="1900"/>
- </servos>
-
- <commands>
- <axis name="THROTTLE" failsafe_value="0"/>
- <axis name="ROLL" failsafe_value="0"/>
- <axis name="PITCH" failsafe_value="0"/>
- <axis name="HATCH" failsafe_value="0"/>
- <axis name="LIGHT" failsafe_value="0"/>
- </commands>
-
- <rc_commands>
- <set command="THROTTLE" value="@THROTTLE"/>
- <set command="ROLL" value="@ROLL"/>
- <set command="PITCH" value="@PITCH"/>
- <set command="LIGHT" value="@GAIN1"/>
- </rc_commands>
-
- <section name="MIXER">
- <define name="AILEVON_AILERON_RATE" value="-0.45"/>
- <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
- </section>
-
- <command_laws>
- <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
- <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
- <set servo="THROTTLE" value="@THROTTLE"/>
- <set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
- <set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
- <set servo="LIGHT" value="@LIGHT"/>
- </command_laws>
-
- <section name="AUTO1" prefix="AUTO1_">
- <define name="MAX_ROLL" value="RadOfDeg(30)"/>
- <define name="MAX_PITCH" value="RadOfDeg(30)"/>
- </section>
-
- <section name="adc" prefix="ADC_CHANNEL_">
- <define name="IR1" value="ADC_0"/>
- <define name="IR2" value="ADC_1"/>
- <define name="IR_TOP" value="ADC_2"/>
- <define name="IR_NB_SAMPLES" value="16"/>
- </section>
-
- <section name="INFRARED" prefix="IR_">
- <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
- <define name="PITCH_NEUTRAL_DEFAULT" value="2" unit="deg"/>
- <define name="DEFAULT_CONTRAST" value="200"/>
- <define name="RAD_OF_IR_CONTRAST" value="0.75"/>
- <linear name="RollOfIrs" arity="2" coeff1="0.7" coeff2="-0.7"/>
- <linear name="PitchOfIrs" arity="2" coeff1="0.7" coeff2="0.7"/>
- <linear name="TopOfIr" arity="1" coeff1="-1"/>
- <define name="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
- <define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
- <!--define name="ADC_ROLL_NEUTRAL" value="0"/>
- <define name="ADC_PITCH_NEUTRAL" value="716"/-->
- <define name="ADC_IR1_NEUTRAL" value="504"/>
- <define name="ADC_IR2_NEUTRAL" value="501"/>
- <define name="ADC_TOP_NEUTRAL" value="512"/>
-
- <define name="CORRECTION_UP" value="1."/>
- <define name="CORRECTION_DOWN" value="1."/>
- <define name="CORRECTION_LEFT" value="1."/>
- <define name="CORRECTION_RIGHT" value="1."/>
-
- <define name="LATERAL_CORRECTION" value="1.3"/>
- <define name="LONGITUDINAL_CORRECTION" value="1.3"/>
- <define name="VERTICAL_CORRECTION" value="1."/>
- </section>
-
- <section name="BAT">
- <define name="MILLIAMP_PER_PERCENT" value="5.45"/>
- <define name="ADC_CHANNEL_VSUPPLY" value="AdcBank1(6)"/>
- <define name="VoltageOfAdc(adc)" value="(0.01787109375*adc)"/>
- <define name="LOW_BATTERY" value="9.0" unit="V"/>
- </section>
-
- <section name="MISC">
- <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
- <define name="CARROT" value="5." unit="s"/>
- <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
- <define name="CONTROL_RATE" value="60" unit="Hz"/>
- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
-<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
- <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
-
- <define name="TRIGGER_DELAY" value="1."/>
- <define name="DEFAULT_CIRCLE_RADIUS" value="150."/>
- <define name="LIGHT_PIN_1" value="3"/>
- </section>
-
- <section name="VERTICAL CONTROL" prefix="V_CTL_">
- <define name="POWER_CTL_BAT_NOMINAL" value="10.0" unit="volt"/>
- <!-- outer loop proportional gain -->
- <define name="ALTITUDE_PGAIN" value="-0.024"/>
- <!-- outer loop saturation -->
- <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
- <!-- auto throttle inner loop -->
- <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
- <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
- <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
- <define name="AUTO_THROTTLE_LOITER_TRIM" value="50"/>
- <define name="AUTO_THROTTLE_DASH_TRIM" value="-60"/>
- <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2"
unit="%/(m/s)"/>
- <define name="AUTO_THROTTLE_PGAIN" value="-0.011"/>
- <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
- <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
-
- <!-- auto pitch inner loop -->
- <define name="AUTO_PITCH_PGAIN" value="-0.03"/>
- <define name="AUTO_PITCH_IGAIN" value="0.0"/>
- <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
- <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
-
- <define name="THROTTLE_SLEW" value="0.1"/>
-
- </section>
-
- <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
- <define name="COURSE_PGAIN" value="-0.45"/>
- <define name="ROLL_MAX_SETPOINT" value="0.4" unit="radians"/>
- <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
- <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
-
- <define name="ROLL_PGAIN" value="9000."/>
- <define name="AILERON_OF_THROTTLE" value="0.0"/>
- <define name="PITCH_PGAIN" value="-5500."/>
- <define name="PITCH_DGAIN" value="0.4"/>
- <define name="ELEVATOR_OF_ROLL" value="1200"/>
-
- <!-- roll rate loop -->
- <define name="ROLL_RATE_MODE_DEFAULT" value="0"/>
- <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
- <define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
- <define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="1000."/>
- <define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="1000."/>
- <define name="ROLL_RATE_IGAIN" value="0."/>
- <define name="ROLL_RATE_DGAIN" value="0."/>
- <define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
-
- </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="50"/><!-- Altitude Error to Initiate
Aggressive Climb CANNOT BE ZERO!!-->
- <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend
Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
- <define name="CLIMB_THROTTLE" value="0.8"/><!-- Throttle for Aggressive
Climb -->
- <define name="CLIMB_PITCH" value="0.22"/><!-- Pitch for Aggressive Climb
-->
- <define name="DESCENT_THROTTLE" value="0.0"/><!-- Throttle for Aggressive
Decent -->
- <define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive
Decent -->
- <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for
Altitude Error Equal to Start Altitude -->
- <define name="DESCENT_NAV_RATIO" value="1.0"/>
- </section>
-
-
- <section name="GYRO_GAINS">
- <define name="GYRO_MAX_RATE" value="200."/>
- <define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
- <define name="ALT_ROLL__PGAIN" value="1.0"/>
- <define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="1000."/>
- <define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="1000."/>
- <define name="ROLL_RATE_IGAIN" value="0.0"/>
- <define name="ROLL_RATE_DGAIN" value="0.0"/>
- </section>
-
- <section name="FAILSAFE" prefix="FAILSAFE_">
- <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
- <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
- <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
- <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
- <define name="HOME_RADIUS" value="100" unit="m"/>
- </section>
-
- <section name="DATALINK" prefix="DATALINK_">
- <define name="DEVICE_TYPE" value="XBEE"/>
- <define name="DEVICE_ADDRESS" value="...."/>
- </section>
-
- <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
-
-FLASH_MODE=IAP
-
-ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -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
-
-ap.srcs += commands.c
-
-ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
-ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
-
-ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
-
-ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0
-DDATALINK=XBEE -DUART0_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
-
-#TRANSPARENT ap.CFLAGS += -DDOWNLINK -DUSE_UART0
-DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0
-DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c
pprz_transport.c
-
-
-ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c
-
-ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
-ap.srcs += $(SRC_ARCH)/adc_hw.c
-
-ap.CFLAGS += -DGPS -DGPS_LED=2 -DUBX -DUSE_UART1 -DGPS_LINK=Uart1
-DUART1_BAUD=B19200
-
-ap.srcs += gps_ubx.c gps.c
-
-ap.CFLAGS += -DINFRARED
-# -DALT_KALMAN
-ap.srcs += infrared.c estimator.c
-
-ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c nav_survey_rectangle.c
nav_line.c
-
-
-#ap.CFLAGS += -DGYRO -DADXRS150
-#ap.srcs += gyro.c
-
-#ap.srcs += bomb.c
-#ap.srcs += traffic_info.c
-
-ap.srcs += i2c.c arm7/i2c_hw.c dpicco.c
-ap.CFLAGS += -DDPICCO
-
-ap.srcs += humid_sht.c
-ap.CFLAGS += -DUSE_HUMID_SHT
-
-ap.srcs += baro_scp.c
-ap.CFLAGS += -DUSE_BARO_SCP
-
-#ap.srcs += i2c.c arm7/i2c_hw.c mlx90614.c
-#ap.CFLAGS += -DUSE_MLX90614
-
-# Hack to use the same tuning file than slayer1
-ap.CFLAGS += -DUSE_GPIO
-ap.srcs += $(SRC_ARCH)/gpio.c
-
-#ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -D USE_BARO_MS5534A
-#ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
-
-# Harware In The Loop
-
-#ap.CFLAGS += -DHITL
-
-
-# Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP
-DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_survey_rectangle.c nav_line.c
-
- </makefile>
-</airframe>
-
Deleted: paparazzi3/trunk/conf/airframes/funjetgfi4.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/funjetgfi4.xml 2010-08-15 22:53:07 UTC
(rev 5394)
+++ paparazzi3/trunk/conf/airframes/funjetgfi4.xml 2010-08-15 22:53:14 UTC
(rev 5395)
@@ -1,246 +0,0 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
-
-<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
- Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
- PerkinElmer TPS334 IR Sensors
- Tilted infrared sensor
(http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
- XBee modem
- Payload: Sensirion humidity/temp, VTI pressure/temp
--->
-
-<airframe name="Funjet GFI 4 Tiny 2.1">
-
-<!-- commands section -->
- <servos>
- <servo name="MOTOR" no="0" min="1550" neutral="1550" max="2000"/>
- <servo name="AILEVON_LEFT" no="2" min="1900" neutral="1516" max="1100"/>
- <servo name="AILEVON_RIGHT" no="6" min="1120" neutral="1549" max="1900"/>
- </servos>
-
- <commands>
- <axis name="THROTTLE" failsafe_value="0"/>
- <axis name="ROLL" failsafe_value="0"/>
- <axis name="PITCH" failsafe_value="0"/>
- </commands>
-
- <rc_commands>
- <set command="THROTTLE" value="@THROTTLE"/>
- <set command="ROLL" value="@ROLL"/>
- <set command="PITCH" value="@PITCH"/>
- </rc_commands>
-
- <section name="MIXER">
- <define name="AILEVON_AILERON_RATE" value="0.45"/>
- <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
- </section>
-
- <command_laws>
