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[paparazzi-commits] [5473] laas aircrafts
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From: |
Gautier Hattenberger |
|
Subject: |
[paparazzi-commits] [5473] laas aircrafts |
|
Date: |
Thu, 19 Aug 2010 08:38:26 +0000 |
Revision: 5473
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5473
Author: gautier
Date: 2010-08-19 08:38:26 +0000 (Thu, 19 Aug 2010)
Log Message:
-----------
laas aircrafts
Added Paths:
-----------
paparazzi3/trunk/conf/airframes/LAAS/
paparazzi3/trunk/conf/airframes/LAAS/mmlaas_N1.xml
paparazzi3/trunk/conf/airframes/LAAS/mmlaas_N2.xml
paparazzi3/trunk/conf/airframes/LAAS/mmlaas_N3.xml
Removed Paths:
-------------
paparazzi3/trunk/conf/airframes/obsolete/mmlaas_N1.xml
paparazzi3/trunk/conf/airframes/obsolete/mmlaas_N2.xml
paparazzi3/trunk/conf/airframes/obsolete/mmlaas_N3.xml
Copied: paparazzi3/trunk/conf/airframes/LAAS/mmlaas_N1.xml (from rev 5364,
paparazzi3/trunk/conf/airframes/mmlaas_N1.xml)
===================================================================
--- paparazzi3/trunk/conf/airframes/LAAS/mmlaas_N1.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/LAAS/mmlaas_N1.xml 2010-08-19 08:38:26 UTC
(rev 5473)
@@ -0,0 +1,272 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<airframe name="MiniMag Laas N1 Tiny 0.99">
+
+ <modules>
+ <load name="formation_flight.xml"/>
+ <!--load name="potential.xml"/-->
+ </modules>
+
+<!-- commands section -->
+ <servos>
+ <servo name="THROTTLE" no="0" min="1200" neutral="1200" max="2000"/>
+<!-- Aileron gauche (blanc) oppose de l'aileron droit (jaune) -->
+<!-- max = valeur aileron vers le bas-->
+ <servo name="AILERON_LEFT" no="3" min="1900" neutral="1450" max="1100"/>
+ <servo name="AILERON_RIGHT" no="1" min="1900" neutral="1520" max="1100"/>
+ <servo name="RUDDER" no="4" min="1850" neutral="1500" max="1150"/>
+ <servo name="ELEVATOR" no="5" min="2000" neutral="1568" max="1150"/>
+
+ </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"/>
+ </commands>
+
+ <rc_commands>
+ <set command="THROTTLE" value="@THROTTLE"/>
+ <set command="ROLL" value="@ROLL"/>
+ <set command="PITCH" value="@PITCH"/>
+ <set command="YAW" value="@YAW"/>
+ </rc_commands>
+
+ <section name="MIXER">
+ <define name="AILERON_DIFF" value="0.66"/>
+ <define name="COMBI_SWITCH" value="1.0"/>
+ </section>
+
+ <command_laws>
+ <set servo="THROTTLE" value="@THROTTLE"/>
+ <set servo="ELEVATOR" value="@PITCH"/>
+ <set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
+
+ <let var="roll" value="@ROLL"/>
+ <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
+ <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
+ </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"/>
+ </section>
+
+ <section name="INFRARED" prefix="IR_">
+ <define name="ROLL_NEUTRAL_DEFAULT" value="-2.6" unit="deg"/>
+ <define name="PITCH_NEUTRAL_DEFAULT" value="8.6" unit="deg"/>
+
+ <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="1.5"/>
+
+ <define name="ADC_IR1_NEUTRAL" value="507"/>
+ <define name="ADC_IR2_NEUTRAL" value="509"/>
+ <define name="ADC_TOP_NEUTRAL" value="515"/>
+
+ <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."/>
+ </section>
+
+ <section name="BAT">
+ <define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ </section>
+
+ <section name="MISC">
+ <define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
+ <define name="MINIMUM_AIRSPEED" value="8." unit="m/s"/>
+ <define name="MAXIMUM_AIRSPEED" value="16." unit="m/s"/>
+ <define name="CARROT" value="3." 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\rATBD6\rATWR\r\""/> -->
+ <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
+<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
+ <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
+ <define name="TRIGGER_DELAY" value="1."/>
+ <define name="DEFAULT_CIRCLE_RADIUS" value="60."/>
+ </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="-0.15"/>
+ <!-- outer loop saturation -->
+ <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+ <!-- auto throttle inner loop -->
+ <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"/>
+ <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
+ <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.90"/>
+ <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
+ <define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/>
+ <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15"
unit="%/(m/s)"/>
+ <define name="AUTO_THROTTLE_PGAIN" value="-0.05"/>
+ <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="-0.065"/>
+ <define name="AUTO_PITCH_IGAIN" value="0.15"/>
+ <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."/>
+ <define name="ROLL_MAX_SETPOINT" value="0.6" 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="10000."/>
+ <define name="AILERON_OF_THROTTLE" value="0.0"/>
+ <define name="PITCH_PGAIN" value="-12000."/>
+ <define name="PITCH_DGAIN" value="1.5"/>
+ <define name="ELEVATOR_OF_ROLL" value="1250"/>
+
+ </section>
+
+ <section name="NAV">
+ <define name="NAV_PITCH" value="0."/>
+ <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+ <define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/>
+ <define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
+ </section>
+
+ <section name="FORMATION" prefix="FORM_">
+ <define name="CARROT" value="3." unit="s"/> <!-- carrot distance for
followers -->
+ <define name="POS_PGAIN" value="0.02"/> <!-- coef on position error -->
+ <define name="SPEED_PGAIN" value="0.4"/> <!-- coef on speed error -->
+ <define name="COURSE_PGAIN" value="0.8"/> <!-- coef on course error
