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[paparazzi-commits] [5714] added razor_imu, hmc5843, baro_mp3h6115, baro
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From: |
Oliver Riesener |
|
Subject: |
[paparazzi-commits] [5714] added razor_imu, hmc5843, baro_mp3h6115, baro_scp code |
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Date: |
Thu, 26 Aug 2010 16:04:52 +0000 |
Revision: 5714
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5714
Author: olri
Date: 2010-08-26 16:04:52 +0000 (Thu, 26 Aug 2010)
Log Message:
-----------
added razor_imu, hmc5843, baro_mp3h6115, baro_scp code
Modified Paths:
--------------
paparazzi3/branches/HB/trunk/AUTHORS
paparazzi3/branches/HB/trunk/conf/messages.xml
paparazzi3/branches/HB/trunk/sw/airborne/datalink.c
paparazzi3/branches/HB/trunk/sw/airborne/estimator.c
paparazzi3/branches/HB/trunk/sw/airborne/estimator.h
paparazzi3/branches/HB/trunk/sw/airborne/infrared.c
paparazzi3/branches/HB/trunk/sw/airborne/main_ap.c
paparazzi3/branches/HB/trunk/sw/airborne/rc_settings.h
paparazzi3/branches/HB/trunk/sw/airborne/test_adcs.c
Added Paths:
-----------
paparazzi3/branches/HB/trunk/ENV
paparazzi3/branches/HB/trunk/bin/
paparazzi3/branches/HB/trunk/bin/bootloader.sh
paparazzi3/branches/HB/trunk/bin/clean.sh
paparazzi3/branches/HB/trunk/bin/clean_ac.sh
paparazzi3/branches/HB/trunk/bin/compile.sh
paparazzi3/branches/HB/trunk/bin/find.sh
paparazzi3/branches/HB/trunk/bin/ground.sh
paparazzi3/branches/HB/trunk/bin/progublox.sh
paparazzi3/branches/HB/trunk/bin/splitlogs.sh
paparazzi3/branches/HB/trunk/bin/tunnel.sh
paparazzi3/branches/HB/trunk/bin/upload.sh
paparazzi3/branches/HB/trunk/conf/airframes/HB/
paparazzi3/branches/HB/trunk/conf/airframes/HB/extra/
paparazzi3/branches/HB/trunk/conf/airframes/HB/extra/SAS.xml
paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/
paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/CHNI_Twog.xml
paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca1.xml
paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca1Razor.xml
paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca1Razor_klein.xml
paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca2.xml
paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca3.xml
paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Lerche.xml
paparazzi3/branches/HB/trunk/conf/airframes/HB/quadrotor/
paparazzi3/branches/HB/trunk/conf/conf.xml.HB
paparazzi3/branches/HB/trunk/conf/control_panel.xml.HB
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/gifhorn.xml
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/gifhorn_gates.xml
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/gifhorn_gates_busca.xml
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/gifhorn_lerche_go.xml
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/gifhorn_target_busca.xml
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/hochschule.xml
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/seedorf.xml
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz.xml
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_bomb_lerche.xml
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_chni.xml
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_gates.xml
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_ident_busca.xml
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_ident_lerche.xml
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_test.xml
paparazzi3/branches/HB/trunk/conf/radios/HB/
paparazzi3/branches/HB/trunk/conf/radios/HB/cockpitCHNI.xml
paparazzi3/branches/HB/trunk/conf/radios/HB/fm314.xml
paparazzi3/branches/HB/trunk/conf/radios/HB/mc16-20-HB-D1.xml
paparazzi3/branches/HB/trunk/conf/radios/HB/mc22-HB-D1.xml
paparazzi3/branches/HB/trunk/conf/radios/HB/mc22.xml
paparazzi3/branches/HB/trunk/conf/radios/HB/mx12-HB-D1.xml
paparazzi3/branches/HB/trunk/conf/settings/HB/
paparazzi3/branches/HB/trunk/conf/settings/HB/tuning_hsb.xml
paparazzi3/branches/HB/trunk/hw/sensors/razor_imu.pdf
paparazzi3/branches/HB/trunk/sw/airborne/arm7/baro_scp_hw.c
paparazzi3/branches/HB/trunk/sw/airborne/arm7/baro_scp_hw.h
paparazzi3/branches/HB/trunk/sw/airborne/arm7/dac_hw.h
paparazzi3/branches/HB/trunk/sw/airborne/baro_MP3H6115.c
paparazzi3/branches/HB/trunk/sw/airborne/baro_MP3H6115.h
paparazzi3/branches/HB/trunk/sw/airborne/baro_nobaro.c
paparazzi3/branches/HB/trunk/sw/airborne/baro_nobaro.h
paparazzi3/branches/HB/trunk/sw/airborne/dac.h
paparazzi3/branches/HB/trunk/sw/airborne/diydrones/
paparazzi3/branches/HB/trunk/sw/airborne/diydrones/arduimu.h
paparazzi3/branches/HB/trunk/sw/airborne/diydrones/dcm.c
paparazzi3/branches/HB/trunk/sw/airborne/diydrones/dcm.h
paparazzi3/branches/HB/trunk/sw/airborne/diydrones/matrix.c
paparazzi3/branches/HB/trunk/sw/airborne/diydrones/matrix.h
paparazzi3/branches/HB/trunk/sw/airborne/diydrones/read_adc.c
paparazzi3/branches/HB/trunk/sw/airborne/diydrones/read_adc.h
paparazzi3/branches/HB/trunk/sw/airborne/diydrones/vector.c
paparazzi3/branches/HB/trunk/sw/airborne/diydrones/vector.h
paparazzi3/branches/HB/trunk/sw/airborne/diydrones/wiring.h
paparazzi3/branches/HB/trunk/sw/airborne/hmc5843_i2c.c
paparazzi3/branches/HB/trunk/sw/airborne/hmc5843_i2c.h
paparazzi3/branches/HB/trunk/sw/airborne/razor_imu.c
paparazzi3/branches/HB/trunk/sw/airborne/razor_imu.h
paparazzi3/branches/HB/trunk/sw/airborne/sim/baro_MP3H6115_sim.c
Modified: paparazzi3/branches/HB/trunk/AUTHORS
===================================================================
--- paparazzi3/branches/HB/trunk/AUTHORS 2010-08-26 15:52:58 UTC (rev
5713)
+++ paparazzi3/branches/HB/trunk/AUTHORS 2010-08-26 16:04:52 UTC (rev
5714)
@@ -14,6 +14,7 @@
gov = Gustavo Oliveira Violato <address@hidden>
gph = Pierre-Selim Huard <address@hidden>
hecto = Pascal Brisset <address@hidden>
+hwarm = Heinrich Warmers <address@hidden>
jpdumont = jpdumont <address@hidden>
lamestllama = Eric Parsonage <address@hidden>
marcuswolschon = Marcus Wolschon <address@hidden>
Added: paparazzi3/branches/HB/trunk/ENV
===================================================================
--- paparazzi3/branches/HB/trunk/ENV (rev 0)
+++ paparazzi3/branches/HB/trunk/ENV 2010-08-26 16:04:52 UTC (rev 5714)
@@ -0,0 +1,2 @@
+export PAPARAZZI_HOME=`pwd`;
+export PAPARAZZI_SRC=`pwd`;
Added: paparazzi3/branches/HB/trunk/bin/bootloader.sh
===================================================================
--- paparazzi3/branches/HB/trunk/bin/bootloader.sh
(rev 0)
+++ paparazzi3/branches/HB/trunk/bin/bootloader.sh 2010-08-26 16:04:52 UTC
(rev 5714)
@@ -0,0 +1,5 @@
+#!/bin/sh
+#
+# $Id$ olri
+#
+make upload_bl PROC=GENERIC
Property changes on: paparazzi3/branches/HB/trunk/bin/bootloader.sh
___________________________________________________________________
Added: svn:executable
+ *
Added: paparazzi3/branches/HB/trunk/bin/clean.sh
===================================================================
--- paparazzi3/branches/HB/trunk/bin/clean.sh (rev 0)
+++ paparazzi3/branches/HB/trunk/bin/clean.sh 2010-08-26 16:04:52 UTC (rev
5714)
@@ -0,0 +1,5 @@
+#!/bin/sh
+#
+# $Id:$ olri
+#
+make clean
Property changes on: paparazzi3/branches/HB/trunk/bin/clean.sh
___________________________________________________________________
Added: svn:executable
+ *
Added: paparazzi3/branches/HB/trunk/bin/clean_ac.sh
===================================================================
--- paparazzi3/branches/HB/trunk/bin/clean_ac.sh
(rev 0)
+++ paparazzi3/branches/HB/trunk/bin/clean_ac.sh 2010-08-26 16:04:52 UTC
(rev 5714)
@@ -0,0 +1,6 @@
+#!/bin/sh
+#
+# $Id:$ olri
+#
+[ $# = 1 ] || { echo "Usage: $0 <AirframeName>"; exit 5; }
+make AIRCRAFT="$1" clean_ac
Property changes on: paparazzi3/branches/HB/trunk/bin/clean_ac.sh
___________________________________________________________________
Added: svn:executable
+ *
Added: paparazzi3/branches/HB/trunk/bin/compile.sh
===================================================================
--- paparazzi3/branches/HB/trunk/bin/compile.sh (rev 0)
+++ paparazzi3/branches/HB/trunk/bin/compile.sh 2010-08-26 16:04:52 UTC (rev
5714)
@@ -0,0 +1,6 @@
+#!/bin/sh
+#
+# $Id:$ olri
+#
+[ $# = 1 ] || { echo "Usage: $0 <AirframeName>"; exit 5; }
+make AIRCRAFT="$1" ap.compile
Property changes on: paparazzi3/branches/HB/trunk/bin/compile.sh
___________________________________________________________________
Added: svn:executable
+ *
Added: paparazzi3/branches/HB/trunk/bin/find.sh
===================================================================
--- paparazzi3/branches/HB/trunk/bin/find.sh (rev 0)
+++ paparazzi3/branches/HB/trunk/bin/find.sh 2010-08-26 16:04:52 UTC (rev
5714)
@@ -0,0 +1,6 @@
+#!/bin/sh
+#
+# $Id:$ olri
+#
+[ "$#" = "1" ] || { echo "Usage: $0 <pattern>"; exit 5; }
+find . -type f -print0 | xargs -0 egrep "$@" | grep -v /.svn/
Property changes on: paparazzi3/branches/HB/trunk/bin/find.sh
___________________________________________________________________
Added: svn:executable
+ *
Added: paparazzi3/branches/HB/trunk/bin/ground.sh
===================================================================
--- paparazzi3/branches/HB/trunk/bin/ground.sh (rev 0)
+++ paparazzi3/branches/HB/trunk/bin/ground.sh 2010-08-26 16:04:52 UTC (rev
5714)
@@ -0,0 +1,6 @@
+#!/bin/sh
+#
+# $Id:$ olri
+#
+make
+./paparazzi &
Property changes on: paparazzi3/branches/HB/trunk/bin/ground.sh
___________________________________________________________________
Added: svn:executable
+ *
Added: paparazzi3/branches/HB/trunk/bin/progublox.sh
===================================================================
--- paparazzi3/branches/HB/trunk/bin/progublox.sh
(rev 0)
+++ paparazzi3/branches/HB/trunk/bin/progublox.sh 2010-08-26 16:04:52 UTC
(rev 5714)
@@ -0,0 +1,11 @@
+#/bin/sh
+#
+# $Id:$ olri
+#
+(
+ cd $PAPARAZZI_HOME/conf/gps
+ rm -f ublox_conf
+# make MODCFLAGS='-DDEFAULT_BAUDRATE=9600 -DOUT_FILE_NAME=\"/dev/ttyS1\"'
&& ./ublox_conf
+ rm -f ublox_conf
+ make MODCFLAGS='-DDEFAULT_BAUDRATE=38400 -DOUT_FILE_NAME=\"/dev/ttyS1\"'
&& ./ublox_conf
+)
Property changes on: paparazzi3/branches/HB/trunk/bin/progublox.sh
___________________________________________________________________
Added: svn:executable
+ *
Added: paparazzi3/branches/HB/trunk/bin/splitlogs.sh
===================================================================
--- paparazzi3/branches/HB/trunk/bin/splitlogs.sh
(rev 0)
+++ paparazzi3/branches/HB/trunk/bin/splitlogs.sh 2010-08-26 16:04:52 UTC
(rev 5714)
@@ -0,0 +1,57 @@
+#!/usr/bin/perl -w
+#
+# $Id:$ olri
+#
+use strict;
+use IO::File;
+use File::Copy;
+
+# this script splits datafiles by airplane-id and put the content into
+# a separate airplane-id directory, copying logs into
+#
+if ( ! defined $ENV{"PAPARAZZI_HOME"} ) {
+ die "Error PAPARAZZI_HOME isn't set, ABORT !";
+}
+my $dirname = "$ENV{"PAPARAZZI_HOME"}/var/logs";
+
+# files aus dirname in @datas einlesen
+opendir(DIR, $dirname) || die "can't opendir $dirname: $!";
+my @datas = grep { -f "$dirname/$_" && /\.data$/ } readdir(DIR);
+closedir DIR;
+
+print join "\n", @datas, "\n";
+
+# oeffne jedes file und verteile inhalte anhand der flugzeugnummern
+my $data;
+foreach $data (@datas) {
+ print $data, ":";
+ open LOGFILE, $data or die "open: can't open $data";
+ my %h;
+ my $nr;
+ while (<LOGFILE>) {
+ chomp;
+ my $line = $_;
+ my @a = split '\s', $line;
+ $nr = $a[1];
+ if ( ! defined $h{$nr} ) {
+ mkdir "$dirname/$nr" unless -d "$dirname/$nr";
+ $h{$nr} = new IO::File;
+ open $h{$nr}, ">$dirname/$nr/$data" or
+ die "open: $dirname/$nr/$data $!";
+ print " ", $nr;
+ my $log = $data;
+ $log =~ s/\.data$/.log/o;
+ copy ( "$dirname/$log", "$dirname/$nr/$log" ) or die "copy failed:
$log $!";
+
+ }
+ print {$h{$nr}} ("$line\n");
+ }
+ print "\n";
+ # close all subfiles
+ foreach $nr (keys %h) {
+ close $h{$nr} or die "close: $nr $!";
+ print "closing: $dirname/$nr/$data\n";
+ }
+ close LOGFILE or die "close: can't close $data";
+}
+exit 0;
Property changes on: paparazzi3/branches/HB/trunk/bin/splitlogs.sh
___________________________________________________________________
Added: svn:executable
+ *
Added: paparazzi3/branches/HB/trunk/bin/tunnel.sh
===================================================================
--- paparazzi3/branches/HB/trunk/bin/tunnel.sh (rev 0)
+++ paparazzi3/branches/HB/trunk/bin/tunnel.sh 2010-08-26 16:04:52 UTC (rev
5714)
@@ -0,0 +1,4 @@
+#
+# $Id: tunnel.sh,v 1.1 2008-06-02 19:05:27 olri Exp $ olri
+#
+make AIRCRAFT=MJ5 tunnel.upload
Property changes on: paparazzi3/branches/HB/trunk/bin/tunnel.sh
___________________________________________________________________
Added: svn:executable
+ *