- <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
- <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
- <set servo="MOTOR" value="@THROTTLE"/>
- <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
- <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
- </command_laws>
-
- <section name="AUTO1" prefix="AUTO1_">
- <define name="MAX_ROLL" value="0.85"/>
- <define name="MAX_PITCH" value="0.6"/>
- </section>
-
- <section name="adc" prefix="ADC_CHANNEL_">
- <define name="IR1" value="ADC_1"/>
- <define name="IR2" value="ADC_2"/>
- <define name="IR_TOP" value="ADC_0"/>
- <define name="IR_NB_SAMPLES" value="16"/>
- </section>
-
- <section name="INFRARED" prefix="IR_">
- <define name="ADC_IR1_NEUTRAL" value="512"/>
- <define name="ADC_IR2_NEUTRAL" value="512"/>
- <define name="ADC_TOP_NEUTRAL" value="512"/>
-
- <define name="CORRECTION_UP" value="1."/>
- <define name="CORRECTION_DOWN" value="1."/>
- <define name="CORRECTION_LEFT" value="1."/>
- <define name="CORRECTION_RIGHT" value="1."/>
-
- <define name="LATERAL_CORRECTION" value="1.3"/>
- <define name="LONGITUDINAL_CORRECTION" value="1.3"/>
- <define name="VERTICAL_CORRECTION" value="1"/>
-
- <define name="HORIZ_SENSOR_TILTED" value="1"/>
- <define name="IR1_SIGN" value="-1"/>
- <define name="IR2_SIGN" value="1"/>
- <define name="TOP_SIGN" value="1"/>
-
- <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
- <define name="PITCH_NEUTRAL_DEFAULT" value="1" unit="deg"/>
- </section>
-
- <section name="BAT">
- <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
- <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- <!-- 0.0247311828 -->
- <!-- 0.02432905 -->
- <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
- </section>
-
- <section name="MISC">
- <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
- <define name="CARROT" value="5." unit="s"/>
- <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
- <define name="CONTROL_RATE" value="60" unit="Hz"/>
-<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
-<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
- <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
-
- <define name="TRIGGER_DELAY" value="1."/>
- <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
- <define name="MIN_CIRCLE_RADIUS" value="50."/>
- </section>
-
- <section name="VERTICAL CONTROL" prefix="V_CTL_">
-
- <define name="POWER_CTL_BAT_NOMINAL" value="10" unit="volt"/>
- <!-- outer loop proportional gain -->
- <define name="ALTITUDE_PGAIN" value="-0.024"/>
- <!-- outer loop saturation -->
- <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
- <!-- auto throttle inner loop -->
- <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
- <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
- <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
- <define name="AUTO_THROTTLE_LOITER_TRIM" value="50"/>
- <define name="AUTO_THROTTLE_DASH_TRIM" value="-60"/>
- <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2"
unit="%/(m/s)"/>
- <define name="AUTO_THROTTLE_PGAIN" value="-0.012"/>
- <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
- <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
-
- <!-- auto pitch inner loop -->
- <define name="AUTO_PITCH_PGAIN" value="-0.03"/>
- <define name="AUTO_PITCH_IGAIN" value="0.0"/>
- <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
- <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
-
- <define name="THROTTLE_SLEW" value="0.1"/>
-
- </section>
-
- <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
- <define name="COURSE_PGAIN" value="-0.8"/>
- <define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/>
- <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
- <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
-
- <define name="ROLL_PGAIN" value="7600."/>
- <define name="AILERON_OF_THROTTLE" value="0.0"/>
- <define name="PITCH_PGAIN" value="-5500."/>
- <define name="PITCH_DGAIN" value="0.4"/>
-
- <define name="ELEVATOR_OF_ROLL" value="1200"/>
-
- <!--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="50"/><!-- Altitude Error to Initiate
Aggressive Climb CANNOT BE ZERO!!-->
- <define name="BLEND_END" value="15"/><!-- 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="0.05"/><!-- Gaz for Aggressive
Decent -->
- <define name="DESCENT_PITCH" value="-0.25"/><!-- 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="2" unit="s"/>
- <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
- <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
- <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
- <define name="HOME_RADIUS" value="100" unit="m"/>
-</section>
-
- <section name="DATALINK" prefix="DATALINK_">
- <define name="DEVICE_TYPE" value="XBEE"/>
- <define name="DEVICE_ADDRESS" value="...."/>
- </section>
-
- <section name="SIMU">
- <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
- </section>
-
- <makefile>
-CONFIG = \"tiny_2_1.h\"
-
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
-
-FLASH_MODE=IAP
-
-ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
-
-ap.srcs += commands.c
-
-ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
-ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
-
-ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
-
-ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport
-DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
-
-#TRANSPARENT
-#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1
-DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
-
-
-ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c
-
-ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
-ap.srcs += $(SRC_ARCH)/adc_hw.c
-
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
-DGPS_USE_LATLONG
-# -DGPS_LED=2
-ap.srcs += gps_ubx.c gps.c latlong.c
-
-ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
-ap.srcs += infrared.c estimator.c
-
-ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
-
-ap.srcs += nav_line.c
-ap.srcs += nav_survey_rectangle.c
-
-ap.srcs += humid_sht.c
-ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3 -DSCK_PIN=2
-
-ap.srcs += baro_scp.c
-ap.CFLAGS += -DUSE_BARO_SCP
-
-ap.srcs += joystick.c
-ap.CFLAGS += -DUSE_JOYSTICK
-
-# Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
-
-sim.srcs += joystick.c
-sim.CFLAGS += -DUSE_JOYSTICK
-
-
- </makefile>
-</airframe>
Deleted: paparazzi3/trunk/conf/airframes/funjetgfi5.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/funjetgfi5.xml 2010-08-15 22:53:07 UTC
(rev 5394)
+++ paparazzi3/trunk/conf/airframes/funjetgfi5.xml 2010-08-15 22:53:14 UTC
(rev 5395)
@@ -1,247 +0,0 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
-
-<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
- Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
- PerkinElmer TPS334 IR Sensors
- Tilted infrared sensor
(http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
- XBee modem
- Payload: Sensirion humidity/temp, VTI pressure/temp
- K66, LEA 5
--->
-
-<airframe name="Funjet GFI 5 K66">
-
-<!-- commands section -->
- <servos>
- <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
- <servo name="AILEVON_LEFT" no="2" min="1900" neutral="1520" max="1100"/>
- <servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1456" max="1900"/>
- </servos>
-
- <commands>
- <axis name="THROTTLE" failsafe_value="0"/>
- <axis name="ROLL" failsafe_value="0"/>
- <axis name="PITCH" failsafe_value="0"/>
- </commands>
-
- <rc_commands>
- <set command="THROTTLE" value="@THROTTLE"/>
- <set command="ROLL" value="@ROLL"/>
- <set command="PITCH" value="@PITCH"/>
- </rc_commands>
-
- <section name="MIXER">
- <define name="AILEVON_AILERON_RATE" value="0.45"/>
- <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
- </section>
-
- <command_laws>
- <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
- <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
- <set servo="MOTOR" value="@THROTTLE"/>
- <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
- <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
- </command_laws>
-
- <section name="AUTO1" prefix="AUTO1_">
- <define name="MAX_ROLL" value="0.85"/>
- <define name="MAX_PITCH" value="0.6"/>
- </section>
-
- <section name="adc" prefix="ADC_CHANNEL_">
- <define name="IR1" value="ADC_1"/>
- <define name="IR2" value="ADC_2"/>
- <define name="IR_TOP" value="ADC_0"/>
- <define name="IR_NB_SAMPLES" value="16"/>
- </section>
-
- <section name="INFRARED" prefix="IR_">
- <define name="ADC_IR1_NEUTRAL" value="512"/>
- <define name="ADC_IR2_NEUTRAL" value="512"/>
- <define name="ADC_TOP_NEUTRAL" value="512"/>
-
- <define name="CORRECTION_UP" value="1."/>
- <define name="CORRECTION_DOWN" value="1."/>
- <define name="CORRECTION_LEFT" value="1."/>
- <define name="CORRECTION_RIGHT" value="1."/>
-
- <define name="LATERAL_CORRECTION" value="-1"/>
- <define name="LONGITUDINAL_CORRECTION" value="1"/>
- <define name="VERTICAL_CORRECTION" value="1.5"/>
-
- <define name="HORIZ_SENSOR_TILTED" value="1"/>
- <define name="IR1_SIGN" value="1"/>
- <define name="IR2_SIGN" value="-1"/>
- <define name="TOP_SIGN" value="-1"/>
-
- <define name="ROLL_NEUTRAL_DEFAULT" value="3" unit="deg"/>
- <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
- </section>
-
- <section name="BAT">
- <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
- <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- <!-- 0.0247311828 -->
- <!-- 0.02432905 -->
- <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
- </section>
-
- <section name="MISC">
- <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
- <define name="CARROT" value="5." unit="s"/>
- <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
- <define name="CONTROL_RATE" value="60" unit="Hz"/>
-<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
-<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
- <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
-
- <define name="TRIGGER_DELAY" value="1."/>
- <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
- <define name="MIN_CIRCLE_RADIUS" value="50."/>
- </section>
-
- <section name="VERTICAL CONTROL" prefix="V_CTL_">
-
- <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
- <!-- outer loop proportional gain -->
- <define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
- <!-- outer loop saturation -->
- <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
- <!-- auto throttle inner loop -->
- <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
- <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
- <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
- <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
- <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