(override course pgain for followers) -->
+ <define name="ALTITUDE_PGAIN" value="0.1"/> <!-- coef on altitude error -->
+ <define name="PROX" value="60." unit="m"/> <!-- proximity distance -->
+ <define name="MODE" value="0"/> <!-- mode 0 = global, 1 = local -->
+ </section>
+
+ <section name="TCAS" prefix="TCAS_">
+ <define name="TAU_TA" value="10." unit="s"/> <!-- traffic advisory -->
+ <define name="TAU_RA" value="6." unit="s"/> <!-- resolution advisory -->
+ <define name="ALIM" value="15." unit="m"/> <!-- altitude limitation -->
+ <define name="DT_MAX" value="2000" unit="ms"/> <!-- lost comm or timeout
-->
+ </section>
+
+ <section name="POTENTIAL">
+ <define name="FORCE_POS_GAIN" value="50"/>
+ <define name="FORCE_SPEED_GAIN" value="1"/>
+ <define name="FORCE_CLIMB_GAIN" value="8"/>
+ </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="0.8"/><!-- Gaz for Aggressive Climb
-->
+ <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
+ <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive
Decent -->
+ <define name="DESCENT_PITCH" value="-0.25"/><!-- 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="1" unit="s"/>
+ <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+ <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+ <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+ <define name="HOME_RADIUS" value="100" unit="m"/>
+</section>
+
+ <section name="DATALINK" prefix="DATALINK_">
+ <define name="DEVICE_TYPE" value="XBEE"/>
+ <define name="DEVICE_ADDRESS" value="...."/>
+ </section>
+
+ <section name="SIMU">
+ <define name="YAW_RESPONSE_FACTOR" value="1."/>
+ </section>
+
+ <makefile>
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+FLASH_MODE=IAP
+
+ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.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
+
+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_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
+
+ap.srcs += gps_ubx.c gps.c latlong.c
+
+ap.CFLAGS += -DINFRARED -DALT_KALMAN
+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 nav_survey_rectangle.c nav_line.c
+
+# Hack to use the same tuning file than slayer1
+#\xA0ap.CFLAGS += -DUSE_GPIO
+# ap.srcs += $(SRC_ARCH)/gpio.c
+
+# traffic
+ap.CFLAGS += -DTRAFFIC_INFO
+ap.srcs += traffic_info.c snav.c
+
+# external module
+ap.srcs += external.c
+
+# tcas
+ap.CFLAGS += -DTCAS
+ap.srcs += tcas.c
+
+# Harware In The Loop
+
+#ap.CFLAGS += -DHITL
+
+ap.CFLAGS += -DUSE_MODULES
+sim.CFLAGS += -DUSE_MODULES
+
+
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-DTRAFFIC_INFO -DTCAS
+sim.srcs += nav_survey_rectangle.c nav_line.c external.c traffic_info.c snav.c
tcas.c
+
+ </makefile>
+</airframe>
Copied: paparazzi3/trunk/conf/airframes/LAAS/mmlaas_N2.xml (from rev 5364,
paparazzi3/trunk/conf/airframes/mmlaas_N2.xml)
===================================================================
--- paparazzi3/trunk/conf/airframes/LAAS/mmlaas_N2.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/LAAS/mmlaas_N2.xml 2010-08-19 08:38:26 UTC
(rev 5473)
@@ -0,0 +1,272 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<airframe name="MiniMag Laas N2 Tiny 1.1">
+
+ <modules>
+ <load name="formation_flight.xml"/>
+ <!--load name="potential.xml"/-->
+ </modules>
+
+<!-- commands section -->
+ <servos>
+ <servo name="THROTTLE" no="0" min="1200" neutral="1200" max="2000"/>
+<!-- Aileron gauche (jaune) oppose de l'aileron droit (blanc) -->
+<!-- max = valeur aileron vers le bas-->
+<!-- !!! pb d'inversion des sorties, roll < 0 \xE0 droite -->
+ <servo name="AILERON_LEFT" no="1" min="1900" neutral="1500" max="1100"/>
+ <servo name="AILERON_RIGHT" no="3" min="1900" neutral="1500" max="1100"/>
+ <servo name="RUDDER" no="4" min="1850" neutral="1500" max="1150"/>
+ <servo name="ELEVATOR" no="5" min="1850" neutral="1350" max="900"/>
+
+ </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"/>
+ </commands>
+
+ <rc_commands>
+ <set command="THROTTLE" value="@THROTTLE"/>
+ <set command="ROLL" value="@ROLL"/>
+ <set command="PITCH" value="@PITCH"/>
+ <set command="YAW" value="@YAW"/>
+ </rc_commands>
+
+ <section name="MIXER">
+ <define name="AILERON_DIFF" value="0.66"/>
+ <define name="COMBI_SWITCH" value="1.0"/>
+ </section>
+
+ <command_laws>
+ <set servo="THROTTLE" value="@THROTTLE"/>
+ <set servo="ELEVATOR" value="@PITCH"/>
+ <set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
+
+ <let var="roll" value="@ROLL"/>
+ <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
+ <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
+ </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"/>
+ </section>
+
+ <section name="INFRARED" prefix="IR_">
+ <define name="ROLL_NEUTRAL_DEFAULT" value="-1.6" unit="deg"/>
+ <define name="PITCH_NEUTRAL_DEFAULT" value="8.5" unit="deg"/>
+
+ <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="ADC_IR1_NEUTRAL" value="515"/>
+ <define name="ADC_IR2_NEUTRAL" value="518"/>
+ <define name="ADC_TOP_NEUTRAL" value="513"/>
+
+ <define name="CORRECTION_UP" value="1."/>
+ <define name="CORRECTION_DOWN" value="1."/>
+ <define name="CORRECTION_LEFT" value="0.8"/>
+ <define name="CORRECTION_RIGHT" value="0.8"/>
+
+ <define name="LATERAL_CORRECTION" value="1."/>
+ <define name="LONGITUDINAL_CORRECTION" value="1."/>
+ <define name="VERTICAL_CORRECTION" value="1."/>
+ </section>
+
+ <section name="BAT">
+ <define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ </section>
+
+ <section name="MISC">
+ <define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
+ <define name="MINIMUM_AIRSPEED" value="8." unit="m/s"/>
+ <define name="MAXIMUM_AIRSPEED" value="16." unit="m/s"/>