Added: paparazzi3/branches/HB/trunk/bin/upload.sh
===================================================================
--- paparazzi3/branches/HB/trunk/bin/upload.sh (rev 0)
+++ paparazzi3/branches/HB/trunk/bin/upload.sh 2010-08-26 16:04:52 UTC (rev
5714)
@@ -0,0 +1,6 @@
+#!/bin/sh
+#
+# $Id:$ olri
+#
+[ $# == 1 ] || { echo "Usage: $0 <AirframeName>"; exit 5; }
+make AIRCRAFT="$1" ap.upload
Property changes on: paparazzi3/branches/HB/trunk/bin/upload.sh
___________________________________________________________________
Added: svn:executable
+ *
Added: paparazzi3/branches/HB/trunk/conf/airframes/HB/extra/SAS.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/airframes/HB/extra/SAS.xml
(rev 0)
+++ paparazzi3/branches/HB/trunk/conf/airframes/HB/extra/SAS.xml
2010-08-26 16:04:52 UTC (rev 5714)
@@ -0,0 +1,361 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<airframe name="HB-SAS IMU Demo Wood Board">
+
+<!-- commands section -->
+
+ <servos>
+ <servo name="THROTTLE" no="1" min="1000" neutral="1000" max="2000"/>
+ <servo name="AILERON" no="2" max="1000" neutral="1500" min="2000"/>
+ <servo name="ELEVATOR" no="3" max="2000" neutral="1500" min="1000"/>
+ <servo name="KLAPPE" no="0" max="1000" neutral="1500" min="2000"/>
+ </servos>
+
+
+ <commands>
+ <axis name="THROTTLE" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="PITCH" failsafe_value="0"/>
+ <axis name="KLAPPE" failsafe_value="0"/>
+ </commands>
+
+ <rc_commands>
+ <set command="THROTTLE" value="@THROTTLE"/>
+ <set command="ROLL" value="@ROLL"/>
+ <set command="PITCH" value="@PITCH"/>
+ <set command="KLAPPE" value="@KLAPPE"/>
+ </rc_commands>
+
+ <command_laws>
+ <set servo="THROTTLE" value="@THROTTLE"/>
+ <set servo="AILERON" value="@ROLL"/>
+ <set servo="ELEVATOR" value="@PITCH"/>
+ <set servo="KLAPPE" value="@KLAPPE"/>
+ </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_4"/>
+ <define name="IR2" value="ADC_3"/>
+ <define name="IR_NB_SAMPLES" value="16"/>
+ <define name="PRESSURE_OFF" value="ADC_0"/>
+ <define name="PRESSURE" value="ADC_2"/>
+ <define name="PRESSURE_NB_SAMPLES" value="16"/>
+ <define name="PRESSURE_OFF_NB_SAMPLES" value="16"/>
+ <define name="GYRO_ROLL" value="ADC_5"/>
+ <define name="GYRO_TEMP" value="ADC_6"/>
+ <define name="GYRO_NB_SAMPLES" value="16"/>
+ </section>
+-->
+<!-- orig busca 2008
+ <section name="adc" prefix="ADC_CHANNEL_">
+ <define name="IR1" value="ADC_0"/>
+ <define name="IR_TOP" value="ADC_1"/>
+ <define name="IR2" value="ADC_2"/>
+ <define name="IR_NB_SAMPLES" value="16"/>
+ <define name="PRESSURE_OFF" value="ADC_3"/>
+ <define name="PRESSURE" value="ADC_4"/>
+ <define name="PRESSURE_NB_SAMPLES" value="16"/>
+ <define name="PRESSURE_OFF_NB_SAMPLES" value="16"/>
+ <define name="GYRO_ROLL" value="ADC_5"/>
+ <define name="GYRO_TEMP" value="ADC_6"/>
+ <define name="GYRO_NB_SAMPLES" value="16"/>
+ </section>
+-->
+<!-- old hwarm 20100514 -->
+ <section name="adc" prefix="ADC_CHANNEL_">
+ <define name="RAZ_GROLL" value="ADC_0"/>
+ <define name="RAZ_GPITCH" value="ADC_1"/>
+ <define name="RAZ_GYAW" value="ADC_2"/>
+ <define name="IR_NB_SAMPLES" value="16"/>
+ <define name="IR1" value="ADC_3"/>
+ <define name="IR2" value="ADC_4"/>
+ <define name="RAZ_ACCX" value="ADC_5"/>
+ <define name="RAZ_ACCY" value="ADC_6"/>
+ <define name="RAZ_ACCZ" value="ADC_7"/>
+ </section>
+<!--
+ GROLL ADC_0
+ GPITCH ADC_1
+ GYAW ADC_2
+ ..
+ ..
+ ACCX ADC_5
+ ACCY ADC_6
+ ACCZ ADC_7
+-->
+
+ <section name="INFRARED" prefix="IR_">
+ <define name="ROLL_NEUTRAL_DEFAULT" value="6" 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="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
+ <define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
+ <define name="DEFAULT_CONTRAST" value="200"/>
+ <define name="RAD_OF_IR_CONTRAST" value="0.0001"/>
+ <define name="ADC_IR1_NEUTRAL" value="512"/>
+ <define name="ADC_IR2_NEUTRAL" value="512"/>
+ <define name="ADC_TOP_NEUTRAL" value="512"/>
+ </section>
+
+<!--
+ <section name="GYRO" prefix="GYRO_">
+ <define name="ADC_ROLL_COEF" value="1"/>
+ <define name="ADC_ROLL_NEUTRAL" value="500"/>
+ <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_AT_FULL_THROTTLE" value="0.86"/>
+ <define name="CATASTROPHIC_BAT_LEVEL " value="9.3" 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="ALT_KALMAN_ENABLED" value="TRUE"/>
+ <define name="ALT_BARO_ENABLED" value="TRUE"/>
+ </section>
+
+ <section name="PID">
+ <define name="ROLL_PGAIN" value="5000."/>
+ <define name="PITCH_OF_ROLL" value="0.25"/>
+ <define name="PITCH_PGAIN" value="10000."/>
+ <define name="MAX_ROLL" value="0.35"/>
+ <define name="MAX_PITCH" value="0.35"/>
+ <define name="MIN_PITCH" value="-0.35"/>
+ <define name="AILERON_OF_THROTTLE" value="0.0"/>
+ <define name="CRUISE_THROTTLE" value="0.35"/>
+ </section>
+
+ <section name="ALT" prefix="CLIMB_">
+ <define name="PITCH_PGAIN" value="-0.05"/>
+ <define name="PITCH_IGAIN" value="0.075"/>
+ <define name="PGAIN" value="-0.01"/>
+ <define name="IGAIN" value="0.1"/>
+ <define name="MAX" value="1."/>
+ <define name="PITCH_OF_VZ_PGAIN" value="0.05"/>
+ <define name="THROTTLE_OF_CLIMB" value="0.15" unit="%/(m/s)"/>
+ </section>
+
+ <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+ <define name="COURSE_PGAIN" value="-0.4"/>
+ <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="5000."/>
+ <define name="AILERON_OF_THROTTLE" value="0.0"/>
+ <define name="PITCH_PGAIN" value="-9000."/>
+ <define name="PITCH_DGAIN" value="1.5"/>
+ <define name="ELEVATOR_OF_ROLL" value="1250"/>
+
+ <!-- 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="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="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="-0.03"/>
+ <!-- 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="0.30"/>
+ <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="0.15"
unit="%/(m/s)"/>
+ <define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
+ <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="-0.05"/>
+ <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="0.1"/>
+
+ </section>
+
+
+ <section name="NAV">
+ <define name="NAV_PITCH" value="0."/>
+ <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+ <define name="DEFAULT_CIRCLE_RADIUS" value="100" unit="m"/>
+ </section>
+
+ <section name="AGGRESSIVE" prefix="AGR_">
+ <define name="CLIMB_THROTTLE" value="0.95"/><!-- Throttle for Aggressive
Climb -->
+ <define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive
Decent -->
+ <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
+ <define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive
Decent -->
+ <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_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="60"/>
+ <define name="ALT_ROLL_PGAIN" value="120.0"/>
+ <define name="ROLL_RATE_PGAIN" value="85.0"/>
+ <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="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>
+-->
+
+
+ <makefile>
+
+
+
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+FLASH_MODE=IAP
+
+#Harware Low Level konfiguration
+
+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.CFLAGS += -DRAZOR_IMU -DUSE_ADC_5 -DUSE_ADC_6 -DUSE_ADC_7
+ap.srcs += razor_imu.c
+#ap.srcs += kalman_hb.c
+
+#ap.CFLAGS += -DUSE_DAC
+ap.srcs += diydrones/dcm.c diydrones/matrix.c diydrones/read_adc.c
diydrones/vector.c
+
+#ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
test_adcs.c
+
+#olri added hmc5843
+ap.CFLAGS += -DUSE_MAG_HMC5843 -DUSE_I2C0
+ap.srcs += hmc5843_i2c.c i2c.c $(SRC_ARCH)/i2c_hw.c
+#olri added hmc5843
+
+#olri added baro_scp_hw
+ap.srcs += baro_scp.c $(SRC_ARCH)/baro_scp_hw.c
+ap.CFLAGS += -DUSE_BARO_SCP
+#olri added baro_scp_hw
+
+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 -DRADIO_CONTROL_TYPE=RC_FUTABA
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+
+#olri tuning / settings
+ap.CFLAGS += -DRADIO_CONTROL_SETTINGS
+ap.srcs += rc_settings.c
+
+ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0
-DDATALINK=PPRZ -DUART0_BAUD=B38400
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
latlong.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
+
+# BARO_MP3H6115
+ap.CFLAGS += -DADC -DUSE_ADC_3 -DUSE_ADC_4
+#ap.CFLAGS += -DUSE_BARO_MP3H6115 -DBARO_SCALE=1.0
+#ap.srcs += baro_MP3H6115.c
+ap.srcs += baro_nobaro.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 -DADC -DUSE_ADC_3 -DUSE_ADC_4
+ap.srcs += infrared.c estimator.c
+
+ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+
+# bomb test
+ap.srcs += bomb.c #nav_survey_rectangle.c
+
+#ap.CFLAGS += -DGYRO -DADXRS150
+#ap.srcs += gyro.c
+
+ap.srcs += nav_line.c nav_survey_rectangle.c
+
+ap.srcs += traffic_info.c
+
+#ap.srcs += light.c
+#ap.CFLAGS += -DUSE_LIGHT
+
+# PID sensor
+#ap.CFLAGS += -DUSE_ADC_6 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_6
-DADC_CHANNEL_GENERIC_NB_SAMPLES=16
+#ap.srcs += adc_generic.c
+
+ap.CFLAGS += -DUSE_MODULES
+
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DLOITER_TRIM
-DALT_KALMAN
+sim.srcs += nav_survey_rectangle.c nav_line.c
+sim.srcs += bomb.c #nav_survey_rectangle.c
+
+sim.srcs += light.c
+sim.CFLAGS += -DUSE_LIGHT
+
+#olri baro
+#sim.CFLAGS += -DUSE_BARO_MP3H6115 -DBARO_SCALE=1.0
+#sim.srcs += $(SRC_ARCH)/baro_MP3H6115_sim.c
+
+#olri tuning / settings
+sim.CFLAGS += -DRADIO_CONTROL_SETTINGS
+sim.srcs += rc_settings.c
+ap.CFLAGS += -DTELEMETRY_MODE_FBW=1
+
+ </makefile>
+</airframe>
Added: paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/CHNI_Twog.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/CHNI_Twog.xml
(rev 0)
+++ paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/CHNI_Twog.xml
2010-08-26 16:04:52 UTC (rev 5714)
@@ -0,0 +1,265 @@
+<!DOCTYPE airframe SYSTEM "airframe.dtd">
+
+<airframe name="Test Tiny 2.1">
+
+<!-- commands section -->
+ <servos>
+ <servo name="THROTTLE" no="7" min="1200" neutral="1200" max="2000"/>
+ <servo name="AILERON" no="4" min="2000" neutral="1500" max="1000"/>
+ <servo name="ELEVATOR" no="3" max="2000" neutral="1500" min="1000"/>
+
+ </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>
+
+ <command_laws>
+ <set servo="THROTTLE" value="@THROTTLE"/>
+ <set servo="AILERON" value="@ROLL"/>
+ <set servo="ELEVATOR" value="@PITCH"/>
+ </command_laws>
+
+ <section name="AUTO1" prefix="AUTO1_">
+ <define name="MAX_ROLL" value="1.0"/>
+ <define name="MAX_PITCH" value="1.0"/>
+ </section>
+
+ <section name="adc" prefix="ADC_CHANNEL_">
+ <define name="RAZ_GROLL" value="ADC_0"/>
+ <define name="RAZ_GPITCH" value="ADC_1"/>
+ <define name="RAZ_GYAW" value="ADC_2"/>
+ <define name="IR_NB_SAMPLES" value="16"/>
+ <define name="IR1" value="ADC_3"/>
+ <define name="IR2" value="ADC_4"/>
+ <define name="RAZ_ACCX" value="ADC_5"/>
+ <define name="RAZ_ACCY" value="ADC_6"/>
+ <define name="RAZ_ACCZ" value="ADC_7"/>
+ <define name="GYRO_ROLL" value="ADC_0"/>
+ <define name="GYRO_NB_SAMPLES" value="16"/>
+ </section>
+
+ <section name="INFRARED" prefix="IR_">
+ <define name="ROLL_NEUTRAL_DEFAULT" value="6.00001382828" 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="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
+ <define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
+ <define name="DEFAULT_CONTRAST" value="200"/>
+ <define name="RAD_OF_IR_CONTRAST" value="0.0001"/>
+ <define name="ADC_IR1_NEUTRAL" value="512"/>
+ <define name="ADC_IR2_NEUTRAL" value="512"/>
+ <define name="ADC_TOP_NEUTRAL" value="512"/>
+ </section>
+
+ <!-- <section name="BAT">
+ <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
+ <define name="LOW_BATTERY" value="9.3" unit="V"/>
+ </section>
+ -->
+ <section name="BAT">
+ <define name="MILLIAMP_AT_FULL_THROTTLE" value="20000" unit="mA" />
+ <define name="VOLTAGE_ADC_A" value="0.02456533604651162791"/>
+ <define name="VOLTAGE_ADC_B" value="0.24024993023255813953"/>
+ <define name="VoltageOfAdc(adc)" value ="(VOLTAGE_ADC_A * adc +
VOLTAGE_ADC_B)"/>
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9.0" unit="V"/>
+ <define name="CRITIC_BAT_LEVEL" value="9.3" unit="V"/>
+ <define name="LOW_BAT_LEVEL" value="9.5" unit="V"/>
+ <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
+ </section>
+
+ <section name="SIMU">
+ <define name="YAW_RESPONSE_FACTOR" value="0.4"/>
+ </section>
+
+<!--
+ <section name="BAT">
+ <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
+ <define name="LOW_BAT_LEVEL" value="10.0" unit="V"/>
+ <define name="MAX_BAT_LEVEL" value="11.1" unit="V"/>
+ <define name="CRITIC_BAT_LEVEL" value="9.7" unit="V"/>
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
+ </section>
+-->
+
+ <section name="MISC">