- <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2"
unit="%/(m/s)"/>
- <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
- <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
- <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
-
- <!-- auto pitch inner loop -->
- <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
- <define name="AUTO_PITCH_IGAIN" value="0.0"/>
- <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
- <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
-
- <define name="THROTTLE_SLEW" value="0.1"/>
-
- </section>
-
- <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
- <define name="COURSE_PGAIN" value="-0.9"/>
- <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
- <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
- <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
-
- <define name="ROLL_PGAIN" value="6600."/>
- <define name="AILERON_OF_THROTTLE" value="0.0"/>
- <define name="PITCH_PGAIN" value="-5500."/>
- <define name="PITCH_DGAIN" value="0.4"/>
-
- <define name="ELEVATOR_OF_ROLL" value="2400"/>
-
- <!--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="50"/><!-- Altitude Error to Initiate
Aggressive Climb CANNOT BE ZERO!!-->
- <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend
Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
- <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb
-->
- <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb
-->
- <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive
Decent -->
- <define name="DESCENT_PITCH" value="-0.35"/><!-- 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="2" unit="s"/>
- <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
- <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
- <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
- <define name="HOME_RADIUS" value="100" unit="m"/>
-</section>
-
- <section name="DATALINK" prefix="DATALINK_">
- <define name="DEVICE_TYPE" value="XBEE"/>
- <define name="DEVICE_ADDRESS" value="...."/>
- </section>
-
- <section name="SIMU">
- <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
- </section>
-
- <makefile>
-CONFIG = \"tiny_2_1.h\"
-
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
-
-FLASH_MODE=IAP
-
-ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
-
-ap.srcs += commands.c
-
-ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
-ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
-
-ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
-
-ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport
-DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
-
-#TRANSPARENT
-#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1
-DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
-
-
-ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c
-
-ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
-ap.srcs += $(SRC_ARCH)/adc_hw.c
-
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
-DGPS_USE_LATLONG
-# -DGPS_LED=2
-ap.srcs += gps_ubx.c gps.c latlong.c
-
-ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
-ap.srcs += infrared.c estimator.c
-
-ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
-
-ap.srcs += nav_line.c
-ap.srcs += nav_survey_rectangle.c
-
-ap.srcs += humid_sht.c
-ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3 -DSCK_PIN=2
-
-ap.srcs += baro_scp.c
-ap.CFLAGS += -DUSE_BARO_SCP
-
-ap.srcs += joystick.c
-ap.CFLAGS += -DUSE_JOYSTICK
-
-# Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
-
-sim.srcs += joystick.c
-sim.CFLAGS += -DUSE_JOYSTICK
-
-
- </makefile>
-</airframe>
Deleted: paparazzi3/trunk/conf/airframes/funjetgfi6.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/funjetgfi6.xml 2010-08-15 22:53:07 UTC
(rev 5394)
+++ paparazzi3/trunk/conf/airframes/funjetgfi6.xml 2010-08-15 22:53:14 UTC
(rev 5395)
@@ -1,247 +0,0 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
-
-<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
- Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
- PerkinElmer TPS334 IR Sensors
- Tilted infrared sensor
(http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
- XBee modem
- Payload: Sensirion humidity/temp, VTI pressure/temp
- K62, LEA 5
--->
-
-<airframe name="Funjet GFI 6 K62">
-
-<!-- commands section -->
- <servos>
- <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
- <servo name="AILEVON_LEFT" no="2" min="1900" neutral="1573" max="1100"/>
- <servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1399" max="1900"/>
- </servos>
-
- <commands>
- <axis name="THROTTLE" failsafe_value="0"/>
- <axis name="ROLL" failsafe_value="0"/>
- <axis name="PITCH" failsafe_value="0"/>
- </commands>
-
- <rc_commands>
- <set command="THROTTLE" value="@THROTTLE"/>
- <set command="ROLL" value="@ROLL"/>
- <set command="PITCH" value="@PITCH"/>
- </rc_commands>
-
- <section name="MIXER">
- <define name="AILEVON_AILERON_RATE" value="0.45"/>
- <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
- </section>
-
- <command_laws>
- <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
- <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
- <set servo="MOTOR" value="@THROTTLE"/>
- <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
- <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
- </command_laws>
-
- <section name="AUTO1" prefix="AUTO1_">
- <define name="MAX_ROLL" value="0.85"/>
- <define name="MAX_PITCH" value="0.6"/>
- </section>
-
- <section name="adc" prefix="ADC_CHANNEL_">
- <define name="IR1" value="ADC_1"/>
- <define name="IR2" value="ADC_2"/>
- <define name="IR_TOP" value="ADC_0"/>
- <define name="IR_NB_SAMPLES" value="16"/>
- </section>
-
- <section name="INFRARED" prefix="IR_">
- <define name="ADC_IR1_NEUTRAL" value="512"/>
- <define name="ADC_IR2_NEUTRAL" value="512"/>
- <define name="ADC_TOP_NEUTRAL" value="512"/>
-
- <define name="CORRECTION_UP" value="1."/>
- <define name="CORRECTION_DOWN" value="1."/>
- <define name="CORRECTION_LEFT" value="1."/>
- <define name="CORRECTION_RIGHT" value="1."/>
-
- <define name="LATERAL_CORRECTION" value="-1"/>
- <define name="LONGITUDINAL_CORRECTION" value="1"/>
- <define name="VERTICAL_CORRECTION" value="1.5"/>
-
- <define name="HORIZ_SENSOR_TILTED" value="1"/>
- <define name="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="0" unit="deg"/>
- </section>
-
- <section name="BAT">
- <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
- <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- <!-- 0.0247311828 -->
- <!-- 0.02432905 -->
- <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
- </section>
-
- <section name="MISC">
- <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
- <define name="CARROT" value="5." unit="s"/>
- <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
- <define name="CONTROL_RATE" value="60" unit="Hz"/>
-<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
-<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
- <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
-
- <define name="TRIGGER_DELAY" value="1."/>
- <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
- <define name="MIN_CIRCLE_RADIUS" value="50."/>
- </section>
-
- <section name="VERTICAL CONTROL" prefix="V_CTL_">
-
- <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
- <!-- outer loop proportional gain -->
- <define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
- <!-- outer loop saturation -->
- <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
- <!-- auto throttle inner loop -->
- <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
- <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
- <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
- <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
- <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
- <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2"
unit="%/(m/s)"/>
- <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
- <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
- <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
-
- <!-- auto pitch inner loop -->
- <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
- <define name="AUTO_PITCH_IGAIN" value="0.0"/>
- <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
- <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
-
- <define name="THROTTLE_SLEW" value="0.1"/>
-
- </section>
-
- <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
- <define name="COURSE_PGAIN" value="-0.9"/>
- <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
- <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
- <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
-
- <define name="ROLL_PGAIN" value="6600."/>
- <define name="AILERON_OF_THROTTLE" value="0.0"/>
- <define name="PITCH_PGAIN" value="-5500."/>
- <define name="PITCH_DGAIN" value="0.4"/>
-
- <define name="ELEVATOR_OF_ROLL" value="2400"/>
-
- <!--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="50"/><!-- Altitude Error to Initiate
Aggressive Climb CANNOT BE ZERO!!-->
- <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend
Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
- <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb
-->
- <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb
-->
- <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive
Decent -->
- <define name="DESCENT_PITCH" value="-0.35"/><!-- 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="2" unit="s"/>
- <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
- <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
- <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
- <define name="HOME_RADIUS" value="100" unit="m"/>
-</section>
-
- <section name="DATALINK" prefix="DATALINK_">
- <define name="DEVICE_TYPE" value="XBEE"/>
- <define name="DEVICE_ADDRESS" value="...."/>
- </section>
-
- <section name="SIMU">
- <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
- </section>
-
- <makefile>
-CONFIG = \"tiny_2_1.h\"
-
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
-
-FLASH_MODE=IAP
-
-ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
-
-ap.srcs += commands.c
-
-ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
-ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
-
-ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
-
-ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport
-DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
-
-#TRANSPARENT
-#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1
-DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
-
-
-ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c
-
-ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