+ <define name="CARROT" value="3." 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\rATBD6\rATWR\r\""/> -->
+ <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
+<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/>-->
+ <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
+ <define name="TRIGGER_DELAY" value="1."/>
+ <define name="DEFAULT_CIRCLE_RADIUS" value="60."/>
+ </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="-0.15"/>
+ <!-- outer loop saturation -->
+ <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+ <!-- auto throttle inner loop -->
+ <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"/>
+ <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
+ <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.90"/>
+ <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
+ <define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/>
+ <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15"
unit="%/(m/s)"/>
+ <define name="AUTO_THROTTLE_PGAIN" value="-0.05"/>
+ <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="-0.065"/>
+ <define name="AUTO_PITCH_IGAIN" value="0.15"/>
+ <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."/>
+ <define name="ROLL_MAX_SETPOINT" value="0.6" 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="10000."/>
+ <define name="AILERON_OF_THROTTLE" value="0.0"/>
+ <define name="PITCH_PGAIN" value="-12000."/>
+ <define name="PITCH_DGAIN" value="1.5"/>
+ <define name="ELEVATOR_OF_ROLL" value="1250"/>
+
+ </section>
+
+ <section name="NAV">
+ <define name="NAV_PITCH" value="0."/>
+ <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+ <define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/>
+ <define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
+ </section>
+
+ <section name="FORMATION" prefix="FORM_">
+ <define name="CARROT" value="3." unit="s"/> <!-- carrot distance for
followers -->
+ <define name="POS_PGAIN" value="0.02"/> <!-- coef on position error -->
+ <define name="SPEED_PGAIN" value="0.4"/> <!-- coef on speed error -->
+ <define name="COURSE_PGAIN" value="0.8"/> <!-- coef on course error
(override course pgain for followers) -->
+ <define name="ALTITUDE_PGAIN" value="0.1"/> <!-- coef on altitude error -->
+ <define name="PROX" value="60." unit="m"/> <!-- proximity distance -->
+ <define name="MODE" value="0"/> <!-- mode 0 = global, 1 = local -->
+ </section>
+
+ <section name="TCAS" prefix="TCAS_">
+ <define name="TAU_TA" value="10." unit="s"/> <!-- traffic advisory -->
+ <define name="TAU_RA" value="6." unit="s"/> <!-- resolution advisory -->
+ <define name="ALIM" value="15." unit="m"/> <!-- altitude limitation -->
+ <define name="DT_MAX" value="2000" unit="ms"/> <!-- lost comm or timeout
-->
+ </section>
+
+ <section name="POTENTIAL">
+ <define name="FORCE_POS_GAIN" value="50"/>
+ <define name="FORCE_SPEED_GAIN" value="1"/>
+ <define name="FORCE_CLIMB_GAIN" value="8"/>
+ </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="0.8"/><!-- Gaz for Aggressive Climb
-->
+ <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
+ <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive
Decent -->
+ <define name="DESCENT_PITCH" value="-0.25"/><!-- 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="1" unit="s"/>
+ <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+ <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+ <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+ <define name="HOME_RADIUS" value="100" unit="m"/>
+</section>
+
+ <section name="DATALINK" prefix="DATALINK_">
+ <define name="DEVICE_TYPE" value="XBEE"/>
+ <define name="DEVICE_ADDRESS" value="...."/>
+ </section>
+
+ <section name="SIMU">
+ <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
+ </section>
+
+ <makefile>
+
+CONFIG=\"tiny_1_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_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
+
+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_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
-DGPS_BAUD=38400
+
+ap.srcs += gps_ubx.c gps.c latlong.c
+
+ap.CFLAGS += -DINFRARED -DALT_KALMAN
+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 nav_survey_rectangle.c nav_line.c
+
+#traffic
+ap.CFLAGS += -DTRAFFIC_INFO
+ap.srcs += traffic_info.c snav.c
+
+# external module
+ap.srcs += external.c
+
+# tcas
+ap.CFLAGS += -DTCAS
+ap.srcs += tcas.c
+
+
+# Harware In The Loop
+
+#ap.CFLAGS += -DHITL
+
+ap.CFLAGS += -DUSE_MODULES
+sim.CFLAGS += -DUSE_MODULES
+
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-DTRAFFIC_INFO -DTCAS
+sim.srcs += nav_survey_rectangle.c nav_line.c external.c traffic_info.c snav.c
tcas.c
+
+ </makefile>
+</airframe>
Copied: paparazzi3/trunk/conf/airframes/LAAS/mmlaas_N3.xml (from rev 5364,
paparazzi3/trunk/conf/airframes/mmlaas_N3.xml)
===================================================================
--- paparazzi3/trunk/conf/airframes/LAAS/mmlaas_N3.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/LAAS/mmlaas_N3.xml 2010-08-19 08:38:26 UTC
(rev 5473)
@@ -0,0 +1,270 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<airframe name="MiniMag Laas N3 Tiny 1.1">
+
+ <modules>
+ <load name="formation_flight.xml"/>
+ <load name="potential.xml"/>
+ </modules>
+
+<!-- commands section -->
+ <servos>
+ <servo name="THROTTLE" no="0" min="1200" neutral="1200" max="2000"/>
+<!-- max = valeur aileron vers le bas-->
+<!-- Aileron gauche (jaune) oppose de l'aileron droit (blanc) -->
+<!-- !!! pb d'inversion des sorties, roll < 0 \xE0 droite -->
+ <servo name="AILERON_LEFT" no="1" min="1775" neutral="1525" max="1150"/>