+ <define name="TELEMETRY_MODE_FBW" value="1"/>
+ <define name="NOMINAL_AIRSPEED" value="11." 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="TRUE"/>
+
+ <define name="TRIGGER_DELAY" value="1."/>
+ <define name="DEFAULT_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="-0.07"/>
+ <!-- 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="0.80"/>
+ <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
+ <define name="AUTO_THROTTLE_DASH_TRIM" value="-500"/>
+ <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15"
unit="%/(m/s)"/>
+ <define name="AUTO_THROTTLE_PGAIN" value="-0.025"/>
+ <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="-0.05"/>
+ <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="0.05"/>
+
+ </section>
+
+ <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+ <define name="COURSE_PGAIN" value="-1.2"/>
+ <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="12000."/>
+ <define name="AILERON_OF_THROTTLE" value="0.0"/>
+ <define name="PITCH_PGAIN" value="-9000."/>
+ <define name="PITCH_DGAIN" value="1.5"/>
+ <define name="ELEVATOR_OF_ROLL" value="1250"/>
+
+ <!-- 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="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="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="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="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="PPRZ"/>
+ <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 += -DRAZOR_IMU -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
-DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6 -DUSE_ADC_7
+ap.CFLAGS += -DRAZOR_ZERO_AVERAGE
+
+ap.srcs += $(SRC_ARCH)/adc_hw.c
+
+ap.srcs += razor_imu.c razor_util.c
+#ap.srcs += kalman_hb.c
+
+
+ap.CFLAGS += -DRAZOR_ROTATED
+ap.srcs += diydrones/dcm.c diydrones/arduimu.c diydrones/matrix.c
diydrones/read_adc.c diydrones/vector.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=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1
-DDATALINK=PPRZ -DUART1_BAUD=B38400
+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 += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DGPS_USE_LATLONG
-DUART0_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 -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c nav_line.c
+
+
+# Harware In The Loop
+
+#ap.CFLAGS += -DHITL
+
+
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP
-DLOITER_TRIM -DALT_KALMAN
+sim.srcs += nav_survey_rectangle.c nav_line.c
+
+ap.CFLAGS += -DTELEMETRY_MODE_FBW=1
+
+ </makefile>
+</airframe>
Added: paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca1.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca1.xml
(rev 0)
+++ paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca1.xml
2010-08-26 16:04:52 UTC (rev 5714)
@@ -0,0 +1,303 @@
+<!DOCTYPE airframe SYSTEM "airframe.dtd">
+
+<airframe name="HB-D1 Busca V0.1 (futaba)">
+
+<!-- commands section -->
+ <servos>
+ <servo name="THROTTLE" no="1" min="1000" neutral="1000" max="2000"/>
+ <servo name="AILEVON_LEFT" no="0" max="1390" neutral="1530" min="1660"/>
+ <servo name="AILEVON_RIGHT" no="3" max="1520" neutral="1500" min="1460"/>
+ <servo name="HATCH" no="2" max="1050" neutral="1450" min="1450"/>
+ </servos>
+
+ <commands>
+ <axis name="THROTTLE" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="PITCH" failsafe_value="0"/>
+ <axis name="HATCH" failsafe_value="0"/>
+ </commands>
+
+ <rc_commands>
+ <set command="THROTTLE" value="@THROTTLE"/>
+ <set command="ROLL" value="@ROLL"/>
+ <set command="PITCH" value="@PITCH"/>
+ <set command="HATCH" value="@GAIN1"/>
+ </rc_commands>
+
+ <section name="MIXER">
+ <define name="AILEVON_AILERON_RATE" value="0.3"/>
+ <define name="AILEVON_ELEVATOR_RATE" value="0.7"/>
+ </section>
+
+ <command_laws>
+ <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
+ <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
+ <set servo="THROTTLE" value="@THROTTLE"/>
+ <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
+ <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+ </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="IR_TOP" value="ADC_1"/>
+ <define name="IR2" value="ADC_2"/>
+ <define name="IR_NB_SAMPLES" value="16"/>
+ <define name="PRESSURE_OFF" value="ADC_3"/>
+ <define name="PRESSURE" value="ADC_4"/>
+ <define name="PRESSURE_NB_SAMPLES" value="16"/>
+ <define name="PRESSURE_OFF_NB_SAMPLES" value="16"/>
+ <define name="GYRO_ROLL" value="ADC_5"/>
+ <define name="GYRO_TEMP" value="ADC_6"/>
+ <define name="GYRO_NB_SAMPLES" value="16"/>
+ </section>
+
+ <section name="INFRARED" prefix="IR_">
+ <define name="ROLL_NEUTRAL_DEFAULT" value="6" 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="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
+ <define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
+ <define name="RAD_OF_IR_CONTRAST" value="0.0001"/>
+ <define name="ADC_IR1_NEUTRAL" value="512"/>
+ <define name="ADC_IR2_NEUTRAL" value="512"/>
+ <define name="ADC_TOP_NEUTRAL" value="512"/>
+ </section>
+
+ <section name="GYRO" prefix="GYRO_">
+ <define name="ADC_ROLL_COEF" value="1"/>
+ <define name="ADC_ROLL_NEUTRAL" value="500"/>
+ <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="LOW_BATTERY" value="9.3" 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="ALT_KALMAN_ENABLED" value="TRUE"/>
+ <define name="ALT_BARO_ENABLED" value="TRUE"/>
+ </section>
+
+ <section name="PID">
+ <define name="ROLL_PGAIN" value="5000."/>
+ <define name="PITCH_OF_ROLL" value="0.25"/>
+ <define name="PITCH_PGAIN" value="10000."/>
+ <define name="MAX_ROLL" value="0.35"/>
+ <define name="MAX_PITCH" value="0.35"/>
+ <define name="MIN_PITCH" value="-0.35"/>
+ <define name="AILERON_OF_THROTTLE" value="0.0"/>
+ <define name="CRUISE_THROTTLE" value="0.35"/>
+ </section>
+
+ <section name="ALT" prefix="CLIMB_">
+ <define name="PITCH_PGAIN" value="-0.05"/>
+ <define name="PITCH_IGAIN" value="0.075"/>
+ <define name="PGAIN" value="-0.01"/>
+ <define name="IGAIN" value="0.1"/>
+ <define name="MAX" value="1."/>
+ <define name="PITCH_OF_VZ_PGAIN" value="0.05"/>
+ <define name="THROTTLE_OF_CLIMB" value="0.15" unit="%/(m/s)"/>
+ </section>
+
+ <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+ <define name="COURSE_PGAIN" value="-0.4"/>
+ <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="5000."/>
+ <define name="AILERON_OF_THROTTLE" value="0.0"/>
+ <define name="PITCH_PGAIN" value="-9000."/>
+ <define name="PITCH_DGAIN" value="1.5"/>
+ <define name="ELEVATOR_OF_ROLL" value="1250"/>
+
+ <!-- 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="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="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="-0.03"/>
+ <!-- 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="0.30"/>
+ <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="0.15"
unit="%/(m/s)"/>
+ <define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
+ <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="-0.05"/>
+ <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="0.1"/>
+
+ </section>
+
+
+ <section name="NAV">
+ <define name="NAV_PITCH" value="0."/>
+ <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+ <define name="DEFAULT_CIRCLE_RADIUS" value="100" unit="m"/>
+ </section>
+
+ <section name="AGGRESSIVE" prefix="AGR_">
+ <define name="CLIMB_THROTTLE" value="0.95"/><!-- Throttle for Aggressive
Climb -->
+ <define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive
Decent -->
+ <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
+ <define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive
Decent -->
+ <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_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="60"/>
+ <define name="ALT_ROLL_PGAIN" value="120.0"/>
+ <define name="ROLL_RATE_PGAIN" value="85.0"/>
+ <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="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>
+-->
+
+
+ <makefile>
+
+
+
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+FLASH_MODE=IAP
+
+#Harware Low Level konfiguration
+
+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 -DRADIO_CONTROL_TYPE=RC_FUTABA
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+
+#olri tuning / settings
+ap.CFLAGS += -DRADIO_CONTROL_SETTINGS
+ap.srcs += rc_settings.c
+
+ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0
-DDATALINK=PPRZ -DUART0_BAUD=B38400
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
latlong.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
+
+# BARO_MP3H6115
+ap.CFLAGS += -DADC -DUSE_ADC_3 -DUSE_ADC_4
+ap.CFLAGS += -DUSE_BARO_MP3H6115 -DBARO_SCALE=1.0
+ap.srcs += baro_MP3H6115.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
+ap.srcs += infrared.c estimator.c
+
+ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+
+# bomb test
+ap.srcs += bomb.c #nav_survey_rectangle.c
+
+#ap.CFLAGS += -DGYRO -DADXRS150
+#ap.srcs += gyro.c
+
+ap.srcs += nav_line.c nav_survey_rectangle.c
+
+ap.srcs += traffic_info.c
+
+#ap.srcs += light.c
+#ap.CFLAGS += -DUSE_LIGHT
+
+# PID sensor
+#ap.CFLAGS += -DUSE_ADC_6 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_6
-DADC_CHANNEL_GENERIC_NB_SAMPLES=16
+#ap.srcs += adc_generic.c
+
+ap.CFLAGS += -DUSE_MODULES
+
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DLOITER_TRIM
-DALT_KALMAN
+sim.srcs += nav_survey_rectangle.c nav_line.c
+sim.srcs += bomb.c #nav_survey_rectangle.c
+
+sim.srcs += light.c
+sim.CFLAGS += -DUSE_LIGHT
+
+#olri baro
+sim.CFLAGS += -DUSE_BARO_MP3H6115 -DBARO_SCALE=1.0
+sim.srcs += $(SRC_ARCH)/baro_MP3H6115_sim.c
+
+#olri tuning / settings
+sim.CFLAGS += -DRADIO_CONTROL_SETTINGS
+sim.srcs += rc_settings.c
+
+ </makefile>
+</airframe>
Added:
paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca1Razor.xml
===================================================================
---
paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca1Razor.xml
(rev 0)
+++
paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca1Razor.xml
2010-08-26 16:04:52 UTC (rev 5714)
@@ -0,0 +1,373 @@
+<!DOCTYPE airframe SYSTEM "airframe.dtd">
+
+<airframe name="HB-D1 Busca V0.1 (futaba)">
+
+<!-- commands section -->
+
+ <servos>
+ <servo name="THROTTLE" no="1" min="1070" neutral="1070" max="1800"/>
+ <servo name="AILERON" no="2" max="1300" neutral="1535" min="1700"/>
+ <servo name="ELEVATOR" no="3" max="1641" neutral="1448" min="1248"/>
+ <servo name="HATCH" no="0" max="1150" neutral="1150" min="1700"/>
+ </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"/>
+ <set command="HATCH" value="@HATCH"/>
+ </rc_commands>
+
+ <command_laws>
+ <set servo="THROTTLE" value="@THROTTLE"/>
+ <set servo="AILERON" value="@ROLL"/>
+ <set servo="ELEVATOR" value="@PITCH"/>
+ <set servo="HATCH" value="@HATCH"/>
+ </command_laws>
+
+ <section name="AUTO1" prefix="AUTO1_">
+ <define name="MAX_ROLL" value="1.0"/>
+ <define name="MAX_PITCH" value="1.0"/>
+ </section>
+
+ <section name="SIMU">
+ <define name="ROLL_RESPONSE_FACTOR" value="18."/>
+ </section>
+<!--
+ <section name="adc" prefix="ADC_CHANNEL_">
+ <define name="IR1" value="ADC_4"/>
+ <define name="IR2" value="ADC_3"/>
+ <define name="IR_NB_SAMPLES" value="16"/>
+ <define name="PRESSURE_OFF" value="ADC_0"/>
+ <define name="PRESSURE" value="ADC_2"/>
+ <define name="PRESSURE_NB_SAMPLES" value="16"/>
+ <define name="PRESSURE_OFF_NB_SAMPLES" value="16"/>
+ <define name="GYRO_ROLL" value="ADC_5"/>
+ <define name="GYRO_TEMP" value="ADC_6"/>
+ <define name="GYRO_NB_SAMPLES" value="16"/>
+ </section>
+-->
+<!-- orig busca 2008
+ <section name="adc" prefix="ADC_CHANNEL_">
+ <define name="IR1" value="ADC_0"/>
+ <define name="IR_TOP" value="ADC_1"/>
+ <define name="IR2" value="ADC_2"/>
+ <define name="IR_NB_SAMPLES" value="16"/>
+ <define name="PRESSURE_OFF" value="ADC_3"/>
+ <define name="PRESSURE" value="ADC_4"/>
+ <define name="PRESSURE_NB_SAMPLES" value="16"/>
+ <define name="PRESSURE_OFF_NB_SAMPLES" value="16"/>
+ <define name="GYRO_ROLL" value="ADC_5"/>
+ <define name="GYRO_TEMP" value="ADC_6"/>
+ <define name="GYRO_NB_SAMPLES" value="16"/>
+ </section>
+-->
+<!-- old hwarm 20100514 -->
+ <section name="adc" prefix="ADC_CHANNEL_">
+ <define name="RAZ_GROLL" value="ADC_0"/>
+ <define name="RAZ_GPITCH" value="ADC_1"/>
+ <define name="RAZ_GYAW" value="ADC_2"/>
+ <define name="IR_NB_SAMPLES" value="16"/>
+ <define name="IR1" value="ADC_3"/>
+ <define name="IR2" value="ADC_4"/>
+ <define name="RAZ_ACCX" value="ADC_5"/>
+ <define name="RAZ_ACCY" value="ADC_6"/>
+ <define name="RAZ_ACCZ" value="ADC_7"/>
+ </section>
+<!--
+ GROLL ADC_0
+ GPITCH ADC_1
+ GYAW ADC_2
+ ..
