[paparazzi-commits] [5510] airframe updates...

[Felix Ruess]

Revision: 5510
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5510
Author:   flixr
Date:     2010-08-20 14:26:15 +0000 (Fri, 20 Aug 2010)
Log Message:
-----------
airframe updates...

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml

Removed Paths:
-------------
    paparazzi3/trunk/conf/airframes/microjet_xml_only.xml

Modified: paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml        
2010-08-20 13:50:09 UTC (rev 5509)
+++ paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml        
2010-08-20 14:26:15 UTC (rev 5510)
@@ -183,8 +183,8 @@
     <subsystem name="actuators"        type="4017"/>
 
     <!-- Sensors -->
-    <subsystem name="gyro"/>
-    <subsystem name="attitude"                 type="infrared"/>
+    <subsystem name="gyro"      type="roll"/>
+    <subsystem name="attitude"  type="infrared"/>
     <subsystem name="gps"              type="ublox_lea4p"/>
     <subsystem name="navigation"/>
 

Deleted: paparazzi3/trunk/conf/airframes/microjet_xml_only.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/microjet_xml_only.xml       2010-08-20 
13:50:09 UTC (rev 5509)
+++ paparazzi3/trunk/conf/airframes/microjet_xml_only.xml       2010-08-20 
14:26:15 UTC (rev 5510)
@@ -1,195 +0,0 @@
-<!DOCTYPE airframe SYSTEM "./airframe.dtd">
-
-<!--
-     Microjet Multiplex (http://www.multiplex-rc.de/)
-     Tiny 2.11 board (http://paparazzi.enac.fr/wiki/Tiny_v2)
-     Tilted infrared sensor
-     Transparent modem
-
-     This airframe demonstrate the new xml-only syntax
-     Look at conf/airframes/microjet_raw_makefile.xml for equivalent old syntax
--->
-
-<airframe name="microjet xml only">
-
-  <servos>
-    <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILEVON_LEFT"  no="2" min="1130" neutral="1575" max="1880"/>
-    <servo name="AILEVON_RIGHT" no="6" min="1980" neutral="1465" max="1170"/>
-  </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"/>
-  </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="0.75"/>
-    <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
-  </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="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="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="IR2_SIGN" value="-1"/>
-    <define name="TOP_SIGN" value="-1"/>
-
-    <define name="ROLL_NEUTRAL_DEFAULT" value="-3.6" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="5" 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="GYRO" prefix="GYRO_">
-    <define name="ADC_ROLL_NEUTRAL" value="520"/>
-    <define name="ADC_TEMP_NEUTRAL" value="476"/>
-    <define name="ADC_TEMP_SLOPE" value="0"/>
-    <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="4000"/>
-
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-  </section>
-
-  <section name="MISC">
-    <define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
-    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
-    <define name="MAXIMUM_AIRSPEED" value="25." unit="m/s"/>
-    <define name="CARROT" value="5." unit="s"/>
-    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
-    <define name="CONTROL_RATE" value="60" unit="Hz"/>
-    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
-
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-    <define name="MIN_CIRCLE_RADIUS" value="50."/>
-  </section>
-
-  <section name="VERTICAL CONTROL" prefix="V_CTL_">
-
-    <!-- outer loop proportional gain -->
-    <define name="ALTITUDE_PGAIN" value="-0.04"/>
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.35"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
-    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" 
unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
-
-    <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
-    <define name="AUTO_PITCH_IGAIN" value="0.075"/>
-    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
-    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
-
-   <define name="THROTTLE_SLEW" value="0.5"/>
-
-  </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="PITCH_PGAIN" value="-10000."/>
-    <define name="PITCH_DGAIN" value="1.5"/>
-
-    <define name="ELEVATOR_OF_ROLL" value="2500"/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
-    <define name="ROLL_RATE_GAIN" value="-1500"/>
-  </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="0.6"/><!-- Gaz for Aggressive Climb 
-->
-    <define name="CLIMB_PITCH" value="0.20"/><!-- Pitch for Aggressive Climb 
-->
-    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive 
Decent -->
-    <define name="DESCENT_PITCH" value="-0.15"/><!-- Pitch for Aggressive 
Decent -->
-    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for 
Altitude Error Equal to Start Altitude -->
-    <define name="DESCENT_NAV_RATIO" value="1.0"/>
-    </section>
-
-  <section name="FAILSAFE" prefix="FAILSAFE_">
-    <define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
-        <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
-        <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-        <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
-    <define name="HOME_RADIUS" value="100" unit="m"/>
-  </section>
-
-  <target name="fixedwing" board="tiny_2.11">
-    <param name="FLASH_MODE" value="IAP"/>
-    <subsystem name="autopilot"/>
-    <subsystem name="radio_control" type="ppm"/>
-    <subsystem name="telemetry" type="transparent">  <!-- Communication -->
-      <param name="MODEM_BAUD" value="9600"/>
-    </subsystem>
-    <subsystem name="actuators" type="4017"/>        <!-- Actuators -->
-    <subsystem name="gyro"/>                         <!-- Sensors -->
-    <subsystem name="attitude" type="infrared"/>
-    <subsystem name="gps" type="ublox_lea4p"/>
-    <subsystem name="navigation">
-      <define name="AGR_CLIMB" value="1" />
-      <define name="LOITER_TRIM" value="1" />
-      <define name="WIND_INFO" value="1" />
-    </subsystem>
-    <subsystem name="testing"/>
-  </target>
-
- <makefile location="after">
-
-ap.CFLAGS += -DTRAFFIC_INFO -DALT_KALMAN
-
-sim.CFLAGS += -DTRAFFIC_INFO
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\"
-
-  </makefile>
-</airframe>