+ <servo name="AILERON_RIGHT" no="3" min="1775" neutral="1520" max="1200"/>
+ <servo name="RUDDER" no="4" min="1850" neutral="1550" max="1150"/>
+ <servo name="ELEVATOR" no="5" min="2000" neutral="1580" max="1150"/>
+
+ </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"/>
+ </commands>
+
+ <rc_commands>
+ <set command="THROTTLE" value="@THROTTLE"/>
+ <set command="ROLL" value="@ROLL"/>
+ <set command="PITCH" value="@PITCH"/>
+ <set command="YAW" value="@YAW"/>
+ </rc_commands>
+
+ <section name="MIXER">
+ <define name="AILERON_DIFF" value="0.66"/>
+ <define name="COMBI_SWITCH" value="1.0"/>
+ </section>
+
+ <command_laws>
+ <set servo="THROTTLE" value="@THROTTLE"/>
+ <set servo="ELEVATOR" value="@PITCH"/>
+ <set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
+
+ <let var="roll" value="@ROLL"/>
+ <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
+ <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
+ </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"/>
+ </section>
+
+ <section name="INFRARED" prefix="IR_">
+ <define name="ROLL_NEUTRAL_DEFAULT" value="3" unit="deg"/>
+ <define name="PITCH_NEUTRAL_DEFAULT" value="9" unit="deg"/>
+
+ <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="ADC_IR1_NEUTRAL" value="519"/>
+ <define name="ADC_IR2_NEUTRAL" value="508"/>
+ <define name="ADC_TOP_NEUTRAL" value="516"/>
+
+ <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="1.4"/>
+ </section>
+
+ <section name="BAT">
+ <define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ </section>
+
+ <section name="MISC">
+ <define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
+ <define name="MINIMUM_AIRSPEED" value="8." unit="m/s"/>
+ <define name="MAXIMUM_AIRSPEED" value="16." unit="m/s"/>
+ <define name="CARROT" value="3." 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\rATBD6\rATWR\r\""/> -->
+ <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
+<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
+ <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
+ <define name="TRIGGER_DELAY" value="1."/>
+ <define name="DEFAULT_CIRCLE_RADIUS" value="40."/>
+ </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="-0.15"/>
+ <!-- outer loop saturation -->
+ <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+ <!-- auto throttle inner loop -->
+ <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"/>
+ <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
+ <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.90"/>
+ <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
+ <define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/>
+ <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15"
unit="%/(m/s)"/>
+ <define name="AUTO_THROTTLE_PGAIN" value="-0.05"/>
+ <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="-0.065"/>
+ <define name="AUTO_PITCH_IGAIN" value="0.15"/>
+ <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."/>
+ <define name="ROLL_MAX_SETPOINT" value="0.6" 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="10000."/>
+ <define name="AILERON_OF_THROTTLE" value="0.0"/>
+ <define name="PITCH_PGAIN" value="-12000."/>
+ <define name="PITCH_DGAIN" value="1.5"/>
+ <define name="ELEVATOR_OF_ROLL" value="1250"/>
+
+ </section>
+
+ <section name="NAV">
+ <define name="NAV_PITCH" value="0."/>
+ <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+ <define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/>
+ <define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
+ </section>
+
+ <section name="FORMATION" prefix="FORM_">
+ <define name="CARROT" value="3." unit="s"/> <!-- carrot distance for
followers -->
+ <define name="POS_PGAIN" value="0.02"/> <!-- coef on position error -->
+ <define name="SPEED_PGAIN" value="0.4"/> <!-- coef on speed error -->
+ <define name="COURSE_PGAIN" value="0.8"/> <!-- coef on course error
(override course pgain for followers) -->
+ <define name="ALTITUDE_PGAIN" value="0.1"/> <!-- coef on altitude error -->
+ <define name="PROX" value="60." unit="m"/> <!-- proximity distance -->
+ <define name="MODE" value="0"/> <!-- mode 0 = global, 1 = local -->
+ </section>
+
+ <section name="TCAS" prefix="TCAS_">
+ <define name="TAU_TA" value="10." unit="s"/> <!-- traffic advisory -->
+ <define name="TAU_RA" value="6." unit="s"/> <!-- resolution advisory -->
+ <define name="ALIM" value="15." unit="m"/> <!-- altitude limitation -->
+ <define name="DT_MAX" value="2000" unit="ms"/> <!-- lost comm or timeout
-->
+ </section>
+
+ <section name="POTENTIAL">
+ <define name="FORCE_POS_GAIN" value="50"/>
+ <define name="FORCE_SPEED_GAIN" value="1"/>
+ <define name="FORCE_CLIMB_GAIN" value="8"/>
+ </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="0.8"/><!-- Gaz for Aggressive Climb
-->
+ <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
+ <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive
Decent -->
+ <define name="DESCENT_PITCH" value="-0.25"/><!-- 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="1" unit="s"/>
+ <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+ <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+ <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+ <define name="HOME_RADIUS" value="100" unit="m"/>
+</section>
+
+ <section name="DATALINK" prefix="DATALINK_">
+ <define name="DEVICE_TYPE" value="XBEE"/>
+ <define name="DEVICE_ADDRESS" value="...."/>
+ </section>
+
+ <section name="SIMU">
+ <define name="YAW_RESPONSE_FACTOR" value="1."/>
+ </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
+
+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_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