+ ..
+ ACCX ADC_5
+ ACCY ADC_6
+ ACCZ ADC_7
+-->
+
+ <section name="INFRARED" prefix="IR_">
+ <define name="ROLL_NEUTRAL_DEFAULT" value="6.00001382828" 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="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
+ <define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
+ <define name="DEFAULT_CONTRAST" value="200"/>
+ <define name="RAD_OF_IR_CONTRAST" value="0.0001"/>
+ <define name="ADC_IR1_NEUTRAL" value="512"/>
+ <define name="ADC_IR2_NEUTRAL" value="512"/>
+ <define name="ADC_TOP_NEUTRAL" value="512"/>
+ </section>
+
+<!--
+ <section name="GYRO" prefix="GYRO_">
+ <define name="ADC_ROLL_COEF" value="1"/>
+ <define name="ADC_ROLL_NEUTRAL" value="500"/>
+ <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_AT_FULL_THROTTLE" value="0.86"/>
+ <define name="CATASTROPHIC_BAT_LEVEL " value="9.3" 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="ALT_KALMAN_ENABLED" value="TRUE"/>
+ <define name="ALT_BARO_ENABLED" value="TRUE"/>
+ </section>
+
+ <section name="PID">
+ <define name="PITCH_OF_ROLL" value="0.25"/>
+ <define name="PITCH_PGAIN" value="10000."/>
+ <define name="MAX_ROLL" value="0.35"/>
+ <define name="MAX_PITCH" value="0.35"/>
+ <define name="MIN_PITCH" value="-0.35"/>
+ <define name="AILERON_OF_THROTTLE" value="0.0"/>
+ <define name="CRUISE_THROTTLE" value="0.75"/>
+ </section>
+
+ <section name="ALT" prefix="CLIMB_">
+ <define name="PITCH_PGAIN" value="-0.05"/>
+ <define name="PITCH_IGAIN" value="0.075"/>
+ <define name="PGAIN" value="-0.01"/>
+ <define name="IGAIN" value="0.1"/>
+ <define name="MAX" value="1."/>
+ <define name="PITCH_OF_VZ_PGAIN" value="0.05"/>
+ <define name="THROTTLE_OF_CLIMB" value="0.15" unit="%/(m/s)"/>
+ </section>
+
+ <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+<!-- chni: diese Werte geben in Simulation schlechte Ergebnisse, daher
Änderung zu verifikation im flugtest:
+ <define name="COURSE_PGAIN" value="-4.3"/>
+ <define name="COURSE_DGAIN" value="1.08"/>
+-->
+ <define name="COURSE_PGAIN" value="-.7"/>
+ <define name="COURSE_DGAIN" value="0."/>
+ <define name="ROLL_MAX_SETPOINT" value="0.9" 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="3000.0"/>
+ <define name="AILERON_OF_THROTTLE" value="0.0"/>
+ <define name="PITCH_PGAIN" value="-9000."/>
+ <define name="PITCH_DGAIN" value="1.5"/>
+ <define name="ELEVATOR_OF_ROLL" value="1250."/>
+
+ <!-- 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="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="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="-0.03"/>
+ <!-- outer loop saturation -->
+ <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+ <!-- 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="1.0"/>
+ <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
+ <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
+ <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15"
unit="%/(m/s)"/>
+ <define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
+ <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="-0.05"/>
+ <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="0.1"/>
+
+ </section>
+
+
+ <section name="NAV">
+ <define name="NAV_COURSE" value="180."/>
+ <define name="NAV_PITCH" value="0."/>
+ <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+ <define name="DEFAULT_CIRCLE_RADIUS" value="100" unit="m"/>
+ </section>
+
+ <section name="AGGRESSIVE" prefix="AGR_">
+ <define name="CLIMB_THROTTLE" value="0.95"/><!-- Throttle for Aggressive
Climb -->
+ <define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive
Decent -->
+ <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
+ <define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive
Decent -->
+ <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_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="60"/>
+ <define name="ALT_ROLL_PGAIN" value="120.0"/>
+ <define name="ROLL_RATE_PGAIN" value="85.0"/>
+ <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="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>
+-->
+
+
+ <makefile>
+
+
+
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+FLASH_MODE=IAP
+
+#Harware Low Level konfiguration
+
+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.CFLAGS += -DRAZOR_IMU -DUSE_ADC_5 -DUSE_ADC_6 -DUSE_ADC_7
+ap.srcs += razor_imu.c
+ap.srcs += razor_util.c
+#ap.srcs += kalman_hb.c
+
+ap.srcs += diydrones/dcm.c diydrones/arduimu.c diydrones/matrix.c
diydrones/read_adc.c diydrones/vector.c
+
+#ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
test_adcs.c
+
+#olri added scp1000
+#ap.CFLAGS += -DUSE_BARO_SCP1000 -DUSE_SPI -DSPI_MASTER
+#ap.srcs += scp1000.c $(SRC_ARCH)/scp1000_hw.c spi.c $(SRC_ARCH)/spi_hw.c
+#olri added scp1000
+
+#olri
+ap.srcs += baro_scp.c
+ap.CFLAGS += -DUSE_BARO_SCP
+#olri
+
+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 -DRADIO_CONTROL_TYPE=RC_FUTABA
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+
+#olri tuning / settings
+ap.CFLAGS += -DRADIO_CONTROL_SETTINGS
+ap.srcs += rc_settings.c
+
+ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0
-DDATALINK=PPRZ -DUART0_BAUD=B38400
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
latlong.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
+
+# BARO_MP3H6115
+ap.CFLAGS += -DADC -DUSE_ADC_3 -DUSE_ADC_4
+#ap.CFLAGS += -DUSE_BARO_MP3H6115 -DBARO_SCALE=1.0
+#ap.srcs += baro_MP3H6115.c
+ap.srcs += baro_nobaro.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 -DADC -DUSE_ADC_3 -DUSE_ADC_4
+ap.srcs += infrared.c estimator.c
+
+ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+
+# bomb test
+ap.srcs += bomb.c #nav_survey_rectangle.c
+
+#ap.CFLAGS += -DGYRO -DADXRS150
+#ap.srcs += gyro.c
+
+ap.srcs += nav_line.c nav_survey_rectangle.c
+
+ap.srcs += traffic_info.c
+
+#ap.srcs += light.c
+#ap.CFLAGS += -DUSE_LIGHT
+
+# PID sensor
+#ap.CFLAGS += -DUSE_ADC_6 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_6
-DADC_CHANNEL_GENERIC_NB_SAMPLES=16
+#ap.srcs += adc_generic.c
+
+ap.CFLAGS += -DUSE_MODULES
+
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DLOITER_TRIM
-DALT_KALMAN
+sim.srcs += nav_survey_rectangle.c nav_line.c
+sim.srcs += bomb.c #nav_survey_rectangle.c
+
+sim.srcs += light.c
+sim.CFLAGS += -DUSE_LIGHT
+
+#olri baro
+sim.CFLAGS += -DUSE_BARO_MP3H6115 -DBARO_SCALE=1.0
+sim.srcs += $(SRC_ARCH)/baro_MP3H6115_sim.c
+
+#olri tuning / settings
+sim.CFLAGS += -DRADIO_CONTROL_SETTINGS
+sim.srcs += rc_settings.c
+ap.CFLAGS += -DTELEMETRY_MODE_FBW=1
+
+
+
+
+ </makefile>
+</airframe>
Added:
paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca1Razor_klein.xml
===================================================================
---
paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca1Razor_klein.xml
(rev 0)
+++
paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca1Razor_klein.xml
2010-08-26 16:04:52 UTC (rev 5714)
@@ -0,0 +1,403 @@
+<!DOCTYPE airframe SYSTEM "airframe.dtd">
+
+<airframe name="HB-D1 Busca V0.1 (futaba)">
+
+<!-- commands section -->
+
+ <servos>
+ <servo name="THROTTLE" no="1" min="1086" neutral="1086" max="1800"/>
+ <servo name="AILERON" no="2" max="1000" neutral="1520" min="2000"/>
+ <servo name="ELEVATOR" no="3" max="2000" neutral="1500" min="1000"/>
+ <servo name="HATCH" no="0" max="1150" neutral="1150" min="1700"/>
+ </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"/>
+ <set command="HATCH" value="@HATCH"/>
+ </rc_commands>
+
+ <command_laws>
+ <set servo="THROTTLE" value="@THROTTLE"/>
+ <set servo="AILERON" value="@ROLL"/>
+ <set servo="ELEVATOR" value="@PITCH"/>
+ <set servo="HATCH" value="@HATCH"/>
+ </command_laws>
+
+ <section name="AUTO1" prefix="AUTO1_">
+ <define name="MAX_ROLL" value="1.5"/>
+ <define name="MAX_PITCH" value="0.6"/>
+ </section>
+
+<!--
+ <section name="GYRO" prefix="GYRO_">
+ <define name="ADC_ROLL_NEUTRAL" value="368"/>
+ <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="GYRO" prefix="GYRO_">
+ <define name="ADC_ROLL_NEUTRAL" value="0"/>
+ <define name="ROLL_DIRECTION" value="1"/> <!-- Set to -1 to reverse -->
+ <define name="ROLL_SCALE" value="0.3"/> <!-- +/- 150 degrees /
(1023-NEUTRAL) or +/- 150 degrees / (NEUTRAL) if NEUTRAL < 512 -->
+ </section>
+
+
+ <section name="SIMU">
+ <define name="ROLL_RESPONSE_FACTOR" value="18."/>
+ </section>
+<!--
+ <section name="adc" prefix="ADC_CHANNEL_">
+ <define name="IR1" value="ADC_4"/>
+ <define name="IR2" value="ADC_3"/>
+ <define name="IR_NB_SAMPLES" value="16"/>
+ <define name="PRESSURE_OFF" value="ADC_0"/>
+ <define name="PRESSURE" value="ADC_2"/>
+ <define name="PRESSURE_NB_SAMPLES" value="16"/>
+ <define name="PRESSURE_OFF_NB_SAMPLES" value="16"/>
+ <define name="GYRO_ROLL" value="ADC_5"/>
+ <define name="GYRO_TEMP" value="ADC_6"/>
+ <define name="GYRO_NB_SAMPLES" value="16"/>
+ </section>
+-->
+<!-- orig busca 2008
+ <section name="adc" prefix="ADC_CHANNEL_">
+ <define name="IR1" value="ADC_0"/>
+ <define name="IR_TOP" value="ADC_1"/>
+ <define name="IR2" value="ADC_2"/>
+ <define name="IR_NB_SAMPLES" value="16"/>
+ <define name="PRESSURE_OFF" value="ADC_3"/>
+ <define name="PRESSURE" value="ADC_4"/>
+ <define name="PRESSURE_NB_SAMPLES" value="16"/>
+ <define name="PRESSURE_OFF_NB_SAMPLES" value="16"/>
+ <define name="GYRO_ROLL" value="ADC_5"/>
+ <define name="GYRO_TEMP" value="ADC_6"/>
+ <define name="GYRO_NB_SAMPLES" value="16"/>
+ </section>
+-->
+<!-- old hwarm 20100514 -->
+ <section name="adc" prefix="ADC_CHANNEL_">
+ <define name="RAZ_GROLL" value="ADC_0"/>
+ <define name="RAZ_GPITCH" value="ADC_1"/>
+ <define name="RAZ_GYAW" value="ADC_2"/>
+ <define name="IR_NB_SAMPLES" value="16"/>
+ <define name="IR1" value="ADC_3"/>
+ <define name="IR2" value="ADC_4"/>
+ <define name="RAZ_ACCX" value="ADC_5"/>
+ <define name="RAZ_ACCY" value="ADC_6"/>
+ <define name="RAZ_ACCZ" value="ADC_7"/>
+ <define name="GYRO_ROLL" value="ADC_0"/>
+ <define name="GYRO_NB_SAMPLES" value="16"/>
+ </section>
+<!--
+ GROLL ADC_0
+ GPITCH ADC_1
+ GYAW ADC_2
+ ..
+ ..