-ap.srcs += $(SRC_ARCH)/adc_hw.c
-
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
-DGPS_USE_LATLONG
-# -DGPS_LED=2
-ap.srcs += gps_ubx.c gps.c latlong.c
-
-ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
-ap.srcs += infrared.c estimator.c
-
-ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
-
-ap.srcs += nav_line.c
-ap.srcs += nav_survey_rectangle.c
-
-ap.srcs += humid_sht.c
-ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3 -DSCK_PIN=2
-
-ap.srcs += baro_scp.c
-ap.CFLAGS += -DUSE_BARO_SCP
-
-ap.srcs += joystick.c
-ap.CFLAGS += -DUSE_JOYSTICK
-
-# Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
-
-sim.srcs += joystick.c
-sim.CFLAGS += -DUSE_JOYSTICK
-
-
- </makefile>
-</airframe>
Deleted: paparazzi3/trunk/conf/airframes/funjetgfi7.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/funjetgfi7.xml 2010-08-15 22:53:07 UTC
(rev 5394)
+++ paparazzi3/trunk/conf/airframes/funjetgfi7.xml 2010-08-15 22:53:14 UTC
(rev 5395)
@@ -1,247 +0,0 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
-
-<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
- Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
- PerkinElmer TPS334 IR Sensors
- Tilted infrared sensor
(http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
- XBee modem
- Payload: Sensirion humidity/temp, VTI pressure/temp
- K66, LEA 4 (set to POSLLH)
--->
-
-<airframe name="Funjet GFI 7 K66">
-
-<!-- commands section -->
- <servos>
- <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
- <servo name="AILEVON_LEFT" no="2" min="1900" neutral="1533" max="1100"/>
- <servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1474" max="1900"/>
- </servos>
-
- <commands>
- <axis name="THROTTLE" failsafe_value="0"/>
- <axis name="ROLL" failsafe_value="0"/>
- <axis name="PITCH" failsafe_value="0"/>
- </commands>
-
- <rc_commands>
- <set command="THROTTLE" value="@THROTTLE"/>
- <set command="ROLL" value="@ROLL"/>
- <set command="PITCH" value="@PITCH"/>
- </rc_commands>
-
- <section name="MIXER">
- <define name="AILEVON_AILERON_RATE" value="0.45"/>
- <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
- </section>
-
- <command_laws>
- <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
- <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
- <set servo="MOTOR" value="@THROTTLE"/>
- <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
- <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
- </command_laws>
-
- <section name="AUTO1" prefix="AUTO1_">
- <define name="MAX_ROLL" value="0.85"/>
- <define name="MAX_PITCH" value="0.6"/>
- </section>
-
- <section name="adc" prefix="ADC_CHANNEL_">
- <define name="IR1" value="ADC_1"/>
- <define name="IR2" value="ADC_2"/>
- <define name="IR_TOP" value="ADC_0"/>
- <define name="IR_NB_SAMPLES" value="16"/>
- </section>
-
- <section name="INFRARED" prefix="IR_">
- <define name="ADC_IR1_NEUTRAL" value="512"/>
- <define name="ADC_IR2_NEUTRAL" value="512"/>
- <define name="ADC_TOP_NEUTRAL" value="512"/>
-
- <define name="CORRECTION_UP" value="1."/>
- <define name="CORRECTION_DOWN" value="1."/>
- <define name="CORRECTION_LEFT" value="1."/>
- <define name="CORRECTION_RIGHT" value="1."/>
-
- <define name="LATERAL_CORRECTION" value="-1"/>
- <define name="LONGITUDINAL_CORRECTION" value="1"/>
- <define name="VERTICAL_CORRECTION" value="1.5"/>
-
- <define name="HORIZ_SENSOR_TILTED" value="1"/>
- <define name="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="0" unit="deg"/>
- </section>
-
- <section name="BAT">
- <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
- <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- <!-- 0.0247311828 -->
- <!-- 0.02432905 -->
- <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
- </section>
-
- <section name="MISC">
- <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
- <define name="CARROT" value="5." unit="s"/>
- <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
- <define name="CONTROL_RATE" value="60" unit="Hz"/>
-<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
-<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
- <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
-
- <define name="TRIGGER_DELAY" value="1."/>
- <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
- <define name="MIN_CIRCLE_RADIUS" value="50."/>
- </section>
-
- <section name="VERTICAL CONTROL" prefix="V_CTL_">
-
- <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
- <!-- outer loop proportional gain -->
- <define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
- <!-- outer loop saturation -->
- <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
- <!-- auto throttle inner loop -->
- <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
- <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
- <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
- <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
- <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
- <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2"
unit="%/(m/s)"/>
- <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
- <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
- <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
-
- <!-- auto pitch inner loop -->
- <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
- <define name="AUTO_PITCH_IGAIN" value="0.0"/>
- <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
- <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
-
- <define name="THROTTLE_SLEW" value="0.1"/>
-
- </section>
-
- <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
- <define name="COURSE_PGAIN" value="-0.9"/>
- <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
- <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
- <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
-
- <define name="ROLL_PGAIN" value="6600."/>
- <define name="AILERON_OF_THROTTLE" value="0.0"/>
- <define name="PITCH_PGAIN" value="-5500."/>
- <define name="PITCH_DGAIN" value="0.4"/>
-
- <define name="ELEVATOR_OF_ROLL" value="2400"/>
-
- <!--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="50"/><!-- Altitude Error to Initiate
Aggressive Climb CANNOT BE ZERO!!-->
- <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend
Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
- <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb
-->
- <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb
-->
- <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive
Decent -->
- <define name="DESCENT_PITCH" value="-0.35"/><!-- 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="2" unit="s"/>
- <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
- <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
- <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
- <define name="HOME_RADIUS" value="100" unit="m"/>
-</section>
-
- <section name="DATALINK" prefix="DATALINK_">
- <define name="DEVICE_TYPE" value="XBEE"/>
- <define name="DEVICE_ADDRESS" value="...."/>
- </section>
-
- <section name="SIMU">
- <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
- </section>
-
- <makefile>
-CONFIG = \"tiny_2_1.h\"
-
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
-
-FLASH_MODE=IAP
-
-ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
-
-ap.srcs += commands.c
-
-ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
-ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
-
-ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
-
-ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport
-DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
-
-#TRANSPARENT
-#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1
-DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
-
-
-ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c
-
-ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
-ap.srcs += $(SRC_ARCH)/adc_hw.c
-
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
-DGPS_USE_LATLONG
-# -DGPS_LED=2
-ap.srcs += gps_ubx.c gps.c latlong.c
-
-ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
-ap.srcs += infrared.c estimator.c
-
-ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
-
-ap.srcs += nav_line.c
-ap.srcs += nav_survey_rectangle.c
-
-ap.srcs += humid_sht.c
-ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3 -DSCK_PIN=2
-
-ap.srcs += baro_scp.c
-ap.CFLAGS += -DUSE_BARO_SCP
-
-ap.srcs += joystick.c
-ap.CFLAGS += -DUSE_JOYSTICK
-
-# Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
-
-sim.srcs += joystick.c
-sim.CFLAGS += -DUSE_JOYSTICK
-
-
- </makefile>
-</airframe>
Deleted: paparazzi3/trunk/conf/airframes/funjetgfi8.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/funjetgfi8.xml 2010-08-15 22:53:07 UTC
(rev 5394)
+++ paparazzi3/trunk/conf/airframes/funjetgfi8.xml 2010-08-15 22:53:14 UTC
(rev 5395)
@@ -1,247 +0,0 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
-
-<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
- Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
- PerkinElmer TPS334 IR Sensors
- Tilted infrared sensor
(http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
- XBee modem
- Payload: Sensirion humidity/temp, VTI pressure/temp
- K68, LEA 5
--->
-
-<airframe name="Funjet GFI 8 K68">
-
-<!-- commands section -->
- <servos>
- <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
- <servo name="AILEVON_LEFT" no="2" min="1900" neutral="1563" max="1100"/>
- <servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1489" max="1900"/>
- </servos>
-
- <commands>
- <axis name="THROTTLE" failsafe_value="0"/>
- <axis name="ROLL" failsafe_value="0"/>
- <axis name="PITCH" failsafe_value="0"/>
- </commands>
-
- <rc_commands>
- <set command="THROTTLE" value="@THROTTLE"/>
- <set command="ROLL" value="@ROLL"/>
- <set command="PITCH" value="@PITCH"/>
- </rc_commands>
-
- <section name="MIXER">
- <define name="AILEVON_AILERON_RATE" value="0.45"/>
- <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
- </section>
-
- <command_laws>
- <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
- <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
- <set servo="MOTOR" value="@THROTTLE"/>
- <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
- <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
- </command_laws>
-
- <section name="AUTO1" prefix="AUTO1_">
- <define name="MAX_ROLL" value="0.85"/>
- <define name="MAX_PITCH" value="0.6"/>
- </section>
-
- <section name="adc" prefix="ADC_CHANNEL_">
- <define name="IR1" value="ADC_1"/>
- <define name="IR2" value="ADC_2"/>
- <define name="IR_TOP" value="ADC_0"/>
- <define name="IR_NB_SAMPLES" value="16"/>
- </section>
-
- <section name="INFRARED" prefix="IR_">