-DGPS_BAUD=38400
+
+ap.srcs += gps_ubx.c gps.c latlong.c
+
+ap.CFLAGS += -DINFRARED -DALT_KALMAN
+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 nav_survey_rectangle.c nav_line.c
+
+# traffic
+ap.CFLAGS += -DTRAFFIC_INFO
+ap.srcs += traffic_info.c snav.c
+
+# external module
+ap.srcs += external.c
+
+# tcas
+ap.CFLAGS += -DTCAS
+ap.srcs += tcas.c
+
+
+# Harware In The Loop
+
+#ap.CFLAGS += -DHITL
+
+ap.CFLAGS += -DUSE_MODULES
+sim.CFLAGS += -DUSE_MODULES
+
+
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-DTRAFFIC_INFO -DTCAS
+sim.srcs += nav_survey_rectangle.c nav_line.c external.c traffic_info.c snav.c
tcas.c
+
+ </makefile>
+</airframe>
Deleted: paparazzi3/trunk/conf/airframes/obsolete/mmlaas_N1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/obsolete/mmlaas_N1.xml 2010-08-19
08:33:22 UTC (rev 5472)
+++ paparazzi3/trunk/conf/airframes/obsolete/mmlaas_N1.xml 2010-08-19
08:38:26 UTC (rev 5473)
@@ -1,269 +0,0 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
-
-<airframe name="MiniMag Laas N1 Tiny 0.99">
-
- <modules>
- <load name="formation_flight.xml"/>
- </modules>
-
-<!-- commands section -->
- <servos>
- <servo name="THROTTLE" no="0" min="1200" neutral="1200" max="2000"/>
-<!-- Aileron gauche (blanc) oppose de l'aileron droit (jaune) -->
-<!-- max = valeur aileron vers le bas-->
- <servo name="AILERON_LEFT" no="3" min="1900" neutral="1450" max="1100"/>
- <servo name="AILERON_RIGHT" no="1" min="1900" neutral="1520" max="1100"/>
- <servo name="RUDDER" no="4" min="1850" neutral="1500" max="1150"/>
- <servo name="ELEVATOR" no="5" min="2000" neutral="1568" max="1150"/>
-
- </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"/>
- </commands>
-
- <rc_commands>
- <set command="THROTTLE" value="@THROTTLE"/>
- <set command="ROLL" value="@ROLL"/>
- <set command="PITCH" value="@PITCH"/>
- <set command="YAW" value="@YAW"/>
- </rc_commands>
-
- <section name="MIXER">
- <define name="AILERON_DIFF" value="0.66"/>
- <define name="COMBI_SWITCH" value="1.0"/>
- </section>
-
- <command_laws>
- <set servo="THROTTLE" value="@THROTTLE"/>
- <set servo="ELEVATOR" value="@PITCH"/>
- <set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
-
- <let var="roll" value="@ROLL"/>
- <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
- <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
- </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"/>
- </section>
-
- <section name="INFRARED" prefix="IR_">
- <define name="ROLL_NEUTRAL_DEFAULT" value="-2.6" unit="deg"/>
- <define name="PITCH_NEUTRAL_DEFAULT" value="8.6" unit="deg"/>
-
- <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="1.5"/>
-
- <define name="ADC_IR1_NEUTRAL" value="507"/>
- <define name="ADC_IR2_NEUTRAL" value="509"/>
- <define name="ADC_TOP_NEUTRAL" value="515"/>
-
- <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."/>
- </section>
-
- <section name="BAT">
- <define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
- <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- </section>
-
- <section name="MISC">
- <define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
- <define name="CARROT" value="3." 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\rATBD6\rATWR\r\""/> -->
- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
-<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
- <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
- <define name="TRIGGER_DELAY" value="1."/>
- <define name="DEFAULT_CIRCLE_RADIUS" value="60."/>
- </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="-0.15"/>
- <!-- outer loop saturation -->
- <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
- <!-- auto throttle inner loop -->
- <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"/>
- <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
- <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.90"/>
- <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
- <define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/>
- <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15"
unit="%/(m/s)"/>
- <define name="AUTO_THROTTLE_PGAIN" value="-0.05"/>
- <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="-0.065"/>
- <define name="AUTO_PITCH_IGAIN" value="0.15"/>
- <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."/>
- <define name="ROLL_MAX_SETPOINT" value="0.6" 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="10000."/>
- <define name="AILERON_OF_THROTTLE" value="0.0"/>
- <define name="PITCH_PGAIN" value="-12000."/>
- <define name="PITCH_DGAIN" value="1.5"/>
- <define name="ELEVATOR_OF_ROLL" value="1250"/>
-
- </section>
-
- <section name="NAV">
- <define name="NAV_PITCH" value="0."/>
- <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
- <define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/>
- <define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
- </section>
-
- <section name="FORMATION" prefix="FORM_">
- <define name="CARROT" value="3." unit="s"/> <!-- carrot distance for
followers -->
- <define name="POS_PGAIN" value="0.02"/> <!-- coef on position error -->
- <define name="SPEED_PGAIN" value="0.4"/> <!-- coef on speed error -->
- <define name="COURSE_PGAIN" value="0.8"/> <!-- coef on course error
(override course pgain for followers) -->
- <define name="ALTITUDE_PGAIN" value="0.1"/> <!-- coef on altitude error -->
- <define name="PROX" value="60." unit="m"/> <!-- proximity distance -->
- <define name="MODE" value="0"/> <!-- mode 0 = global, 1 = local -->
- </section>
-
- <section name="TCAS" prefix="TCAS_">
- <define name="TAU_TA" value="10." unit="s"/> <!-- traffic advisory -->