+ ACCX ADC_5
+ ACCY ADC_6
+ ACCZ ADC_7
+-->
+
+ <section name="INFRARED" prefix="IR_">
+ <define name="ROLL_NEUTRAL_DEFAULT" value="6.00001382828" 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="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
+ <define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
+ <define name="DEFAULT_CONTRAST" value="200"/>
+ <define name="RAD_OF_IR_CONTRAST" value="0.0001"/>
+ <define name="ADC_IR1_NEUTRAL" value="512"/>
+ <define name="ADC_IR2_NEUTRAL" value="512"/>
+ <define name="ADC_TOP_NEUTRAL" value="512"/>
+ </section>
+
+<!--
+ <section name="GYRO" prefix="GYRO_">
+ <define name="ADC_ROLL_COEF" value="1"/>
+ <define name="ADC_ROLL_NEUTRAL" value="500"/>
+ <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_AT_FULL_THROTTLE" value="0.86"/>
+ <define name="CATASTROPHIC_BAT_LEVEL " value="6.8" unit="V"/>
+ </section>
+-->
+ <section name="BAT">
+ <define name="MILLIAMP_AT_FULL_THROTTLE" value="12000" unit="mA" />
+ <define name="VOLTAGE_ADC_A" value="0.0177531"/>
+ <define name="VOLTAGE_ADC_B" value="0.173626"/>
+ <define name="VoltageOfAdc(adc)" value ="(VOLTAGE_ADC_A * adc +
VOLTAGE_ADC_B)"/>
+ <define name="CATASTROPHIC_BAT_LEVEL" value="6.0" unit="V"/>
+ <define name="CRITIC_BAT_LEVEL" value="6.5" unit="V"/>
+ <define name="LOW_BAT_LEVEL" value="7.0" unit="V"/>
+ <define name="MAX_BAT_LEVEL" value="8.4" 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="ALT_KALMAN_ENABLED" value="TRUE"/>
+ <define name="ALT_BARO_ENABLED" value="TRUE"/>
+ </section>
+
+ <section name="PID">
+ <define name="PITCH_OF_ROLL" value="0.25"/>
+ <define name="PITCH_PGAIN" value="10000."/>
+ <define name="MAX_ROLL" value="0.35"/>
+ <define name="MAX_PITCH" value="0.35"/>
+ <define name="MIN_PITCH" value="-0.35"/>
+ <define name="AILERON_OF_THROTTLE" value="0.0"/>
+ <define name="CRUISE_THROTTLE" value="0.75"/>
+ </section>
+
+ <section name="ALT" prefix="CLIMB_">
+ <define name="PITCH_PGAIN" value="-0.05"/>
+ <define name="PITCH_IGAIN" value="0.075"/>
+ <define name="PGAIN" value="-0.01"/>
+ <define name="IGAIN" value="0.1"/>
+ <define name="MAX" value="1."/>
+ <define name="PITCH_OF_VZ_PGAIN" value="0.05"/>
+ <define name="THROTTLE_OF_CLIMB" value="0.15" unit="%/(m/s)"/>
+ </section>
+
+ <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+<!-- chni: diese Werte geben in Simulation schlechte Ergebnisse, daher
Änderung zu verifikation im flugtest:
+ <define name="COURSE_PGAIN" value="-4.3"/>
+ <define name="COURSE_DGAIN" value="1.08"/>
+-->
+ <define name="COURSE_PGAIN" value="-.7"/>
+ <define name="COURSE_DGAIN" value="0."/>
+ <define name="ROLL_MAX_SETPOINT" value="0.9" 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="2800.0"/>
+ <define name="AILERON_OF_THROTTLE" value="0.0"/>
+ <define name="PITCH_PGAIN" value="-9000."/>
+ <define name="PITCH_DGAIN" value="1.5"/>
+ <define name="ELEVATOR_OF_ROLL" value="1250."/>
+
+ <!-- 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="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="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="-0.03"/>
+ <!-- outer loop saturation -->
+ <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+ <!-- auto throttle inner loop -->
+ <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.65"/>
+ <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.20"/>
+ <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1.0"/>
+ <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
+ <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
+ <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15"
unit="%/(m/s)"/>
+ <define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
+ <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="-0.05"/>
+ <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="0.1"/>
+
+ </section>
+
+
+ <section name="NAV">
+ <define name="NAV_COURSE" value="180."/>
+ <define name="NAV_PITCH" value="0."/>
+ <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+ <define name="DEFAULT_CIRCLE_RADIUS" value="100" unit="m"/>
+ </section>
+
+ <section name="AGGRESSIVE" prefix="AGR_">
+ <define name="CLIMB_THROTTLE" value="0.95"/><!-- Throttle for Aggressive
Climb -->
+ <define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive
Decent -->
+ <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
+ <define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive
Decent -->
+ <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_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="60"/>
+ <define name="ALT_ROLL_PGAIN" value="120.0"/>
+ <define name="ROLL_RATE_PGAIN" value="85.0"/>
+ <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="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>
+-->
+
+
+ <makefile>
+
+
+
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+FLASH_MODE=IAP
+
+#Harware Low Level konfiguration
+
+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.CFLAGS += -DRAZOR_IMU -DUSE_ADC_5 -DUSE_ADC_6 -DUSE_ADC_7
+ap.srcs += razor_imu.c razor_util.c
+#ap.srcs += kalman_hb.c
+
+ap.srcs += diydrones/dcm.c diydrones/arduimu.c diydrones/matrix.c
diydrones/read_adc.c diydrones/vector.c
+
+#ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
test_adcs.c
+
+#olri added scp1000
+#ap.CFLAGS += -DUSE_BARO_SCP1000 -DUSE_SPI -DSPI_MASTER
+#ap.srcs += scp1000.c $(SRC_ARCH)/scp1000_hw.c spi.c $(SRC_ARCH)/spi_hw.c
+#olri added scp1000
+
+#olri
+ap.srcs += baro_scp.c
+ap.CFLAGS += -DUSE_BARO_SCP
+#olri
+
+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 -DRADIO_CONTROL_TYPE=RC_FUTABA
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+
+#olri tuning / settings
+ap.CFLAGS += -DRADIO_CONTROL_SETTINGS
+ap.srcs += rc_settings.c
+
+ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0
-DDATALINK=PPRZ -DUART0_BAUD=B38400
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
latlong.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
+
+# BARO_MP3H6115
+ap.CFLAGS += -DADC -DUSE_ADC_3 -DUSE_ADC_4
+#ap.CFLAGS += -DUSE_BARO_MP3H6115 -DBARO_SCALE=1.0
+#ap.srcs += baro_MP3H6115.c
+ap.srcs += baro_nobaro.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 -DADC -DUSE_ADC_3 -DUSE_ADC_4
+ap.srcs += infrared.c estimator.c
+
+ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+
+# bomb test
+ap.srcs += bomb.c #nav_survey_rectangle.c
+
+#ap.CFLAGS += -DGYRO -DRAZOR_GYRO
+#ap.srcs += gyro.c
+
+ap.srcs += nav_line.c nav_survey_rectangle.c
+
+ap.srcs += traffic_info.c
+
+#ap.srcs += light.c
+#ap.CFLAGS += -DUSE_LIGHT
+
+# PID sensor
+#ap.CFLAGS += -DUSE_ADC_6 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_6
-DADC_CHANNEL_GENERIC_NB_SAMPLES=16
+#ap.srcs += adc_generic.c
+
+ap.CFLAGS += -DUSE_MODULES
+
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DLOITER_TRIM
-DALT_KALMAN
+sim.srcs += nav_survey_rectangle.c nav_line.c
+sim.srcs += bomb.c #nav_survey_rectangle.c
+
+sim.srcs += light.c
+sim.CFLAGS += -DUSE_LIGHT
+
+#olri baro
+sim.CFLAGS += -DUSE_BARO_MP3H6115 -DBARO_SCALE=1.0
+sim.srcs += $(SRC_ARCH)/baro_MP3H6115_sim.c
+
+#olri tuning / settings
+sim.CFLAGS += -DRADIO_CONTROL_SETTINGS
+sim.srcs += rc_settings.c
+ap.CFLAGS += -DTELEMETRY_MODE_FBW=1
+
+
+
+
+ </makefile>
+</airframe>
Added: paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca2.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca2.xml
(rev 0)
+++ paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca2.xml
2010-08-26 16:04:52 UTC (rev 5714)
@@ -0,0 +1,295 @@
+<!DOCTYPE airframe SYSTEM "airframe.dtd">
+
+<airframe name="HB Busca 2 V0.2 (futaba)">
+
+<!-- commands section -->
+ <servos>
+ <servo name="THROTTLE" no="1" min="1000" neutral="1000" max="2000"/>
+<!-- <servo name="AILEVON_LEFT" no="0" max="1402" neutral="1531"
min="1632"/> -->
+ <servo name="AILEVON_LEFT" no="0" max="1398" neutral="1527" min="1628"/>
+<!-- <servo name="AILEVON_RIGHT" no="3" max="1619" neutral="1488"
min="1389"/> -->
+ <servo name="AILEVON_RIGHT" no="3" max="1623" neutral="1492" min="1393"/>
+ <servo name="HATCH" no="2" max="1259" neutral="1525" min="1525"/>
+ </servos>
+
+ <commands>
+ <axis name="THROTTLE" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="PITCH" failsafe_value="0"/>
+ <axis name="HATCH" failsafe_value="0"/>
+ </commands>
+
+ <rc_commands>
+ <set command="THROTTLE" value="@THROTTLE"/>
+ <set command="ROLL" value="@ROLL"/>
+ <set command="PITCH" value="@PITCH"/>
+ <set command="HATCH" value="@GAIN1"/>
+ </rc_commands>
+
+ <section name="MIXER">
+ <define name="AILEVON_AILERON_RATE" value="0.25"/>
+ <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
+ </section>
+
+ <command_laws>
+ <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
+ <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
+ <set servo="THROTTLE" value="@THROTTLE"/>
+ <set servo="HATCH" value="@HATCH"/>
+ <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
+ <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+ </command_laws>
+
+ <section name="AUTO1" prefix="AUTO1_">
+ <define name="MAX_ROLL" value="0.6"/>
+ <define name="MAX_PITCH" value="0.6"/>
+ </section>
+
+ <section name="adc" prefix="ADC_CHANNEL_">
+ <define name="IR1" value="ADC_0"/>
+ <define name="IR_TOP" value="ADC_1"/>
+ <define name="IR2" value="ADC_2"/>
+ <define name="IR_NB_SAMPLES" value="16"/>
+ <define name="PRESSURE_OFF" value="ADC_3"/>
+ <define name="PRESSURE" value="ADC_4"/>
+ <define name="PRESSURE_NB_SAMPLES" value="16"/>
+ <define name="PRESSURE_OFF_NB_SAMPLES" value="16"/>
+ <define name="GYRO_ROLL" value="ADC_5"/>
+ <define name="GYRO_TEMP" value="ADC_6"/>
+ <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="16" 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="IR1_SIGN" value="1"/>
+ <define name="IR2_SIGN" value="-1"/>
+ <define name="TOP_SIGN" value="1"/>
+ <define name="HORIZ_SENSOR_TILTED" value="1"/>
+ <define name="LATERAL_CORRECTION" value="0.7"/>
+ <define name="LONGITUDINAL_CORRECTION" value="0.7"/>
+ <define name="VERTICAL_CORRECTION" value="1."/>
+ <define name="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
+ <define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
+ <define name="RAD_OF_IR_CONTRAST" value="0.0001"/>
+ <define name="ADC_IR1_NEUTRAL" value="512"/>
+ <define name="ADC_IR2_NEUTRAL" value="512"/>
+ <define name="ADC_TOP_NEUTRAL" value="512"/>
+ </section>
+
+ <section name="GYRO" prefix="GYRO_">
+ <define name="ADC_ROLL_COEF" value="1"/>
+ <define name="ADC_ROLL_NEUTRAL" value="500"/>
+ <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="CATASTROPHIC_BAT_LEVEL" value="8.3" unit="V"/>
+ <define name="CRITIC_BAT_LEVEL" value="9.0" unit="V"/>
+ <define name="LOW_BAT_LEVEL" value="10.0" unit="V"/>
+ <define name="MAX_BAT_LEVEL" value="12.6" unit="V"/>
+ </section>
+
+ <section name="MISC">
+<!-- adjusted nom. speed for course calc | old: 15. -->
+ <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"/>
+ </section>
+
+ <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+<!-- adjusted course_pgain for course calc | old: -0.4 -->
+ <define name="COURSE_PGAIN" value="-0.35"/>
+ <define name="COURSE_DGAIN" value="1.5"/>
+ <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="5000."/>
+ <define name="AILERON_OF_THROTTLE" value="0.0"/>
+ <!-- old: -9000 -->
+ <define name="PITCH_PGAIN" value="-10000."/>
+ <define name="PITCH_DGAIN" value="1.5"/>
+ <!-- old: 1250 -->
+ <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="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="VERTICAL CONTROL" prefix="V_CTL_">
+ <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
+ <!-- outer loop proportional gain -->
+ <!-- old: -0.03 -->
+ <define name="ALTITUDE_PGAIN" value="-0.05"/>
+ <!-- outer loop saturation -->
+ <!-- old: 2 -->
+ <define name="ALTITUDE_MAX_CLIMB" value="3."/>
+
+ <!-- auto throttle inner loop -->
+ <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.37"/>
+ <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="-1000"/>
+ <!-- old: 0.15 -->
+ <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.175"
unit="%/(m/s)"/>
+ <define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
+ <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="-0.05"/>
+ <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="0.1"/>
+ </section>
+
+
+ <section name="NAV">
+ <define name="NAV_PITCH" value="0."/>
+ <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+ <define name="DEFAULT_CIRCLE_RADIUS" value="50" unit="m"/>
+ </section>
+
+ <section name="AGGRESSIVE" prefix="AGR_">
+ <define name="CLIMB_THROTTLE" value="0.95"/><!-- Throttle for Aggressive
Climb -->
+ <define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive
Decent -->
+ <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
+ <define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive
Decent -->
+ <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_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="60"/>
+ <define name="ALT_ROLL_PGAIN" value="120.0"/>
+ <define name="ROLL_RATE_PGAIN" value="85.0"/>
+ <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="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>
+-->
+
+
+ <makefile>
+
+
+
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+FLASH_MODE=IAP