- <define name="ADC_IR1_NEUTRAL" value="512"/>
- <define name="ADC_IR2_NEUTRAL" value="512"/>
- <define name="ADC_TOP_NEUTRAL" value="512"/>
-
- <define name="CORRECTION_UP" value="1."/>
- <define name="CORRECTION_DOWN" value="1."/>
- <define name="CORRECTION_LEFT" value="1."/>
- <define name="CORRECTION_RIGHT" value="1."/>
-
- <define name="LATERAL_CORRECTION" value="-1"/>
- <define name="LONGITUDINAL_CORRECTION" value="1"/>
- <define name="VERTICAL_CORRECTION" value="1.5"/>
-
- <define name="HORIZ_SENSOR_TILTED" value="1"/>
- <define name="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="0" unit="deg"/>
- </section>
-
- <section name="BAT">
- <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
- <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- <!-- 0.0247311828 -->
- <!-- 0.02432905 -->
- <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
- </section>
-
- <section name="MISC">
- <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
- <define name="CARROT" value="5." unit="s"/>
- <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
- <define name="CONTROL_RATE" value="60" unit="Hz"/>
-<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
-<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
- <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
-
- <define name="TRIGGER_DELAY" value="1."/>
- <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
- <define name="MIN_CIRCLE_RADIUS" value="50."/>
- </section>
-
- <section name="VERTICAL CONTROL" prefix="V_CTL_">
-
- <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
- <!-- outer loop proportional gain -->
- <define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
- <!-- outer loop saturation -->
- <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
- <!-- auto throttle inner loop -->
- <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
- <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
- <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
- <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
- <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
- <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2"
unit="%/(m/s)"/>
- <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
- <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
- <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
-
- <!-- auto pitch inner loop -->
- <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
- <define name="AUTO_PITCH_IGAIN" value="0.0"/>
- <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
- <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
-
- <define name="THROTTLE_SLEW" value="0.1"/>
-
- </section>
-
- <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
- <define name="COURSE_PGAIN" value="-0.9"/>
- <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
- <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
- <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
-
- <define name="ROLL_PGAIN" value="6600."/>
- <define name="AILERON_OF_THROTTLE" value="0.0"/>
- <define name="PITCH_PGAIN" value="-5500."/>
- <define name="PITCH_DGAIN" value="0.4"/>
-
- <define name="ELEVATOR_OF_ROLL" value="2400"/>
-
- <!--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="50"/><!-- Altitude Error to Initiate
Aggressive Climb CANNOT BE ZERO!!-->
- <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend
Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
- <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb
-->
- <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb
-->
- <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive
Decent -->
- <define name="DESCENT_PITCH" value="-0.35"/><!-- 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="2" unit="s"/>
- <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
- <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
- <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
- <define name="HOME_RADIUS" value="100" unit="m"/>
-</section>
-
- <section name="DATALINK" prefix="DATALINK_">
- <define name="DEVICE_TYPE" value="XBEE"/>
- <define name="DEVICE_ADDRESS" value="...."/>
- </section>
-
- <section name="SIMU">
- <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
- </section>
-
- <makefile>
-CONFIG = \"tiny_2_1.h\"
-
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
-
-FLASH_MODE=IAP
-
-ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
-
-ap.srcs += commands.c
-
-ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
-ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
-
-ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
-
-ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport
-DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
-
-#TRANSPARENT
-#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1
-DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
-
-
-ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c
-
-ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
-ap.srcs += $(SRC_ARCH)/adc_hw.c
-
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
-DGPS_USE_LATLONG
-# -DGPS_LED=2
-ap.srcs += gps_ubx.c gps.c latlong.c
-
-ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
-ap.srcs += infrared.c estimator.c
-
-ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
-
-ap.srcs += nav_line.c
-ap.srcs += nav_survey_rectangle.c
-
-ap.srcs += humid_sht.c
-ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3 -DSCK_PIN=2
-
-ap.srcs += baro_scp.c
-ap.CFLAGS += -DUSE_BARO_SCP
-
-ap.srcs += joystick.c
-ap.CFLAGS += -DUSE_JOYSTICK
-
-# Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
-
-sim.srcs += joystick.c
-sim.CFLAGS += -DUSE_JOYSTICK
-
-
- </makefile>
-</airframe>
Deleted: paparazzi3/trunk/conf/airframes/funjetgfi9.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/funjetgfi9.xml 2010-08-15 22:53:07 UTC
(rev 5394)
+++ paparazzi3/trunk/conf/airframes/funjetgfi9.xml 2010-08-15 22:53:14 UTC
(rev 5395)
@@ -1,247 +0,0 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
-
-<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
- Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
- PerkinElmer TPS334 IR Sensors
- Tilted infrared sensor
(http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
- XBee modem
- Payload: Sensirion humidity/temp, VTI pressure/temp
- K68, LEA 5
--->
-
-<airframe name="Funjet GFI 9 K68">
-
-<!-- commands section -->
- <servos>
- <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
- <servo name="AILEVON_LEFT" no="2" min="1900" neutral="1574" max="1100"/>
- <servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1509" max="1900"/>
- </servos>
-
- <commands>
- <axis name="THROTTLE" failsafe_value="0"/>
- <axis name="ROLL" failsafe_value="0"/>
- <axis name="PITCH" failsafe_value="0"/>
- </commands>
-
- <rc_commands>
- <set command="THROTTLE" value="@THROTTLE"/>
- <set command="ROLL" value="@ROLL"/>
- <set command="PITCH" value="@PITCH"/>
- </rc_commands>
-
- <section name="MIXER">
- <define name="AILEVON_AILERON_RATE" value="0.45"/>
- <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
- </section>
-
- <command_laws>
- <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
- <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
- <set servo="MOTOR" value="@THROTTLE"/>
- <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
- <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
- </command_laws>
-
- <section name="AUTO1" prefix="AUTO1_">
- <define name="MAX_ROLL" value="0.85"/>
- <define name="MAX_PITCH" value="0.6"/>
- </section>
-
- <section name="adc" prefix="ADC_CHANNEL_">
- <define name="IR1" value="ADC_1"/>
- <define name="IR2" value="ADC_2"/>
- <define name="IR_TOP" value="ADC_0"/>
- <define name="IR_NB_SAMPLES" value="16"/>
- </section>
-
- <section name="INFRARED" prefix="IR_">
- <define name="ADC_IR1_NEUTRAL" value="512"/>
- <define name="ADC_IR2_NEUTRAL" value="512"/>
- <define name="ADC_TOP_NEUTRAL" value="512"/>
-
- <define name="CORRECTION_UP" value="1."/>
- <define name="CORRECTION_DOWN" value="1."/>
- <define name="CORRECTION_LEFT" value="1."/>
- <define name="CORRECTION_RIGHT" value="1."/>
-
- <define name="LATERAL_CORRECTION" value="-1"/>
- <define name="LONGITUDINAL_CORRECTION" value="1"/>
- <define name="VERTICAL_CORRECTION" value="1.5"/>
-
- <define name="HORIZ_SENSOR_TILTED" value="1"/>
- <define name="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="0" unit="deg"/>
- </section>
-
- <section name="BAT">
- <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
- <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- <!-- 0.0247311828 -->
- <!-- 0.02432905 -->
- <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
- </section>
-
- <section name="MISC">
- <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
- <define name="CARROT" value="5." unit="s"/>
- <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
- <define name="CONTROL_RATE" value="60" unit="Hz"/>
-<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
-<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
- <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
-
- <define name="TRIGGER_DELAY" value="1."/>
- <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
- <define name="MIN_CIRCLE_RADIUS" value="50."/>
- </section>
-
- <section name="VERTICAL CONTROL" prefix="V_CTL_">
-
- <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
- <!-- outer loop proportional gain -->
- <define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
- <!-- outer loop saturation -->
- <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
- <!-- auto throttle inner loop -->
- <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
- <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
- <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
- <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
- <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
- <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2"
unit="%/(m/s)"/>
- <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
- <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
- <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
-
- <!-- auto pitch inner loop -->
- <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
- <define name="AUTO_PITCH_IGAIN" value="0.0"/>
- <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
- <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
-
- <define name="THROTTLE_SLEW" value="0.1"/>
-
- </section>
-
- <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
- <define name="COURSE_PGAIN" value="-0.9"/>
- <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
- <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