- <define name="TAU_RA" value="6." unit="s"/> <!-- resolution advisory -->
- <define name="ALIM" value="15." unit="m"/> <!-- altitude limitation -->
- <define name="DT_MAX" value="2000" unit="ms"/> <!-- lost comm or timeout
-->
- </section>
-
- <section name="POTENTIAL">
- <define name="FORCE_POS_GAIN" value="50"/>
- <define name="FORCE_SPEED_GAIN" value="1"/>
- <define name="FORCE_CLIMB_GAIN" value="8"/>
- </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="0.8"/><!-- Gaz for Aggressive Climb
-->
- <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
- <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive
Decent -->
- <define name="DESCENT_PITCH" value="-0.25"/><!-- 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="1" unit="s"/>
- <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
- <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
- <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
- <define name="HOME_RADIUS" value="100" unit="m"/>
-</section>
-
- <section name="DATALINK" prefix="DATALINK_">
- <define name="DEVICE_TYPE" value="XBEE"/>
- <define name="DEVICE_ADDRESS" value="...."/>
- </section>
-
- <section name="SIMU">
- <define name="YAW_RESPONSE_FACTOR" value="1."/>
- </section>
-
- <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
-
-FLASH_MODE=IAP
-
-ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.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
-
-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_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
-
-ap.srcs += gps_ubx.c gps.c latlong.c
-
-ap.CFLAGS += -DINFRARED -DALT_KALMAN
-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 nav_survey_rectangle.c nav_line.c
-
-# Hack to use the same tuning file than slayer1
-#\xA0ap.CFLAGS += -DUSE_GPIO
-# ap.srcs += $(SRC_ARCH)/gpio.c
-
-# traffic
-ap.CFLAGS += -DTRAFFIC_INFO
-ap.srcs += traffic_info.c snav.c
-
-# external module
-ap.srcs += external.c
-
-# tcas
-ap.CFLAGS += -DTCAS
-ap.srcs += tcas.c
-
-# Harware In The Loop
-
-#ap.CFLAGS += -DHITL
-
-ap.CFLAGS += -DUSE_MODULES
-sim.CFLAGS += -DUSE_MODULES
-
-
-# Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-DTRAFFIC_INFO -DTCAS
-sim.srcs += nav_survey_rectangle.c nav_line.c external.c traffic_info.c snav.c
tcas.c
-
- </makefile>
-</airframe>
Deleted: paparazzi3/trunk/conf/airframes/obsolete/mmlaas_N2.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/obsolete/mmlaas_N2.xml 2010-08-19
08:33:22 UTC (rev 5472)
+++ paparazzi3/trunk/conf/airframes/obsolete/mmlaas_N2.xml 2010-08-19
08:38:26 UTC (rev 5473)
@@ -1,269 +0,0 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
-
-<airframe name="MiniMag Laas N2 Tiny 1.1">
-
- <modules>
- <load name="formation_flight.xml"/>
- </modules>
-
-<!-- commands section -->
- <servos>
- <servo name="THROTTLE" no="0" min="1200" neutral="1200" max="2000"/>
-<!-- Aileron gauche (jaune) oppose de l'aileron droit (blanc) -->
-<!-- max = valeur aileron vers le bas-->
-<!-- !!! pb d'inversion des sorties, roll < 0 \xE0 droite -->
- <servo name="AILERON_LEFT" no="1" min="1900" neutral="1500" max="1100"/>
- <servo name="AILERON_RIGHT" no="3" min="1900" neutral="1500" max="1100"/>
- <servo name="RUDDER" no="4" min="1850" neutral="1500" max="1150"/>
- <servo name="ELEVATOR" no="5" min="1850" neutral="1350" max="900"/>
-
- </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"/>
- </commands>
-
- <rc_commands>
- <set command="THROTTLE" value="@THROTTLE"/>
- <set command="ROLL" value="@ROLL"/>
- <set command="PITCH" value="@PITCH"/>
- <set command="YAW" value="@YAW"/>
- </rc_commands>
-
- <section name="MIXER">
- <define name="AILERON_DIFF" value="0.66"/>
- <define name="COMBI_SWITCH" value="1.0"/>
- </section>
-
- <command_laws>
- <set servo="THROTTLE" value="@THROTTLE"/>
- <set servo="ELEVATOR" value="@PITCH"/>
- <set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
-
- <let var="roll" value="@ROLL"/>
- <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
- <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
- </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"/>
- </section>
-
- <section name="INFRARED" prefix="IR_">
- <define name="ROLL_NEUTRAL_DEFAULT" value="-1.6" unit="deg"/>
- <define name="PITCH_NEUTRAL_DEFAULT" value="8.5" unit="deg"/>
-
- <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="ADC_IR1_NEUTRAL" value="515"/>
- <define name="ADC_IR2_NEUTRAL" value="518"/>
- <define name="ADC_TOP_NEUTRAL" value="513"/>
-
- <define name="CORRECTION_UP" value="1."/>
- <define name="CORRECTION_DOWN" value="1."/>
- <define name="CORRECTION_LEFT" value="0.8"/>
- <define name="CORRECTION_RIGHT" value="0.8"/>
-
- <define name="LATERAL_CORRECTION" value="1."/>
- <define name="LONGITUDINAL_CORRECTION" value="1."/>
- <define name="VERTICAL_CORRECTION" value="1."/>
- </section>
-
- <section name="BAT">
- <define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
- <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- </section>
-
- <section name="MISC">
- <define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
- <define name="CARROT" value="3." 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\rATBD6\rATWR\r\""/> -->
- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
-<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/>-->
- <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
- <define name="TRIGGER_DELAY" value="1."/>
- <define name="DEFAULT_CIRCLE_RADIUS" value="60."/>
- </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="-0.15"/>
- <!-- outer loop saturation -->
- <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