+
+#Harware Low Level konfiguration
+
+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 -DRADIO_CONTROL_TYPE=RC_FUTABA
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+
+#olri tuning / settings
+ap.CFLAGS += -DRADIO_CONTROL_SETTINGS
+ap.srcs += rc_settings.c
+
+ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0
-DDATALINK=PPRZ -DUART0_BAUD=B38400
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
latlong.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
+
+# BARO_MP3H6115
+ap.CFLAGS += -DADC -DUSE_ADC_3 -DUSE_ADC_4
+ap.CFLAGS += -DUSE_BARO_MP3H6115 -DBARO_SCALE=1.0
+ap.srcs += baro_MP3H6115.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
+ap.srcs += infrared.c estimator.c
+
+ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+
+# bomb test
+ap.srcs += bomb.c #nav_survey_rectangle.c
+
+#ap.CFLAGS += -DGYRO -DADXRS150
+#ap.srcs += gyro.c
+
+ap.srcs += nav_line.c nav_survey_rectangle.c
+
+ap.srcs += traffic_info.c
+
+#ap.srcs += light.c
+#ap.CFLAGS += -DUSE_LIGHT
+
+# PID sensor
+#ap.CFLAGS += -DUSE_ADC_6 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_6
-DADC_CHANNEL_GENERIC_NB_SAMPLES=16
+#ap.srcs += adc_generic.c
+
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DCONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+sim.srcs += nav_survey_rectangle.c nav_line.c
+sim.srcs += bomb.c #nav_survey_rectangle.c
+
+sim.srcs += light.c
+sim.CFLAGS += -DUSE_LIGHT
+
+#olri baro
+sim.CFLAGS += -DUSE_BARO_MP3H6115 -DBARO_SCALE=1.0
+sim.srcs += $(SRC_ARCH)/baro_MP3H6115_sim.c
+
+#olri tuning / settings
+sim.CFLAGS += -DRADIO_CONTROL_SETTINGS
+sim.srcs += rc_settings.c
+
+ </makefile>
+</airframe>
Added: paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca3.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca3.xml
(rev 0)
+++ paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Busca3.xml
2010-08-26 16:04:52 UTC (rev 5714)
@@ -0,0 +1,292 @@
+<!DOCTYPE airframe SYSTEM "airframe.dtd">
+
+<airframe name="HB-D1 Busca V0.1 (futaba)">
+
+<!-- commands section -->
+ <servos>
+ <servo name="THROTTLE" no="1" min="1000" neutral="1000" max="2000"/>
+<!-- <servo name="AILEVON_LEFT" no="0" max="1390" neutral="1500"
min="1660"/> -->
+ <servo name="AILEVON_LEFT" no="0" max="1390" neutral="1519" min="1620"/>
+<!-- <servo name="AILEVON_RIGHT" no="3" max="1520" neutral="1500"
min="1460"/> -->
+ <servo name="AILEVON_RIGHT" no="3" max="1620" neutral="1489" min="1390"/>
+ <servo name="HATCH" no="2" max="950" neutral="1525" min="1525"/>
+ </servos>
+
+ <commands>
+ <axis name="THROTTLE" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="PITCH" failsafe_value="0"/>
+ <axis name="HATCH" failsafe_value="0"/>
+ </commands>
+
+ <rc_commands>
+ <set command="THROTTLE" value="@THROTTLE"/>
+ <set command="ROLL" value="@ROLL"/>
+ <set command="PITCH" value="@PITCH"/>
+ <set command="HATCH" value="@GAIN1"/>
+ </rc_commands>
+
+ <section name="MIXER">
+ <define name="AILEVON_AILERON_RATE" value="0.25"/>
+ <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
+ </section>
+
+ <command_laws>
+ <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
+ <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
+ <set servo="THROTTLE" value="@THROTTLE"/>
+ <set servo="HATCH" value="@HATCH"/>
+ <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
+ <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+ </command_laws>
+
+ <section name="AUTO1" prefix="AUTO1_">
+ <define name="MAX_ROLL" value="0.6"/>
+ <define name="MAX_PITCH" value="0.6"/>
+ </section>
+
+ <section name="adc" prefix="ADC_CHANNEL_">
+ <define name="IR1" value="ADC_0"/>
+ <define name="IR_TOP" value="ADC_1"/>
+ <define name="IR2" value="ADC_2"/>
+ <define name="IR_NB_SAMPLES" value="16"/>
+ <define name="PRESSURE_OFF" value="ADC_3"/>
+ <define name="PRESSURE" value="ADC_4"/>
+ <define name="PRESSURE_NB_SAMPLES" value="16"/>
+ <define name="GYRO_ROLL" value="ADC_5"/>
+ <define name="GYRO_TEMP" value="ADC_6"/>
+ <define name="GYRO_NB_SAMPLES" value="16"/>
+ </section>
+
+ <section name="INFRARED" prefix="IR_">
+ <define name="ROLL_NEUTRAL_DEFAULT" value="6" 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="IR1_SIGN" value="1"/>
+ <define name="IR2_SIGN" value="-1"/>
+ <define name="TOP_SIGN" value="1"/>
+ <define name="HORIZ_SENSOR_TILTED" value="1"/>
+ <define name="LATERAL_CORRECTION" value="0.7"/>
+ <define name="LONGITUDINAL_CORRECTION" value="0.7"/>
+ <define name="VERTICAL_CORRECTION" value="1."/>
+ <define name="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
+ <define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
+ <define name="RAD_OF_IR_CONTRAST" value="0.0001"/>
+ <define name="ADC_IR1_NEUTRAL" value="512"/>
+ <define name="ADC_IR2_NEUTRAL" value="512"/>
+ <define name="ADC_TOP_NEUTRAL" value="512"/>
+ </section>
+
+ <section name="GYRO" prefix="GYRO_">
+ <define name="ADC_ROLL_COEF" value="1"/>
+ <define name="ADC_ROLL_NEUTRAL" value="500"/>
+ <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="LOW_BATTERY" value="9.3" 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"/>
+ </section>
+
+ <section name="PID">
+ <define name="ROLL_PGAIN" value="5000."/>
+ <define name="PITCH_OF_ROLL" value="0.25"/>
+ <define name="PITCH_PGAIN" value="10000."/>
+ <define name="MAX_ROLL" value="0.35"/>
+ <define name="MAX_PITCH" value="0.35"/>
+ <define name="MIN_PITCH" value="-0.35"/>
+ <define name="AILERON_OF_THROTTLE" value="0.0"/>
+ <define name="CRUISE_THROTTLE" value="0.35"/>
+ </section>
+
+ <section name="ALT" prefix="CLIMB_">
+ <define name="PITCH_PGAIN" value="-0.05"/>
+ <define name="PITCH_IGAIN" value="0.075"/>
+ <define name="PGAIN" value="-0.01"/>
+ <define name="IGAIN" value="0.1"/>
+ <define name="MAX" value="1."/>
+ <define name="PITCH_OF_VZ_PGAIN" value="0.05"/>
+ <define name="THROTTLE_OF_CLIMB" value="0.15" unit="%/(m/s)"/>
+ </section>
+
+ <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+ <define name="COURSE_PGAIN" value="-0.4"/>
+ <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="5000."/>
+ <define name="AILERON_OF_THROTTLE" value="0.0"/>
+ <define name="PITCH_PGAIN" value="-9000."/>
+ <define name="PITCH_DGAIN" value="1.5"/>
+ <define name="ELEVATOR_OF_ROLL" value="1250"/>
+
+ <!-- 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="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="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="-0.03"/>
+ <!-- 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="0.30"/>
+ <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="0.15"
unit="%/(m/s)"/>
+ <define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
+ <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="-0.05"/>
+ <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="0.1"/>
+
+ </section>
+
+
+ <section name="NAV">
+ <define name="NAV_PITCH" value="0."/>
+ <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+ <define name="DEFAULT_CIRCLE_RADIUS" value="100" unit="m"/>
+ </section>
+
+ <section name="AGGRESSIVE" prefix="AGR_">
+ <define name="CLIMB_THROTTLE" value="0.95"/><!-- Throttle for Aggressive
Climb -->
+ <define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive
Decent -->
+ <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
+ <define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive
Decent -->
+ <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_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="60"/>
+ <define name="ALT_ROLL_PGAIN" value="120.0"/>
+ <define name="ROLL_RATE_PGAIN" value="85.0"/>
+ <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="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>
+-->
+
+
+ <makefile>
+
+
+
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+FLASH_MODE=IAP
+
+#Harware Low Level konfiguration
+
+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 -DRADIO_CONTROL_TYPE=RC_FUTABA
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+
+ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0
-DDATALINK=PPRZ -DUART0_BAUD=B38400
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
latlong.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
+
+# BARO_MP3H6115
+ap.CFLAGS += -DADC -DUSE_ADC_3 -DUSE_ADC_4
+ap.CFLAGS += -DUSE_BARO_MP3H6115
+ap.srcs += baro_MP3H6115.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
+ap.srcs += infrared.c estimator.c
+
+ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+
+#ap.CFLAGS += -DGYRO -DADXRS150
+#ap.srcs += gyro.c
+
+ap.srcs += nav_line.c nav_survey_rectangle.c
+
+ap.srcs += traffic_info.c
+
+#ap.srcs += light.c
+#ap.CFLAGS += -DUSE_LIGHT
+
+# PID sensor
+#ap.CFLAGS += -DUSE_ADC_6 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_6
-DADC_CHANNEL_GENERIC_NB_SAMPLES=16
+#ap.srcs += adc_generic.c
+
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+sim.srcs += nav_survey_rectangle.c nav_line.c
+
+sim.srcs += light.c
+sim.CFLAGS += -DUSE_LIGHT
+
+ </makefile>
+</airframe>
Added: paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Lerche.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Lerche.xml
(rev 0)
+++ paparazzi3/branches/HB/trunk/conf/airframes/HB/fixed-wing/HB_Lerche.xml
2010-08-26 16:04:52 UTC (rev 5714)
@@ -0,0 +1,289 @@
+<!DOCTYPE airframe SYSTEM "airframe.dtd">
+
+<airframe name="HB Lerche V0.2 (JR)">
+
+<!-- commands section -->
+ <servos>
+<!-- <servo name="THROTTLE" no="4" min="1240" neutral="1240" max="1840"/>
-->
+ <servo name="THROTTLE" no="4" min="1150" neutral="1100" max="1920"/>
+<!-- <servo name="ROLL" no="3" max="1160" neutral="1560" min="1960"/>
-->
+ <servo name="ROLL" no="3" max="1960" neutral="1495" min="1160"/>
+ <servo name="ELEVATOR" no="6" max="1920" neutral="1520" min="1120"/>
+ <servo name="HATCH" no="5" max="1880" neutral="1320" min="1320"/>
+ </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="PITCH" value="@PITCH"/>
+ <set command="ROLL" value="@ROLL"/>
+ <set command="HATCH" value="@GAIN1"/>
+ </rc_commands>
+
+ <command_laws>
+ <set servo="THROTTLE" value="@THROTTLE"/>
+ <set servo="ROLL" value="@ROLL"/>
+ <set servo="ELEVATOR" value="@PITCH"/>
+ <set servo="HATCH" value="@HATCH"/>
+ </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="IR_TOP" value="ADC_1"/>
+ <define name="IR2" value="ADC_2"/>
+ <define name="IR_NB_SAMPLES" value="16"/>
+ <define name="PRESSURE_OFF" value="ADC_3"/>
+ <define name="PRESSURE" value="ADC_4"/>
+ <define name="PRESSURE_NB_SAMPLES" value="16"/>
+ <define name="PRESSURE_OFF_NB_SAMPLES" value="16"/>
+ <define name="GYRO_ROLL" value="ADC_5"/>
+ <define name="GYRO_TEMP" value="ADC_6"/>
+ <define name="GYRO_NB_SAMPLES" value="16"/>
+ </section>
+
+ <section name="INFRARED" prefix="IR_">
+ <define name="ROLL_NEUTRAL_DEFAULT" value="-4" unit="deg"/>
+ <define name="PITCH_NEUTRAL_DEFAULT" value="6" unit="deg"/>
+<!-- war 11 -->
+<!-- <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="IR1_SIGN" value="1"/>
+ <define name="IR2_SIGN" value="-1"/>
+ <define name="TOP_SIGN" value="1"/>
+ <define name="HORIZ_SENSOR_TILTED" value="1"/>
+ <define name="LATERAL_CORRECTION" value="0.7"/>
+ <define name="LONGITUDINAL_CORRECTION" value="0.7"/>
+ <define name="VERTICAL_CORRECTION" value="1."/>
+ <define name="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
+ <define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
+ <define name="RAD_OF_IR_CONTRAST" value="0.0001"/>
+ <define name="ADC_IR1_NEUTRAL" value="508"/>
+ <define name="ADC_IR2_NEUTRAL" value="492"/> <!-- 40 -->
+ <define name="ADC_TOP_NEUTRAL" value="499"/> <!-- 27 -->
+ </section>
+
+ <section name="GYRO" prefix="GYRO_">
+ <define name="ADC_ROLL_COEF" value="1"/>
+ <define name="ADC_ROLL_NEUTRAL" value="500"/>
+ <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="CATASTROPHIC_BAT_LEVEL" value="5.5" unit="V"/>
+ <define name="CRITIC_BAT_LEVEL" value="6.0" unit="V"/>
+ <define name="LOW_BAT_LEVEL" value="6.5" unit="V"/>
+ <define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
+ </section>
+
+ <section name="MISC">
+<!-- adjusted nom. speed for course calc | old: 15. -->
+ <define name="NOMINAL_AIRSPEED" value="11." 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="ALT_BARO_ENABLED" value="TRUE"/>
+ </section>
+
+ <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+<!-- adjusted course_pgain for course calc | old: -0.4 -->
+ <define name="COURSE_PGAIN" value="-0.5"/>
+ <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="5000."/>
+ <define name="AILERON_OF_THROTTLE" value="0.0"/>
+<!-- old -10500 -->
+ <define name="PITCH_PGAIN" value="-11500."/>
+ <define name="PITCH_DGAIN" value="1.5"/>
+ <define name="ELEVATOR_OF_ROLL" value="1250"/>
+
+ <!-- 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="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="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="-0.03"/>
+ <!-- outer loop saturation -->
+ <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+ <!-- auto throttle inner loop -->
+ <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.80"/>
+ <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.60"/>
+ <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1.0"/>
+ <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