- <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
-
- <define name="ROLL_PGAIN" value="6600."/>
- <define name="AILERON_OF_THROTTLE" value="0.0"/>
- <define name="PITCH_PGAIN" value="-5500."/>
- <define name="PITCH_DGAIN" value="0.4"/>
-
- <define name="ELEVATOR_OF_ROLL" value="2400"/>
-
- <!--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="50"/><!-- Altitude Error to Initiate
Aggressive Climb CANNOT BE ZERO!!-->
- <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend
Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
- <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb
-->
- <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb
-->
- <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive
Decent -->
- <define name="DESCENT_PITCH" value="-0.35"/><!-- 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="2" unit="s"/>
- <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
- <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
- <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
- <define name="HOME_RADIUS" value="100" unit="m"/>
-</section>
-
- <section name="DATALINK" prefix="DATALINK_">
- <define name="DEVICE_TYPE" value="XBEE"/>
- <define name="DEVICE_ADDRESS" value="...."/>
- </section>
-
- <section name="SIMU">
- <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
- </section>
-
- <makefile>
-CONFIG = \"tiny_2_1.h\"
-
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
-
-FLASH_MODE=IAP
-
-ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(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
-
-ap.srcs += commands.c
-
-ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
-ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
-
-ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
-
-ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport
-DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
-
-#TRANSPARENT
-#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1
-DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
-
-
-ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c
-
-ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
-ap.srcs += $(SRC_ARCH)/adc_hw.c
-
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
-DGPS_USE_LATLONG
-# -DGPS_LED=2
-ap.srcs += gps_ubx.c gps.c latlong.c
-
-ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
-ap.srcs += infrared.c estimator.c
-
-ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
-
-ap.srcs += nav_line.c
-ap.srcs += nav_survey_rectangle.c
-
-ap.srcs += humid_sht.c
-ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3 -DSCK_PIN=2
-
-ap.srcs += baro_scp.c
-ap.CFLAGS += -DUSE_BARO_SCP
-
-ap.srcs += joystick.c
-ap.CFLAGS += -DUSE_JOYSTICK
-
-# Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
-
-sim.srcs += joystick.c
-sim.CFLAGS += -DUSE_JOYSTICK
-
-
- </makefile>
-</airframe>
Deleted: paparazzi3/trunk/conf/airframes/glass_one1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/glass_one1.xml 2010-08-15 22:53:07 UTC
(rev 5394)
+++ paparazzi3/trunk/conf/airframes/glass_one1.xml 2010-08-15 22:53:14 UTC
(rev 5395)
@@ -1,270 +0,0 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
-
-<airframe name="GlassOne #1 Tiny V1.1">
-
-<!-- commands section -->
- <servos>
- <servo name="THROTTLE" no="6" min="1000" neutral="1000" max="2000"/>
- <servo name="AILEVON_LEFT" no="4" min="2100" neutral="1594" max="900"/>
- <servo name="AILEVON_RIGHT" no="5" min="900" neutral="1387" max="2000"/>
- <!-- +8.1 +2.0 -5.5 -->
- </servos>
-
- <commands>
- <axis name="THROTTLE" failsafe_value="0"/>
- <axis name="ROLL" failsafe_value="0"/>
- <axis name="PITCH" failsafe_value="0"/>
- </commands>
-
- <rc_commands>
- <set command="THROTTLE" value="@THROTTLE"/>
- <set command="ROLL" value="@ROLL"/>
- <set command="PITCH" value="@PITCH"/>
- </rc_commands>
-
- <section name="MIXER">
- <define name="AILEVON_AILERON_RATE" value="0.5"/>
- <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
- </section>
-
- <command_laws>
- <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
- <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
- <set servo="THROTTLE" value="@THROTTLE"/>
- <set servo="AILEVON_RIGHT" value="-$elevator + $aileron"/>
- <set servo="AILEVON_LEFT" value="-$elevator - $aileron"/>
- <!--set servo="HATCH" value="@HATCH"/-->
- </command_laws>
-
- <section name="AUTO1" prefix="AUTO1_">
- <define name="MAX_ROLL" value="0.9"/>
- <define name="MAX_PITCH" value="0.9"/>
- </section>
-
- <section name="adc" prefix="ADC_CHANNEL_">
- <define name="IR1" value="ADC_0"/>
- <define name="IR2" value="ADC_1"/>
- <define name="IR_TOP" value="ADC_2"/>
- <define name="IR_NB_SAMPLES" value="16"/>
- <define name="GYRO_ROLL" value="ADC_3"/>
- <define name="GYRO_TEMP" value="ADC_4"/>
- <define name="SUPPLY_CURRENT" value="ADC_5"/>
- <define name="GYRO_NB_SAMPLES" value="16"/>
-
- </section>
-
- <section name="INFRARED" prefix="IR_">
-
- <linear name="RollOfIrs" arity="2" coeff1="-0.7" coeff2="0.7"/>
- <linear name="PitchOfIrs" arity="2" coeff1="0.7" coeff2="0.7"/>
-
- <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
- <define name="PITCH_NEUTRAL_DEFAULT" value="5.7" unit="deg"/>
- <define name="DEFAULT_CONTRAST" value="200"/>
- <define name="RAD_OF_IR_CONTRAST" value="0.75"/>
- <linear name="TopOfIr" arity="1" coeff1="1"/>
- <define name="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
- <define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
- <define name="ADC_IR1_NEUTRAL" value="508"/>
- <define name="ADC_IR2_NEUTRAL" value="518"/>
- <define name="ADC_TOP_NEUTRAL" value="512"/>
- <!--define name="ADC_IR1_NEUTRAL" value="524"/>
- <define name="ADC_IR2_NEUTRAL" value="511"/>
- <define name="ADC_TOP_NEUTRAL" value="550"/-->
-
- <define name="LATERAL_CORRECTION" value="2.5"/>
- <define name="LONGITUDINAL_CORRECTION" value="2.5"/>
- <define name="VERTICAL_CORRECTION" value="1."/>
-
- <define name="CORRECTION_UP" value="1."/>
- <define name="CORRECTION_DOWN" value="1."/>
- <define name="CORRECTION_LEFT" value="1."/>
- <define name="CORRECTION_RIGHT" value="1."/>
- </section>
-
- <section name="GYRO" prefix="GYRO_">
- <define name="ADC_ROLL_NEUTRAL" value="518"/>
- <define name="ADC_TEMP_NEUTRAL" value="476"/>
- <define name="ADC_TEMP_SLOPE" value="0"/>
- <define name="ROLL_SCALE" value="1.0"/>
- <define name="ROLL_DIRECTION" value="1."/>
- </section>
-
- <section name="BAT">
- <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
- <define name="ADC_CHANNEL_VSUPPLY" value="AdcBank1(6)"/>
- <define name="VoltageOfAdc(adc)" value="(0.01787109375*adc)"/>
- <define name="LOW_BATTERY" value="9.0" unit="V"/>
- </section>
-
- <section name="MISC">
- <define name="NOMINAL_AIRSPEED" value="15." 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="TRIGGER_DELAY" value="1.5"/>
- <define name="NAV_GLIDE_PITCH_TRIM"
value="(V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN*V_CTL_ALTITUDE_MAX_CLIMB)"/>
-
- <define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
- <define name="LIGHT_PIN_1" value="3"/>
- </section>
-
- <section name="VERTICAL CONTROL" prefix="V_CTL_">
- <!--define name="POWER_CTL_BAT_NOMINAL" value="8.4" unit="volt"/-->
- <!-- outer loop proportional gain -->
- <define name="ALTITUDE_PGAIN" value="-0.07"/>
- <!-- outer loop saturation -->
- <define name="ALTITUDE_MAX_CLIMB" value="4."/>
-
- <!-- auto throttle inner loop -->
- <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.65"/>
- <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
- <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
- <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
- <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
- <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2"
unit="%/(m/s)"/>
- <define name="AUTO_THROTTLE_PGAIN" value="-0.024"/>
- <define name="AUTO_THROTTLE_IGAIN" value="0.06"/>
- <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
-
- <!-- auto pitch inner loop -->
- <define name="AUTO_PITCH_PGAIN" value="-0.06"/>
- <define name="AUTO_PITCH_IGAIN" value="0.025"/>
- <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
- <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
-
- <define name="THROTTLE_SLEW" value="0.05"/>
-
- </section>
-
- <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
- <define name="COURSE_PGAIN" value="-1.2"/>
- <define name="ROLL_MAX_SETPOINT" value="0.5" unit="radians"/>
- <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
- <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
-
-
- <define name="ROLL_PGAIN" value="7000."/>
- <define name="AILERON_OF_THROTTLE" value="0.0"/>
- <define name="PITCH_PGAIN" value="-8000."/>
- <define name="PITCH_DGAIN" value="0."/>
- <define name="ELEVATOR_OF_ROLL" value="4000"/>
-
- <!-- roll rate loop -->
- <define name="ROLL_RATE_MODE_DEFAULT" value="0"/>
- <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
- <define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
- <define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="1500."/>
- <define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="1500."/>
- <define name="ROLL_RATE_IGAIN" value="0."/>
- <define name="ROLL_RATE_DGAIN" value="0."/>
- <define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
-
- </section>
-
- <section name="NAV">
- <define name="NAV_PITCH" value="0."/>
- </section>
-
- <section name="AGGRESSIVE" prefix="AGR_">
- <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate
Aggressive Climb CANNOT BE ZERO!!-->
- <define name="BLEND_END" value="20"/><!-- Altitude Error to Blend
Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
- <define name="CLIMB_THROTTLE" value="0.9"/><!-- Throttle for Aggressive
Climb -->
- <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb
-->
- <define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive
Decent -->
- <define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive
Decent -->
- <define name="CLIMB_NAV_RATIO" value="0.5"/><!-- Percent Navigation for
Altitude Error Equal to Start Altitude -->
- <define name="DESCENT_NAV_RATIO" value="1.0"/>
- </section>
-
-
- <section name="GYRO_GAINS">
- <define name="GYRO_MAX_RATE" value="200."/>
- <define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
- <define name="ALT_ROLL__PGAIN" value="1.0"/>
- <define name="ROLL_RATE_PGAIN" value="1000.0"/>
- <define name="ROLL_RATE_IGAIN" value="0.0"/>
- <define name="ROLL_RATE_DGAIN" value="0.0"/>
- </section>
-
- <section name="FAILSAFE" prefix="FAILSAFE_">
- <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
- <define name="DEFAULT_THROTTLE" value="0." unit="%"/>
- <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