- <!-- auto throttle inner loop -->
- <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"/>
- <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
- <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.90"/>
- <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
- <define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/>
- <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15"
unit="%/(m/s)"/>
- <define name="AUTO_THROTTLE_PGAIN" value="-0.05"/>
- <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="-0.065"/>
- <define name="AUTO_PITCH_IGAIN" value="0.15"/>
- <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."/>
- <define name="ROLL_MAX_SETPOINT" value="0.6" 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="10000."/>
- <define name="AILERON_OF_THROTTLE" value="0.0"/>
- <define name="PITCH_PGAIN" value="-12000."/>
- <define name="PITCH_DGAIN" value="1.5"/>
- <define name="ELEVATOR_OF_ROLL" value="1250"/>
-
- </section>
-
- <section name="NAV">
- <define name="NAV_PITCH" value="0."/>
- <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
- <define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/>
- <define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
- </section>
-
- <section name="FORMATION" prefix="FORM_">
- <define name="CARROT" value="3." unit="s"/> <!-- carrot distance for
followers -->
- <define name="POS_PGAIN" value="0.02"/> <!-- coef on position error -->
- <define name="SPEED_PGAIN" value="0.4"/> <!-- coef on speed error -->
- <define name="COURSE_PGAIN" value="0.8"/> <!-- coef on course error
(override course pgain for followers) -->
- <define name="ALTITUDE_PGAIN" value="0.1"/> <!-- coef on altitude error -->
- <define name="PROX" value="60." unit="m"/> <!-- proximity distance -->
- <define name="MODE" value="0"/> <!-- mode 0 = global, 1 = local -->
- </section>
-
- <section name="TCAS" prefix="TCAS_">
- <define name="TAU_TA" value="10." unit="s"/> <!-- traffic advisory -->
- <define name="TAU_RA" value="6." unit="s"/> <!-- resolution advisory -->
- <define name="ALIM" value="15." unit="m"/> <!-- altitude limitation -->
- <define name="DT_MAX" value="2000" unit="ms"/> <!-- lost comm or timeout
-->
- </section>
-
- <section name="POTENTIAL">
- <define name="FORCE_POS_GAIN" value="50"/>
- <define name="FORCE_SPEED_GAIN" value="1"/>
- <define name="FORCE_CLIMB_GAIN" value="8"/>
- </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="0.8"/><!-- Gaz for Aggressive Climb
-->
- <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
- <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive
Decent -->
- <define name="DESCENT_PITCH" value="-0.25"/><!-- 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="1" unit="s"/>
- <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
- <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
- <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
- <define name="HOME_RADIUS" value="100" unit="m"/>
-</section>
-
- <section name="DATALINK" prefix="DATALINK_">
- <define name="DEVICE_TYPE" value="XBEE"/>
- <define name="DEVICE_ADDRESS" value="...."/>
- </section>
-
- <section name="SIMU">
- <define name="YAW_RESPONSE_FACTOR" value="1."/>
- </section>
-
- <makefile>
-
-CONFIG=\"tiny_1_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_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
-
-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_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
-DGPS_BAUD=38400
-
-ap.srcs += gps_ubx.c gps.c latlong.c
-
-ap.CFLAGS += -DINFRARED -DALT_KALMAN
-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 nav_survey_rectangle.c nav_line.c
-
-#traffic
-ap.CFLAGS += -DTRAFFIC_INFO
-ap.srcs += traffic_info.c snav.c
-
-# external module
-ap.srcs += external.c
-
-# tcas
-ap.CFLAGS += -DTCAS
-ap.srcs += tcas.c
-
-
-# Harware In The Loop
-
-#ap.CFLAGS += -DHITL
-
-ap.CFLAGS += -DUSE_MODULES
-sim.CFLAGS += -DUSE_MODULES
-
-# Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-DTRAFFIC_INFO -DTCAS
-sim.srcs += nav_survey_rectangle.c nav_line.c external.c traffic_info.c snav.c
tcas.c
-
- </makefile>
-</airframe>
Deleted: paparazzi3/trunk/conf/airframes/obsolete/mmlaas_N3.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/obsolete/mmlaas_N3.xml 2010-08-19
08:33:22 UTC (rev 5472)
+++ paparazzi3/trunk/conf/airframes/obsolete/mmlaas_N3.xml 2010-08-19
08:38:26 UTC (rev 5473)
@@ -1,267 +0,0 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
-
-<airframe name="MiniMag Laas N3 Tiny 1.1">
-
- <modules>
- <load name="formation_flight.xml"/>
- </modules>
-
-<!-- commands section -->
- <servos>
- <servo name="THROTTLE" no="0" min="1200" neutral="1200" max="2000"/>
-<!-- max = valeur aileron vers le bas-->
-<!-- Aileron gauche (jaune) oppose de l'aileron droit (blanc) -->
-<!-- !!! pb d'inversion des sorties, roll < 0 \xE0 droite -->
- <servo name="AILERON_LEFT" no="1" min="1775" neutral="1525" max="1150"/>
- <servo name="AILERON_RIGHT" no="3" min="1775" neutral="1520" max="1200"/>
- <servo name="RUDDER" no="4" min="1850" neutral="1550" max="1150"/>
- <servo name="ELEVATOR" no="5" min="2000" neutral="1580" max="1150"/>
-
- </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"/>
- </commands>
-
- <rc_commands>
- <set command="THROTTLE" value="@THROTTLE"/>
- <set command="ROLL" value="@ROLL"/>
- <set command="PITCH" value="@PITCH"/>
- <set command="YAW" value="@YAW"/>
- </rc_commands>
-
- <section name="MIXER">
- <define name="AILERON_DIFF" value="0.66"/>
- <define name="COMBI_SWITCH" value="1.0"/>
- </section>
-
- <command_laws>
- <set servo="THROTTLE" value="@THROTTLE"/>