+ <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
+<!-- 0.15 -->
+ <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.175"
unit="%/(m/s)"/>
+ <define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
+ <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="-0.05"/>
+ <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="0.1"/>
+ </section>
+
+
+ <section name="NAV">
+ <define name="NAV_PITCH" value="0."/>
+ <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+ <define name="DEFAULT_CIRCLE_RADIUS" value="45" unit="m"/>
+ </section>
+
+ <section name="AGGRESSIVE" prefix="AGR_">
+ <define name="CLIMB_THROTTLE" value="0.95"/><!-- Throttle for Aggressive
Climb -->
+ <define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive
Decent -->
+ <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
+ <define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive
Decent -->
+ <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_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="60"/>
+ <define name="ALT_ROLL_PGAIN" value="120.0"/>
+ <define name="ROLL_RATE_PGAIN" value="85.0"/>
+ <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="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>
+-->
+
+
+ <makefile>
+
+
+
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+FLASH_MODE=IAP
+
+#Harware Low Level konfiguration
+
+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 -DRADIO_CONTROL_TYPE=RC_JR
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+
+#olri tuning / settings
+ap.CFLAGS += -DRADIO_CONTROL_SETTINGS
+ap.srcs += rc_settings.c
+
+ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0
-DDATALINK=PPRZ -DUART0_BAUD=B38400
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
latlong.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
+
+# BARO_MP3H6115
+ap.CFLAGS += -DADC -DUSE_ADC_3 -DUSE_ADC_4
+ap.CFLAGS += -DUSE_BARO_MP3H6115 -DBARO_SCALE=1.0
+ap.srcs += baro_MP3H6115.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
+ap.srcs += infrared.c estimator.c
+
+ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+
+# bomb test
+ap.srcs += bomb.c #nav_survey_rectangle.c
+
+#ap.CFLAGS += -DGYRO -DADXRS150
+#ap.srcs += gyro.c
+
+ap.srcs += nav_line.c nav_survey_rectangle.c
+
+ap.srcs += traffic_info.c
+
+#ap.srcs += light.c
+#ap.CFLAGS += -DUSE_LIGHT
+
+# PID sensor
+#ap.CFLAGS += -DUSE_ADC_6 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_6
-DADC_CHANNEL_GENERIC_NB_SAMPLES=16
+#ap.srcs += adc_generic.c
+
+ap.CFLAGS += -DUSE_MODULES
+
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DLOITER_TRIM
-DALT_KALMAN
+sim.srcs += nav_survey_rectangle.c nav_line.c
+sim.srcs += bomb.c #nav_survey_rectangle.c
+
+sim.srcs += light.c
+sim.CFLAGS += -DUSE_LIGHT
+
+#olri baro
+sim.CFLAGS += -DUSE_BARO_MP3H6115 -DBARO_SCALE=1.0
+sim.srcs += $(SRC_ARCH)/baro_MP3H6115_sim.c
+
+#olri tuning / settings
+sim.CFLAGS += -DRADIO_CONTROL_SETTINGS
+sim.srcs += rc_settings.c
+
+ </makefile>
+</airframe>
Added: paparazzi3/branches/HB/trunk/conf/conf.xml.HB
===================================================================
--- paparazzi3/branches/HB/trunk/conf/conf.xml.HB
(rev 0)
+++ paparazzi3/branches/HB/trunk/conf/conf.xml.HB 2010-08-26 16:04:52 UTC
(rev 5714)
@@ -0,0 +1,162 @@
+<conf>
+ <aircraft
+ name="Busca1"
+ ac_id="202"
+ airframe="airframes/HB_Busca1.xml"
+ radio="radios/mc22-HB-D1.xml"
+ telemetry="telemetry/default.xml"
+ flight_plan="flight_plans/stieglitz.xml"
+ settings="settings/tuning_hsb.xml"
+ gui_color="blue"
+ />
+ <aircraft
+ name="Busca1Razor"
+ ac_id="222"
+ airframe="airframes/HB_Busca1Razor.xml"
+ radio="radios/mc22-HB-D1.xml"
+ telemetry="telemetry/default.xml"
+ flight_plan="flight_plans/stieglitz.xml"
+ settings="settings/tuning_hsb.xml"
+ gui_color="blue"
+ />
+ <aircraft
+ name="Busca2"
+ ac_id="203"
+ airframe="airframes/HB_Busca2.xml"
+ radio="radios/mc22-HB-D1.xml"
+ telemetry="telemetry/default.xml"
+ flight_plan="flight_plans/stieglitz.xml"
+ settings="settings/tuning_hsb.xml"
+ gui_color="#43b8f0e017c0"
+ />
+ <aircraft
+ name="Busca2G"
+ ac_id="223"
+ airframe="airframes/HB_Busca2.xml"
+ radio="radios/mc22-HB-D1.xml"
+ telemetry="telemetry/default.xml"
+ flight_plan="flight_plans/gifhorn.xml"
+ settings="settings/tuning_hsb.xml"
+ gui_color="#43b8f0e017c0"
+ />
+ <aircraft
+ name="Busca2GL"
+ ac_id="233"
+ airframe="airframes/HB_Busca2.xml"
+ radio="radios/mc22-HB-D1.xml"
+ telemetry="telemetry/default.xml"
+ flight_plan="flight_plans/gifhorn_gates.xml"
+ settings="settings/tuning_hsb.xml"
+ gui_color="#43b8f0e017c0"
+ />
+ <aircraft
+ name="Busca2L"
+ ac_id="213"
+ airframe="airframes/HB_Busca2.xml"
+ radio="radios/mc22-HB-D1.xml"
+ telemetry="telemetry/default.xml"
+ flight_plan="flight_plans/stieglitz_gates.xml"
+ settings="settings/tuning_hsb.xml"
+ gui_color="#43b8f0e017c0"
+ />
+ <aircraft
+ name="Busca3"
+ ac_id="204"
+ airframe="airframes/HB_Busca3.xml"
+ radio="radios/mc22-HB-D1.xml"
+ telemetry="telemetry/default.xml"
+ flight_plan="flight_plans/stieglitz.xml"
+ gui_color="#f1df130415ad"
+ settings="settings/tuning_hsb.xml"
+ />
+ <aircraft
+ name="Busca_Razor_40cm"
+ ac_id="43"
+ airframe="airframes/HB_Busca1Razor_klein.xml"
+ radio="radios/mc22-HB-D1.xml"
+ telemetry="telemetry/default.xml"
+ flight_plan="flight_plans/stieglitz_chni.xml"
+ settings="settings/tuning_hsb.xml"
+ gui_color="white"
+ />
+ <aircraft
+ name="Busca_Razor_80cm"
+ ac_id="42"
+ airframe="airframes/HB_Busca1Razor.xml"
+ radio="radios/mc22-HB-D1.xml"
+ telemetry="telemetry/default.xml"
+ flight_plan="flight_plans/stieglitz_chni.xml"
+ settings="settings/tuning_hsb.xml"
+ gui_color="white"
+ />
+ <aircraft
+ name="DEMO"
+ ac_id="144"
+ airframe="airframes/demo.xml"
+ radio="radios/T9cap.xml"
+ telemetry="telemetry/default.xml"
+ flight_plan="flight_plans/dummy.xml"
+ settings="settings/demo5_settings.xml"
+ gui_color="white"
+ />
+ <aircraft
+ name="Lerche"
+ ac_id="205"
+ airframe="airframes/HB_Lerche.xml"
+ radio="radios/fm314.xml"
+ telemetry="telemetry/default.xml"
+ flight_plan="flight_plans/gifhorn_lerche_go.xml"
+ settings="settings/tuning_hsb.xml"
+ gui_color="#ffffffffffff"
+ />
+ <aircraft
+ name="MJ5"
+ ac_id="5"
+ airframe="airframes/microjet5.xml"
+ radio="radios/cockpitMM.xml"
+ telemetry="telemetry/default.xml"
+ flight_plan="flight_plans/muret_demo_1.xml"
+ settings="settings/basic.xml"
+ gui_color="#ffffffffffff"
+ />
+ <aircraft
+ name="SAS"
+ ac_id="44"
+ airframe="airframes/HB/SAS.xml"
+ radio="radios/mc22-HB-D1.xml"
+ telemetry="telemetry/default.xml"
+ flight_plan="flight_plans/HB/hochschule.xml"
+ settings="settings/tuning_hsb.xml"
+ gui_color="white"
+ />
+ <aircraft
+ name="TJ1"
+ ac_id="6"
+ airframe="airframes/twinjet1.xml"
+ radio="radios/cockpitMM.xml"
+ telemetry="telemetry/default.xml"
+ flight_plan="flight_plans/versatile.xml"
+ settings="settings/tuning.xml settings/gyro.xml"
+ gui_color="#ba6293"
+ />
+ <aircraft
+ name="TWOG_CHNI"
+ ac_id="84"
+ airframe="airframes/CHNI_Twog.xml"
+ radio="radios/cockpitCHNI.xml"
+ telemetry="telemetry/default.xml"
+ flight_plan="flight_plans/strom_chni.xml"
+ settings="settings/tuning.xml"
+ gui_color="#ffffffffffff"
+ />
+ <aircraft
+ name="Twin1"
+ ac_id="1"
+ airframe="airframes/twinstar1.xml"
+ radio="radios/mc3030.xml"
+ telemetry="telemetry/default.xml"
+ flight_plan="flight_plans/mav05_cw.xml"
+ settings="settings/basic.xml"
+ gui_color="blue"
+ />
+</conf>
Added: paparazzi3/branches/HB/trunk/conf/control_panel.xml.HB
===================================================================
--- paparazzi3/branches/HB/trunk/conf/control_panel.xml.HB
(rev 0)
+++ paparazzi3/branches/HB/trunk/conf/control_panel.xml.HB 2010-08-26
16:04:52 UTC (rev 5714)
@@ -0,0 +1,174 @@
+<control_panel name="paparazzi control panel">
+ <section name="variables">
+ <variable name="downlink_serial_port" value="/dev/ttyUSB0"/>
+ <variable name="fbw_serial_port" value="/dev/ttyS1"/>
+ <variable name="ap_serial_port" value="/dev/ttyS0"/>
+ <variable name="ivy_bus" value="127:2010"/>
+ <variable name="map" value="muret_UTM.xml"/>
+ <variable name="flight_plan" value="flight_plans/muret1.xml"/>
+ </section>
+ <section name="programs">
+ <program name="Server" command="sw/ground_segment/tmtc/server">
+ <arg flag="-b" variable="ivy_bus"/>
+ </program>
+ <program name="Data Link" command="sw/ground_segment/tmtc/link">
+ <arg flag="-b" variable="ivy_bus"/>
+ </program>
+ <program name="GCS" command="sw/ground_segment/cockpit/gcs">
+ <arg flag="-b" variable="ivy_bus"/>
+ </program>
+ <program name="Flight Plan Editor" command="sw/ground_segment/cockpit/gcs
-edit"/>
+ <program name="Messages" command="sw/ground_segment/tmtc/messages">
+ <arg flag="-b" variable="ivy_bus"/>
+ </program>
+ <program name="Settings" command="sw/ground_segment/tmtc/settings">
+ <arg flag="-b" variable="ivy_bus"/>
+ </program>
+ <program name="Log Plotter" command="sw/logalizer/plot"/>
+ <program name="Real-time Plotter" command="sw/logalizer/plotter"/>
+ <program name="Log File Player" command="sw/logalizer/play">
+ <arg flag="-b" variable="ivy_bus"/>
+ </program>
+ <program name="Simulator" command="sw/simulator/launchsitl">
+ <arg flag="-b" variable="ivy_bus"/>
+ </program>
+ <program name="Hardware in the Loop" command="sw/simulator/simhitl">
+ <arg flag="-fbw" variable="fbw_serial_port"/>
+ <arg flag="-ap" variable="ap_serial_port"/>
+ </program>
+ <program name="Environment Simulator" command="sw/simulator/gaia">
+ <arg flag="-b" variable="ivy_bus"/>
+ </program>
+ <program name="Http Server" command="sw/ground_segment/tmtc/boa"/>
+ </section>
+ <section name="sessions">
+ <session name="38k4 radiotronics & ftdi">
+ <program name="Data Link">
+ <arg flag="-d" constant="/dev/ttyUSB0"/>
+ <arg flag="-s" constant="38400"/>
+ </program>
+ <program name="Messages"/>
+ <program name="Server"/>
+ <program name="GCS"/>
+ <program name="Real-time Plotter"/>
+ </session>
+ <session name="Booz simulation : AHRS">
+ <program name="Messages">
+ <arg flag="-c" constant="telemetry"/>
+ </program>
+ <program name="Real-time Plotter">
+ <arg flag="-t" constant="rate : p"/>
+ <arg flag="-g" constant="0+450:830x450"/>
+ <arg flag="-u" constant="0.1"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_SIM_RATE_ATTITUDE:p'"/>
+ <arg flag="-c" constant="'*:telemetry:IMU_GYRO:gp:57.3'"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_RATE_LOOP:est_p:57.3'"/>
+ </program>
+ <program name="Real-time Plotter">
+ <arg flag="-t" constant="rate : q"/>
+ <arg flag="-u" constant="0.1"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_SIM_RATE_ATTITUDE:q'"/>
+ <arg flag="-c" constant="'*:telemetry:IMU_GYRO:gq:57.3'"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_RATE_LOOP:est_q:57.3'"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_RATE_LOOP:sp_q:57.3'"/>
+ </program>
+ <program name="Real-time Plotter">
+ <arg flag="-t" constant="rate : r"/>
+ <arg flag="-u" constant="0.1"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_SIM_RATE_ATTITUDE:r'"/>
+ <arg flag="-c" constant="'*:telemetry:IMU_GYRO:gr:57.3'"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_RATE_LOOP:est_r:57.3'"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_RATE_LOOP:sp_r:57.3'"/>
+ </program>
+ <program name="Real-time Plotter">
+ <arg flag="-t" constant="attitude : phi"/>
+ <arg flag="-u" constant="0.1"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_SIM_RATE_ATTITUDE:phi'"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_ATT_LOOP:est_phi:57.3'"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_ATT_LOOP:sp_phi:57.3'"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_AHRS_MEASURE:phi:57.3'"/>
+ </program>
+ <program name="Real-time Plotter">
+ <arg flag="-t" constant="attitude : theta"/>
+ <arg flag="-u" constant="0.1"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_SIM_RATE_ATTITUDE:theta'"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_ATT_LOOP:est_theta:57.3'"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_ATT_LOOP:sp_theta:57.3'"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_AHRS_MEASURE:theta:57.3'"/>
+ </program>
+ <program name="Real-time Plotter">
+ <arg flag="-t" constant="attitude : psi"/>
+ <arg flag="-u" constant="0.1"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_SIM_RATE_ATTITUDE:psi'"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_AHRS_MEASURE:psi:57.3'"/>
+ </program>
+ <program name="Real-time Plotter">
+ <arg flag="-t" constant="speed : u v w"/>
+ <arg flag="-u" constant="0.1"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_SIM_SPEED_POS:u'"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_SIM_SPEED_POS:v'"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_SIM_SPEED_POS:w'"/>
+ </program>
+ <program name="Real-time Plotter">
+ <arg flag="-t" constant="position : x"/>
+ <arg flag="-u" constant="0.1"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_SIM_SPEED_POS:x'"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_HOV_LOOP:est_x'"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_HOV_LOOP:sp_x'"/>
+ </program>
+ <program name="Real-time Plotter">
+ <arg flag="-t" constant="position : y"/>