- <define name="DEFAULT_PITCH" value="0.15" unit="rad"/>
- <define name="HOME_RADIUS" value="100" unit="m"/>
-</section>
-
- <section name="DATALINK" prefix="DATALINK_">
- <define name="DEVICE_TYPE" value="AEROCOMM"/>
- <define name="DEVICE_ADDRESS" value="0x005067397193"/>
- </section>
-
- <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
-
-FLASH_MODE=IAP
-
-ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -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
-
-ap.srcs += commands.c
-
-ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
-ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
-
-ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
-
-#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0
-DDATALINK=XBEE -DUART0_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
-
-ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0
-DDATALINK=PPRZ -DUART0_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
-
-ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c
-
-ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4
-DUSE_ADC_5
-ap.srcs += $(SRC_ARCH)/adc_hw.c
-
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
-DGPS_CONFIGURE -DZ_CONTRAST_DEFAULT=1
-ap.CFLAGS += -DGPS_BAUD=38400
-
-ap.srcs += gps_ubx.c gps.c
-
-ap.CFLAGS += -DINFRARED
-ap.srcs += infrared.c estimator.c
-# -DALT_KALMAN
-
-ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c nav_survey_rectangle.c
-
-#ap.CFLAGS += -DGYRO -DADXRS150
-#ap.srcs += gyro.c
-
-#ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH
-#ap.srcs += point.c cam.c
-
-ap.srcs += traffic_info.c nav_line.c
-
-# Video switch
-ap.CFLAGS += -DUSE_GPIO
-ap.srcs += $(SRC_ARCH)/gpio.c
-
-# Hardware In The Loop
-
-#ap.CFLAGS += -DHITL
-
-
-# Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP
-DLOITER_TRIM
-sim.srcs += bomb.c nav_survey_rectangle.c
-
-sim.srcs += traffic_info.c nav_line.c
-
-
- </makefile>
-</airframe>
Deleted: paparazzi3/trunk/conf/airframes/glass_one2.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/glass_one2.xml 2010-08-15 22:53:07 UTC
(rev 5394)
+++ paparazzi3/trunk/conf/airframes/glass_one2.xml 2010-08-15 22:53:14 UTC
(rev 5395)
@@ -1,241 +0,0 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
-
-<airframe name="GlassOne #2 Tiny 0.9">
-
-<!-- commands section -->
- <servos>
- <servo name="THROTTLE" no="6" min="1000" neutral="1000" max="2000"/>
- <servo name="AILEVON_LEFT" no="4" min="1870" neutral="1594" max="1100"/>
- <servo name="AILEVON_RIGHT" no="5" min="1100" neutral="1407" max="2000"/>
- </servos>
-
- <commands>
- <axis name="THROTTLE" failsafe_value="0"/>
- <axis name="ROLL" failsafe_value="0"/>
- <axis name="PITCH" failsafe_value="0"/>
- </commands>
-
- <rc_commands>
- <set command="THROTTLE" value="@THROTTLE"/>
- <set command="ROLL" value="@ROLL"/>
- <set command="PITCH" value="@PITCH"/>
- </rc_commands>
-
- <section name="MIXER">
- <define name="AILEVON_AILERON_RATE" value="0.5"/>
- <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
- </section>
-
- <command_laws>
- <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
- <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
- <set servo="THROTTLE" value="@THROTTLE"/>
- <set servo="AILEVON_RIGHT" value="-$elevator + $aileron"/>
- <set servo="AILEVON_LEFT" value="-$elevator - $aileron"/>
- <!--set servo="HATCH" value="@HATCH"/-->
- </command_laws>
-
- <section name="AUTO1" prefix="AUTO1_">
- <define name="MAX_ROLL" value="0.9"/>
- <define name="MAX_PITCH" value="0.9"/>
- </section>
-
- <section name="adc" prefix="ADC_CHANNEL_">
- <define name="IR1" value="ADC_0"/>
- <define name="IR2" value="ADC_1"/>
- <define name="IR_TOP" value="ADC_2"/>
- <define name="IR_NB_SAMPLES" value="16"/>
- </section>
-
- <section name="INFRARED" prefix="IR_">
-
- <linear name="RollOfIrs" arity="2" coeff1="-0.7" coeff2="0.7"/>
- <linear name="PitchOfIrs" arity="2" coeff1="0.7" coeff2="0.7"/>
-
- <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
- <define name="PITCH_NEUTRAL_DEFAULT" value="5.7" unit="deg"/>
- <define name="DEFAULT_CONTRAST" value="200"/>
- <define name="RAD_OF_IR_CONTRAST" value="0.75"/>
- <linear name="TopOfIr" arity="1" coeff1="1"/>
- <define name="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
- <define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
- <define name="ADC_IR1_NEUTRAL" value="508"/>
- <define name="ADC_IR2_NEUTRAL" value="510"/>
- <define name="ADC_TOP_NEUTRAL" value="512"/>
-
- <define name="LATERAL_CORRECTION" value="2.5"/>
- <define name="LONGITUDINAL_CORRECTION" value="2.5"/>
- <define name="VERTICAL_CORRECTION" value="1."/>
-
- <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_PER_PERCENT" value="0.86"/>
- <define name="VOLTAGE_ADC_A" value="0.0174"/>
- <define name="VOLTAGE_ADC_B" value="3.43"/>
- <define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc +
VOLTAGE_ADC_B)"/>
- <define name="LOW_BATTERY" value="9.0" unit="V"/>
- </section>
-
- <section name="MISC">
- <define name="NOMINAL_AIRSPEED" value="15." 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="TRIGGER_DELAY" value="1.5"/>
- <define name="NAV_GLIDE_PITCH_TRIM"
value="(V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN*V_CTL_ALTITUDE_MAX_CLIMB)"/>
-
- <define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
- <define name="LIGHT_PIN_1" value="3"/>
- </section>
-
- <section name="VERTICAL CONTROL" prefix="V_CTL_">
- <!--define name="POWER_CTL_BAT_NOMINAL" value="8.4" unit="volt"/-->
- <!-- outer loop proportional gain -->
- <define name="ALTITUDE_PGAIN" value="-0.07"/>
- <!-- outer loop saturation -->
- <define name="ALTITUDE_MAX_CLIMB" value="4."/>
-
- <!-- auto throttle inner loop -->
- <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.65"/>
- <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
- <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
- <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
- <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
- <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2"
unit="%/(m/s)"/>
- <define name="AUTO_THROTTLE_PGAIN" value="-0.024"/>
- <define name="AUTO_THROTTLE_IGAIN" value="0.06"/>
- <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
-
- <!-- auto pitch inner loop -->
- <define name="AUTO_PITCH_PGAIN" value="-0.06"/>
- <define name="AUTO_PITCH_IGAIN" value="0.025"/>
- <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
- <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
-
- <define name="THROTTLE_SLEW" value="0.05"/>
-
- </section>
-
- <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
- <define name="COURSE_PGAIN" value="-1.2"/>
- <define name="ROLL_MAX_SETPOINT" value="0.5" unit="radians"/>
- <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
- <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
-
-
- <define name="ROLL_PGAIN" value="7000."/>
- <define name="AILERON_OF_THROTTLE" value="0.0"/>
- <define name="PITCH_PGAIN" value="-8000."/>
- <define name="PITCH_DGAIN" value="0."/>
- <define name="ELEVATOR_OF_ROLL" value="4000"/>
-
- <!-- roll rate loop -->
- <define name="ROLL_RATE_MODE_DEFAULT" value="0"/>
- <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
- <define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
- <define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="1500."/>
- <define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="1500."/>
- <define name="ROLL_RATE_IGAIN" value="0."/>
- <define name="ROLL_RATE_DGAIN" value="0."/>
- <define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
-
- </section>
-
- <section name="NAV">
- <define name="NAV_PITCH" value="0."/>
- </section>
-
- <section name="AGGRESSIVE" prefix="AGR_">
- <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate
Aggressive Climb CANNOT BE ZERO!!-->
- <define name="BLEND_END" value="20"/><!-- Altitude Error to Blend
Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
- <define name="CLIMB_THROTTLE" value="0.9"/><!-- Throttle for Aggressive
Climb -->
- <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb
-->
- <define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive
Decent -->
- <define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive
Decent -->
- <define name="CLIMB_NAV_RATIO" value="0.5"/><!-- 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="2" unit="s"/>
- <define name="DEFAULT_THROTTLE" value="0." unit="%"/>
- <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
- <define name="DEFAULT_PITCH" value="0.15" unit="rad"/>
- <define name="HOME_RADIUS" value="100" unit="m"/>
-</section>
-
- <section name="DATALINK" prefix="DATALINK_">
- <define name="DEVICE_TYPE" value="AEROCOMM"/>
- <define name="DEVICE_ADDRESS" value="0x005067397193"/>
- </section>
-
- <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
-
-FLASH_MODE=IAP
-
-ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny.h\" -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
-
-ap.srcs += commands.c
-
-ap.CFLAGS += -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015
-ap.srcs += $(SRC_ARCH)/servos_4015_hw_new.c actuators.c
-
-ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
-
-#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0
-DDATALINK=XBEE -DUART0_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
-
-ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0
-DDATALINK=PPRZ -DUART0_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
-
-ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c
-
-ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4
-DUSE_ADC_5
-ap.srcs += $(SRC_ARCH)/adc_hw.c
-
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
-DGPS_CONFIGURE -DZ_CONTRAST_DEFAULT=1
-ap.CFLAGS += -DGPS_BAUD=38400
-
-ap.srcs += gps_ubx.c gps.c
-
-ap.CFLAGS += -DINFRARED
-ap.srcs += infrared.c estimator.c
-# -DALT_KALMAN
-
-ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c nav_survey_rectangle.c
-
-#ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH
-#ap.srcs += point.c cam.c
-
-ap.srcs += traffic_info.c nav_line.c
-
-# Video switch
-ap.CFLAGS += -DUSE_GPIO
-ap.srcs += $(SRC_ARCH)/gpio.c
-
-# Hardware In The Loop
-
-#ap.CFLAGS += -DHITL
-
-
-# Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP
-DLOITER_TRIM
-sim.srcs += bomb.c nav_survey_rectangle.c
-
-sim.srcs += traffic_info.c nav_line.c
-
-
- </makefile>
-</airframe>
Deleted: paparazzi3/trunk/conf/airframes/glass_one3.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/glass_one3.xml 2010-08-15 22:53:07 UTC
(rev 5394)
+++ paparazzi3/trunk/conf/airframes/glass_one3.xml 2010-08-15 22:53:14 UTC
(rev 5395)
@@ -1,268 +0,0 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