- <set servo="ELEVATOR" value="@PITCH"/>
- <set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
-
- <let var="roll" value="@ROLL"/>
- <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
- <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
- </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"/>
- </section>
-
- <section name="INFRARED" prefix="IR_">
- <define name="ROLL_NEUTRAL_DEFAULT" value="3" unit="deg"/>
- <define name="PITCH_NEUTRAL_DEFAULT" value="9" unit="deg"/>
-
- <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="ADC_IR1_NEUTRAL" value="519"/>
- <define name="ADC_IR2_NEUTRAL" value="508"/>
- <define name="ADC_TOP_NEUTRAL" value="516"/>
-
- <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="1.4"/>
- </section>
-
- <section name="BAT">
- <define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
- <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- </section>
-
- <section name="MISC">
- <define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
- <define name="CARROT" value="3." 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\rATBD6\rATWR\r\""/> -->
- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
-<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
- <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
- <define name="TRIGGER_DELAY" value="1."/>
- <define name="DEFAULT_CIRCLE_RADIUS" value="40."/>
- </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="-0.15"/>
- <!-- outer loop saturation -->
- <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
- <!-- auto throttle inner loop -->
- <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"/>
- <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
- <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.90"/>
- <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
- <define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/>
- <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15"
unit="%/(m/s)"/>
- <define name="AUTO_THROTTLE_PGAIN" value="-0.05"/>
- <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="-0.065"/>
- <define name="AUTO_PITCH_IGAIN" value="0.15"/>
- <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."/>
- <define name="ROLL_MAX_SETPOINT" value="0.6" 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="10000."/>
- <define name="AILERON_OF_THROTTLE" value="0.0"/>
- <define name="PITCH_PGAIN" value="-12000."/>
- <define name="PITCH_DGAIN" value="1.5"/>
- <define name="ELEVATOR_OF_ROLL" value="1250"/>
-
- </section>
-
- <section name="NAV">
- <define name="NAV_PITCH" value="0."/>
- <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
- <define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/>
- <define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
- </section>
-
- <section name="FORMATION" prefix="FORM_">
- <define name="CARROT" value="3." unit="s"/> <!-- carrot distance for
followers -->
- <define name="POS_PGAIN" value="0.02"/> <!-- coef on position error -->
- <define name="SPEED_PGAIN" value="0.4"/> <!-- coef on speed error -->
- <define name="COURSE_PGAIN" value="0.8"/> <!-- coef on course error
(override course pgain for followers) -->
- <define name="ALTITUDE_PGAIN" value="0.1"/> <!-- coef on altitude error -->
- <define name="PROX" value="60." unit="m"/> <!-- proximity distance -->
- <define name="MODE" value="0"/> <!-- mode 0 = global, 1 = local -->
- </section>
-
- <section name="TCAS" prefix="TCAS_">
- <define name="TAU_TA" value="10." unit="s"/> <!-- traffic advisory -->
- <define name="TAU_RA" value="6." unit="s"/> <!-- resolution advisory -->
- <define name="ALIM" value="15." unit="m"/> <!-- altitude limitation -->
- <define name="DT_MAX" value="2000" unit="ms"/> <!-- lost comm or timeout
-->
- </section>
-
- <section name="POTENTIAL">
- <define name="FORCE_POS_GAIN" value="50"/>
- <define name="FORCE_SPEED_GAIN" value="1"/>
- <define name="FORCE_CLIMB_GAIN" value="8"/>
- </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="0.8"/><!-- Gaz for Aggressive Climb
-->
- <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
- <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive
Decent -->
- <define name="DESCENT_PITCH" value="-0.25"/><!-- 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="1" unit="s"/>
- <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
- <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
- <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
- <define name="HOME_RADIUS" value="100" unit="m"/>
-</section>
-
- <section name="DATALINK" prefix="DATALINK_">
- <define name="DEVICE_TYPE" value="XBEE"/>
- <define name="DEVICE_ADDRESS" value="...."/>
- </section>
-
- <section name="SIMU">
- <define name="YAW_RESPONSE_FACTOR" value="1."/>
- </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
-
-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_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
-DGPS_BAUD=38400
-
-ap.srcs += gps_ubx.c gps.c latlong.c
-
-ap.CFLAGS += -DINFRARED -DALT_KALMAN
-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 nav_survey_rectangle.c nav_line.c
-
-# traffic
-ap.CFLAGS += -DTRAFFIC_INFO
-ap.srcs += traffic_info.c snav.c
-
-# external module
-ap.srcs += external.c
-
-# tcas
-ap.CFLAGS += -DTCAS
-ap.srcs += tcas.c
-
-
-# Harware In The Loop
-
-#ap.CFLAGS += -DHITL
-
-ap.CFLAGS += -DUSE_MODULES
-sim.CFLAGS += -DUSE_MODULES
-
-
-# Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-DTRAFFIC_INFO -DTCAS
-sim.srcs += nav_survey_rectangle.c nav_line.c external.c traffic_info.c snav.c
tcas.c
-
- </makefile>
-</airframe>
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