-
-<airframe name="GlassOne #3 Tiny V1.1">
-
-<!-- commands section -->
- <servos>
- <servo name="THROTTLE" no="6" min="1000" neutral="1000" max="2000"/>
- <servo name="AILEVON_LEFT" no="4" min="1890" neutral="1587" max="1155"/>
- <servo name="AILEVON_RIGHT" no="5" min="1095" neutral="1422" max="1824"/>
- <!--servo name="AILEVON_LEFT" no="4" min="1880" neutral="1594"
max="1215"/>
- <servo name="AILEVON_RIGHT" no="5" min="1115" neutral="1387" max="1744"/-->
- </servos>
-
- <commands>
- <axis name="THROTTLE" failsafe_value="0"/>
- <axis name="ROLL" failsafe_value="0"/>
- <axis name="PITCH" failsafe_value="0"/>
- </commands>
-
- <rc_commands>
- <set command="THROTTLE" value="@THROTTLE"/>
- <set command="ROLL" value="@ROLL"/>
- <set command="PITCH" value="@PITCH"/>
- </rc_commands>
-
- <section name="MIXER">
- <define name="AILEVON_AILERON_RATE" value="0.5"/>
- <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
- </section>
-
- <command_laws>
- <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
- <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
- <set servo="THROTTLE" value="@THROTTLE"/>
- <set servo="AILEVON_RIGHT" value="-$elevator + $aileron"/>
- <set servo="AILEVON_LEFT" value="-$elevator - $aileron"/>
- <!--set servo="HATCH" value="@HATCH"/-->
- </command_laws>
-
- <section name="AUTO1" prefix="AUTO1_">
- <define name="MAX_ROLL" value="0.9"/>
- <define name="MAX_PITCH" value="0.9"/>
- </section>
-
- <section name="adc" prefix="ADC_CHANNEL_">
- <define name="IR1" value="ADC_0"/>
- <define name="IR2" value="ADC_1"/>
- <define name="IR_TOP" value="ADC_2"/>
- <define name="IR_NB_SAMPLES" value="16"/>
- <define name="GYRO_ROLL" value="ADC_3"/>
- <define name="GYRO_TEMP" value="ADC_4"/>
- <define name="SUPPLY_CURRENT" value="ADC_5"/>
- <define name="GYRO_NB_SAMPLES" value="16"/>
-
- </section>
-
- <section name="INFRARED" prefix="IR_">
-
- <linear name="RollOfIrs" arity="2" coeff1="-0.7" coeff2="0.7"/>
- <linear name="PitchOfIrs" arity="2" coeff1="0.7" coeff2="0.7"/>
-
- <define name="ROLL_NEUTRAL_DEFAULT" value="10" unit="deg"/>
- <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
- <define name="DEFAULT_CONTRAST" value="200"/>
- <define name="RAD_OF_IR_CONTRAST" value="0.75"/>
- <linear name="TopOfIr" arity="1" coeff1="1"/>
- <define name="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
- <define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
- <define name="ADC_IR1_NEUTRAL" value="508"/>
- <define name="ADC_IR2_NEUTRAL" value="510"/>
- <define name="ADC_TOP_NEUTRAL" value="512"/>
- <!--define name="ADC_IR1_NEUTRAL" value="524"/>
- <define name="ADC_IR2_NEUTRAL" value="511"/>
- <define name="ADC_TOP_NEUTRAL" value="550"/-->
-
- <define name="LATERAL_CORRECTION" value="2.5"/>
- <define name="LONGITUDINAL_CORRECTION" value="2.5"/>
- <define name="VERTICAL_CORRECTION" value="1."/>
-
- <define name="CORRECTION_UP" value="1."/>
- <define name="CORRECTION_DOWN" value="1."/>
- <define name="CORRECTION_LEFT" value="1."/>
- <define name="CORRECTION_RIGHT" value="1."/>
- </section>
-
- <section name="GYRO" prefix="GYRO_">
- <define name="ADC_ROLL_NEUTRAL" value="518"/>
- <define name="ADC_TEMP_NEUTRAL" value="476"/>
- <define name="ADC_TEMP_SLOPE" value="0"/>
- <define name="ROLL_SCALE" value="1.0"/>
- <define name="ROLL_DIRECTION" value="1."/>
- </section>
-
- <section name="BAT">
- <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
- <define name="ADC_CHANNEL_VSUPPLY" value="AdcBank1(6)"/>
- <define name="VoltageOfAdc(adc)" value="(0.01787109375*adc)"/>
- <define name="LOW_BATTERY" value="9.0" unit="V"/>
- </section>
-
- <section name="MISC">
- <define name="NOMINAL_AIRSPEED" value="15." 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="TRIGGER_DELAY" value="1.5"/>
- <define name="NAV_GLIDE_PITCH_TRIM"
value="(V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN*V_CTL_ALTITUDE_MAX_CLIMB)"/>
-
- <define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
- <define name="LIGHT_PIN_1" value="3"/>
- </section>
-
- <section name="VERTICAL CONTROL" prefix="V_CTL_">
- <!--define name="POWER_CTL_BAT_NOMINAL" value="8.4" unit="volt"/-->
- <!-- outer loop proportional gain -->
- <define name="ALTITUDE_PGAIN" value="-0.07"/>
- <!-- outer loop saturation -->
- <define name="ALTITUDE_MAX_CLIMB" value="4."/>
-
- <!-- auto throttle inner loop -->
- <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.65"/>
- <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
- <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
- <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
- <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
- <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2"
unit="%/(m/s)"/>
- <define name="AUTO_THROTTLE_PGAIN" value="-0.024"/>
- <define name="AUTO_THROTTLE_IGAIN" value="0.06"/>
- <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
-
- <!-- auto pitch inner loop -->
- <define name="AUTO_PITCH_PGAIN" value="-0.06"/>
- <define name="AUTO_PITCH_IGAIN" value="0.025"/>
- <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
- <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
-
- <define name="THROTTLE_SLEW" value="0.05"/>
-
- </section>
-
- <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
- <define name="COURSE_PGAIN" value="-1.2"/>
- <define name="ROLL_MAX_SETPOINT" value="0.63" unit="radians"/>
- <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
- <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
-
-
- <define name="ROLL_PGAIN" value="7000."/>
- <define name="AILERON_OF_THROTTLE" value="0.0"/>
- <define name="PITCH_PGAIN" value="-8000."/>
- <define name="PITCH_DGAIN" value="0."/>
- <define name="ELEVATOR_OF_ROLL" value="4000"/>
-
- <!-- roll rate loop -->
- <define name="ROLL_RATE_MODE_DEFAULT" value="0"/>
- <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
- <define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
- <define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="1500."/>
- <define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="1500."/>
- <define name="ROLL_RATE_IGAIN" value="0."/>
- <define name="ROLL_RATE_DGAIN" value="0."/>
- <define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
-
- </section>
-
- <section name="NAV">
- <define name="NAV_PITCH" value="0."/>
- </section>
-
- <section name="AGGRESSIVE" prefix="AGR_">
- <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate
Aggressive Climb CANNOT BE ZERO!!-->
- <define name="BLEND_END" value="20"/><!-- Altitude Error to Blend
Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
- <define name="CLIMB_THROTTLE" value="0.9"/><!-- Throttle for Aggressive
Climb -->
- <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb
-->
- <define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive
Decent -->
- <define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive
Decent -->
- <define name="CLIMB_NAV_RATIO" value="0.5"/><!-- Percent Navigation for
Altitude Error Equal to Start Altitude -->
- <define name="DESCENT_NAV_RATIO" value="1.0"/>
- </section>
-
-
- <section name="GYRO_GAINS">
- <define name="GYRO_MAX_RATE" value="200."/>
- <define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
- <define name="ALT_ROLL__PGAIN" value="1.0"/>
- <define name="ROLL_RATE_PGAIN" value="1000.0"/>
- <define name="ROLL_RATE_IGAIN" value="0.0"/>
- <define name="ROLL_RATE_DGAIN" value="0.0"/>
- </section>
-
- <section name="FAILSAFE" prefix="FAILSAFE_">
- <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
- <define name="DEFAULT_THROTTLE" value="0." unit="%"/>
- <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
- <define name="DEFAULT_PITCH" value="0.15" unit="rad"/>
- <define name="HOME_RADIUS" value="100" unit="m"/>
-</section>
-
- <section name="DATALINK" prefix="DATALINK_">
- <define name="DEVICE_TYPE" value="AEROCOMM"/>
- <define name="DEVICE_ADDRESS" value="0x005067397193"/>
- </section>
-
- <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
-
-FLASH_MODE=IAP
-
-ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -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
-
-ap.srcs += commands.c
-
-ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
-ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
-
-ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
-
-#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0
-DDATALINK=XBEE -DUART0_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
-
-ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0
-DDATALINK=PPRZ -DUART0_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
-
-ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c
-
-ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4
-DUSE_ADC_5
-ap.srcs += $(SRC_ARCH)/adc_hw.c
-
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
-DGPS_CONFIGURE -DZ_CONTRAST_DEFAULT=1
-ap.CFLAGS += -DGPS_BAUD=38400
-
-ap.srcs += gps_ubx.c gps.c
-
-ap.CFLAGS += -DINFRARED
-ap.srcs += infrared.c estimator.c
-# -DALT_KALMAN
-
-ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c nav_survey_rectangle.c
-
-#ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH
-#ap.srcs += point.c cam.c
-
-ap.srcs += traffic_info.c nav_line.c
-
-# Video switch
-ap.CFLAGS += -DUSE_GPIO
-ap.srcs += $(SRC_ARCH)/gpio.c
-
-# Hardware In The Loop
-
-#ap.CFLAGS += -DHITL
-
-
-# Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP
-DLOITER_TRIM
-sim.srcs += bomb.c nav_survey_rectangle.c
-
-sim.srcs += traffic_info.c nav_line.c
-
-
- </makefile>
-</airframe>
Deleted: paparazzi3/trunk/conf/airframes/kalscott_easystar.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/kalscott_easystar.xml 2010-08-15
22:53:07 UTC (rev 5394)
+++ paparazzi3/trunk/conf/airframes/kalscott_easystar.xml 2010-08-15
22:53:14 UTC (rev 5395)
@@ -1,207 +0,0 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
-
-<!--
- Multiplex EasyStar, using rudder
- TWOG v1 board
- Tilted infrared sensor
- XBee 2.4GHz modem in transparent mode
--->
-
-<airframe name="EasyStar TWOG">
-<!-- commands section -->
- <servos>
- <servo name="THROTTLE" no="7" min="1120" neutral="1120" max="1920"/>
- <servo name="ELEVATOR" no="3" min="1100" neutral="1515" max="1900"/>
- <servo name="RUDDER" no="4" min="2050" neutral="1440" max="950"/>
- </servos>
-
- <commands>
- <axis name="THROTTLE" failsafe_value="0"/>
- <axis name="ROLL" failsafe_value="0"/>
- <axis name="PITCH" failsafe_value="0"/>
- </commands>
-
- <rc_commands>
- <set command="ROLL" value="@ROLL"/>
- <set command="PITCH" value="@PITCH"/>
@@ Diff output truncated at 153600 characters. @@
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