+ <arg flag="-u" constant="0.1"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_SIM_SPEED_POS:y'"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_HOV_LOOP:est_y:'"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_HOV_LOOP:sp_y:'"/>
+ </program>
+ <program name="Real-time Plotter">
+ <arg flag="-t" constant="position : z"/>
+ <arg flag="-u" constant="0.1"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_SIM_SPEED_POS:z'"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_VERT_LOOP:est_z'"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_VERT_LOOP:sp_z'"/>
+ </program>
+ <program name="Real-time Plotter">
+ <arg flag="-t" constant="ahrs : bp bq br"/>
+ <arg flag="-u" constant="0.1"/>
+ <arg flag="-c" constant="'*:telemetry:AHRS_EULER_STATE:bp:57.3'"/>
+ <arg flag="-c" constant="'*:telemetry:AHRS_EULER_STATE:bq:57.3'"/>
+ <arg flag="-c" constant="'*:telemetry:AHRS_EULER_STATE:br:57.3'"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_SIM_GYRO_BIAS:bp'"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_SIM_GYRO_BIAS:bq'"/>
+ <arg flag="-c" constant="'*:telemetry:BOOZ_SIM_GYRO_BIAS:br'"/>
+ </program>
+ <program name="Real-time Plotter">
+ <arg flag="-t" constant="ahrs : covariances"/>
+ <arg flag="-u" constant="0.1"/>
+ <arg flag="-c" constant="'*:telemetry:AHRS_EULER_COV:p_phi_phi'"/>
+ <arg flag="-c" constant="'*:telemetry:AHRS_EULER_COV:p_phi_bp'"/>
+ <arg flag="-c" constant="'*:telemetry:AHRS_EULER_COV:p_bp_bp'"/>
+ <arg flag="-c" constant="'*:telemetry:AHRS_EULER_COV:p_theta_theta'"/>
+ <arg flag="-c" constant="'*:telemetry:AHRS_EULER_COV:p_theta_bq'"/>
+ <arg flag="-c" constant="'*:telemetry:AHRS_EULER_COV:p_bq_bq'"/>
+ <arg flag="-c" constant="'*:telemetry:AHRS_EULER_COV:p_psi_psi'"/>
+ <arg flag="-c" constant="'*:telemetry:AHRS_EULER_COV:p_psi_br'"/>
+ <arg flag="-c" constant="'*:telemetry:AHRS_EULER_COV:p_br_br'"/>
+ </program>
+ </session>
+ <session name="Flight address@hidden">
+ <program name="Data Link">
+ <arg flag="-d" constant="/dev/paparazzi/xbee"/>
+ <arg flag="-transport" constant="xbee"/>
+ <arg flag="-s" constant="57600"/>
+ </program>
+ <program name="Server"/>
+ <program name="GCS"/>
+ </session>
+ <session name="Flight address@hidden">
+ <program name="Data Link">
+ <arg flag="-d" constant="/dev/ttyUSB0"/>
+ </program>
+ <program name="Server"/>
+ <program name="GCS"/>
+ </session>
+ </section>
+</control_panel>
\ No newline at end of file
Added: paparazzi3/branches/HB/trunk/conf/flight_plans/HB/gifhorn.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/flight_plans/HB/gifhorn.xml
(rev 0)
+++ paparazzi3/branches/HB/trunk/conf/flight_plans/HB/gifhorn.xml
2010-08-26 16:04:52 UTC (rev 5714)
@@ -0,0 +1,42 @@
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
+
+<flight_plan alt="80" ground_alt="80" lat0="52.524013" lon0="10.464399"
max_dist_from_home="275" name="Gifhorn/Wilsche" qfu="270" security_height="10">
+ <waypoints>
+ <waypoint alt="20.0" name="HOME" x="0.0" y="-0.0"/>
+ <waypoint alt="30.0" name="WP1" x="-195.6" y="108.0"/>
+ <waypoint alt="30.0" name="WP2" x="35.2" y="108.6"/>
+ <waypoint alt="60.0" name="A" x="-638.6" y="127.4"/>
+ <waypoint alt="60.0" name="B" x="-577.2" y="-133.3"/>
+ <waypoint alt="60.0" name="C" x="366.1" y="100.9"/>
+ <waypoint alt="60.0" name="D" x="407.9" y="-109.3"/>
+ <waypoint alt="2.0" name="Arch1" x="-32.4" y="9.4"/>
+ <waypoint alt="2.0" name="Arch2" x="17.6" y="10.4"/>
+ <waypoint alt="2.0" name="Arch3" x="19.7" y="59.4"/>
+ <waypoint alt="20.0" name="Target" x="-149.8" y="228.8"/>
+ <waypoint alt="2.0" name="Drop" x="-42.8" y="-15.0"/>
+ <waypoint alt="0.0" name="L5" x="-67.7" y="-7.3"/>
+ <waypoint alt="0.0" name="L1" x="-147.4" y="-8.9"/>
+ <waypoint alt="0.0" name="L2" x="-127.5" y="-8.5"/>
+ <waypoint alt="0.0" name="L0" x="-166.9" y="-9.8"/>
+ <waypoint alt="0.0" name="L3" x="-107.5" y="-8.1"/>
+ <waypoint alt="0.0" name="L4" x="-87.6" y="-7.7"/>
+ </waypoints>
+ <blocks>
+ <block name="WP1_to_WP2">
+ <while cond="TRUE">
+ <go approaching_time="0." wp="WP1"/>
+ <go approaching_time="0." wp="WP2"/>
+ <while cond="10 > block_time"/>
+ </while>
+ </block>
+ <block name="circle_target">
+ <while cond="TRUE">
+ <circle radius="15" wp="Target"/>
+ <while cond="10 > block_time"/>
+ </while>
+ </block>
+ <block name="circle_home">
+ <circle radius="55" wp="HOME"/>
+ </block>
+ </blocks>
+</flight_plan>
Property changes on:
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/gifhorn.xml
___________________________________________________________________
Added: svn:executable
+ *
Added: paparazzi3/branches/HB/trunk/conf/flight_plans/HB/gifhorn_gates.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/flight_plans/HB/gifhorn_gates.xml
(rev 0)
+++ paparazzi3/branches/HB/trunk/conf/flight_plans/HB/gifhorn_gates.xml
2010-08-26 16:04:52 UTC (rev 5714)
@@ -0,0 +1,23 @@
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
+
+<flight_plan alt="60" ground_alt="9" lat0="52.525274" lon0="10.455028"
max_dist_from_home="275" name="Stieglitz" qfu="270" security_height="10">
+ <waypoints>
+ <waypoint alt="60.0" name="HOME" x="-25.9" y="-8.8"/>
+ <waypoint name="WP1" x="-62.8" y="-100.1"/>
+ <waypoint name="WP2" x="-61.5" y="-50.1"/>
+ <waypoint name="WP3" x="-9.9" y="-49.5"/>
+ </waypoints>
+ <blocks>
+ <block name="WP1_to_WP2">
+ <while cond="TRUE">
+ <go approaching_time="0." wp="WP1"/>
+ <go approaching_time="0." wp="WP2"/>
+ <go approaching_time="0." wp="WP3"/>
+ <while cond="30 > block_time"/>
+ </while>
+ </block>
+ <block name="circle_home">
+ <circle radius="55" wp="HOME"/>
+ </block>
+ </blocks>
+</flight_plan>
Property changes on:
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/gifhorn_gates.xml
___________________________________________________________________
Added: svn:executable
+ *
Added: paparazzi3/branches/HB/trunk/conf/flight_plans/HB/gifhorn_gates_busca.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/flight_plans/HB/gifhorn_gates_busca.xml
(rev 0)
+++ paparazzi3/branches/HB/trunk/conf/flight_plans/HB/gifhorn_gates_busca.xml
2010-08-26 16:04:52 UTC (rev 5714)
@@ -0,0 +1,42 @@
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
+
+<flight_plan alt="80" ground_alt="80" lat0="52.524013" lon0="10.464399"
max_dist_from_home="275" name="Gifhorn/Wilsche" qfu="270" security_height="10">
+ <waypoints>
+ <waypoint alt="20.0" name="HOME" x="0.0" y="-0.0"/>
+ <waypoint alt="30.0" name="WP1" x="-195.6" y="108.0"/>
+ <waypoint alt="30.0" name="WP2" x="35.2" y="108.6"/>
+ <waypoint alt="60.0" name="A" x="-638.6" y="127.4"/>
+ <waypoint alt="60.0" name="B" x="-577.2" y="-133.3"/>
+ <waypoint alt="60.0" name="C" x="366.1" y="100.9"/>
+ <waypoint alt="60.0" name="D" x="407.9" y="-109.3"/>
+ <waypoint alt="2.0" name="Arch1" x="-32.4" y="9.4"/>
+ <waypoint alt="2.0" name="Arch2" x="17.6" y="10.4"/>
+ <waypoint alt="2.0" name="Arch3" x="19.7" y="59.4"/>
+ <waypoint alt="20.0" name="Target" x="-149.8" y="228.8"/>
+ <waypoint alt="2.0" name="Drop" x="-42.8" y="-15.0"/>
+ <waypoint alt="0.0" name="L5" x="-67.7" y="-7.3"/>
+ <waypoint alt="0.0" name="L1" x="-147.4" y="-8.9"/>
+ <waypoint alt="0.0" name="L2" x="-127.5" y="-8.5"/>
+ <waypoint alt="0.0" name="L0" x="-166.9" y="-9.8"/>
+ <waypoint alt="0.0" name="L3" x="-107.5" y="-8.1"/>
+ <waypoint alt="0.0" name="L4" x="-87.6" y="-7.7"/>
+ </waypoints>
+ <blocks>
+ <block name="WP1_to_WP2">
+ <while cond="TRUE">
+ <go approaching_time="0." wp="WP1"/>
+ <go approaching_time="0." wp="WP2"/>
+ <while cond="10 > block_time"/>
+ </while>
+ </block>
+ <block name="circle_target">
+ <while cond="TRUE">
+ <circle radius="15" wp="Target"/>
+ <while cond="10 > block_time"/>
+ </while>
+ </block>
+ <block name="circle_home">
+ <circle radius="55" wp="HOME"/>
+ </block>
+ </blocks>
+</flight_plan>
Added: paparazzi3/branches/HB/trunk/conf/flight_plans/HB/gifhorn_lerche_go.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/flight_plans/HB/gifhorn_lerche_go.xml
(rev 0)
+++ paparazzi3/branches/HB/trunk/conf/flight_plans/HB/gifhorn_lerche_go.xml
2010-08-26 16:04:52 UTC (rev 5714)
@@ -0,0 +1,105 @@
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
+
+<flight_plan alt="30" ground_alt="0" lat0="52.524013" lon0="10.464399"
max_dist_from_home="350" name="Gifhorn/Wilsche" qfu="270" security_height="5">
+ <header>
+#include "bomb.h"
+ </header>
+ <waypoints>
+ <waypoint alt="45.0" name="HOME" x="-69.0" y="49.5"/>
+ <waypoint alt="30.0" name="safe" x="-6.3" y="34.0"/>
+ <waypoint name="app_T" x="-136.5" y="52.7"/>
+ <waypoint name="app_T2" x="-259.1" y="91.6"/>
+ <waypoint name="app_D" x="38.9" y="49.8"/>
+ <waypoint alt="60.0" name="_A" x="-638.6" y="127.4"/>
+ <waypoint alt="60.0" name="_B" x="-577.2" y="-133.3"/>
+ <waypoint alt="60.0" name="_C" x="366.1" y="100.9"/>
+ <waypoint alt="60.0" name="_D" x="407.9" y="-109.3"/>
+ <waypoint alt="60.0" name="_A1" x="-365.6" y="121.7"/>
+ <waypoint alt="60.0" name="_A2" x="-174.3" y="339.5"/>
+ <waypoint alt="60.0" name="_C1" x="82.4" y="293.9"/>
+ <waypoint alt="3.0" name="Arch1" x="-32.4" y="9.4"/>
+ <waypoint alt="3.0" name="Arch2" x="17.6" y="10.4"/>
+ <waypoint alt="3.0" name="Arch3" x="19.7" y="59.4"/>
+ <waypoint alt="20.0" name="ID_TARGET" x="-174.4" y="90.9"/>
+ <waypoint alt="2.0" name="TARGET" x="-42.8" y="-15.0"/>
+ <waypoint alt="0.0" name="L5" x="-67.7" y="-7.3"/>
+ <waypoint alt="0.0" name="L1" x="-147.4" y="-8.9"/>
+ <waypoint alt="0.0" name="L2" x="-127.5" y="-8.5"/>
+ <waypoint alt="0.0" name="L0" x="-166.9" y="-9.8"/>
+ <waypoint alt="0.0" name="L3" x="-107.5" y="-8.1"/>
+ <waypoint alt="0.0" name="L4" x="-87.6" y="-7.7"/>
+ <waypoint alt="30.0" name="BASELEG" x="89.1" y="36.4"/>
+ <waypoint alt="30.0" name="_BASELEG_L" x="109.1" y="36.4"/>
+ <waypoint alt="10.0" name="RELEASE" x="85.5" y="4.9"/>
+ <waypoint name="CLIMB" x="43.1" y="-23.5"/>
+ <waypoint alt="20.0" name="START" x="25.1" y="-14.8"/>
+ <waypoint name="STDBY" x="-56.7" y="-130.7"/>
+ <waypoint alt="10.0" name="app_L" x="17.6" y="-8.0"/>
+ <waypoint alt="0.0" name="LAND" x="-54.2" y="-7.4"/>
+ </waypoints>
+ <sectors>
+ <sector name="Wilsche">
+ <corner name="_A"/>
+ <corner name="_A1"/>
+ <corner name="_A2"/>
+ <corner name="_C1"/>
+ <corner name="_C"/>
+ <corner name="_D"/>
+ <corner name="_B"/>
+ </sector>
+ </sectors>
+ <exceptions>
+ <exception cond="!InsideWilsche(estimator_x, estimator_y)"
deroute="recover"/>
+ </exceptions>
+ <blocks>
+ <block name="circle up">
+ <circle radius="50" until="(estimator_z > 40) && (block_time > 45)"
wp="HOME"/>
+ </block>
+ <block name="app. ident target">
+ <go approaching_time="3.5" wp="app_T"/>
+ <go from="app_T" hmode="route" wp="app_T2"/>
+ </block>
+ <block name="ident target">
+ <go approaching_time="0." wp="ID_TARGET"/>
+ </block>
+ <block name="app. Drop">
+ <go approaching_time="1." wp="app_D"/>
+ </block>
+ <block name="bomb" strip_button="Bomb">
+ <set value="BombComputeApproach(WP_TARGET, WP_START, nav_radius)"
var="unit"/>
+ <circle radius="BOMB_RADIUS"
until="NavQdrCloseTo(DegOfRad(bomb_start_qdr)-10)" wp="BASELEG"/>
+ </block>
+ <block name="align">
+ <exception cond="BombUpdateRelease(WP_TARGET)" deroute="app. Drop"/>
+ <go approaching_time="bomb_trigger_delay" from="START" hmode="route"
wp="RELEASE"/>
+ </block>
+ <block name="shoot">
+ <set value="BombShoot()" var="unit"/>
+ <go approaching_time="0" from="RELEASE" hmode="route" wp="CLIMB"/>
+ <set value="BombCloseHatch()" var="unit"/>
+ <deroute block="recover"/>
+ </block>
+ <block name="recover">
+ <go wp="safe"/>
+ <circle radius="55" until="block_time > 20" wp="HOME"/>
+ </block>
+ <block name="land">
+ <call fun="nav_compute_baseleg(WP_app_L, WP_LAND, WP__BASELEG_L,
nav_radius)"/>
+ <circle radius="nav_radius" until="NavCircleCount() > 0.5"
wp="_BASELEG_L"/>
+ <circle radius="nav_radius"
until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z)"
wp="_BASELEG_L"/>
+ </block>
+ <block name="final">
+ <go from="app_L" hmode="route" throttle="0.7" vmode="throttle"
wp="LAND"/>
+ <go from="LAND" hmode="route" throttle="0.4" vmode="throttle" wp="L4"/>
+ </block>
+ <block name="kill">
+ <while cond="TRUE">
+ <go from="LAND" hmode="route" throttle="0.0" vmode="throttle" wp="L1"/>
+ <while cond="15 > (estimator_z)"/>
+ </while>
+ </block>
+ <block name="gone_circle_home">
+ <circle radius="55" wp="HOME"/>
+ </block>
+ </blocks>
+</flight_plan>
Property changes on:
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/gifhorn_lerche_go.xml
___________________________________________________________________
Added: svn:executable
+ *
Added:
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/gifhorn_target_busca.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/flight_plans/HB/gifhorn_target_busca.xml
(rev 0)
+++ paparazzi3/branches/HB/trunk/conf/flight_plans/HB/gifhorn_target_busca.xml
2010-08-26 16:04:52 UTC (rev 5714)
@@ -0,0 +1,45 @@
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
+
+<flight_plan alt="80" ground_alt="80" lat0="52.524013" lon0="10.464399"
max_dist_from_home="275" name="Gifhorn/Wilsche" qfu="270" security_height="10">
+ <waypoints>
+ <waypoint alt="20.0" name="HOME" x="-69.0" y="112.1"/>
+ <waypoint alt="30.0" name="WP1" x="-223.4" y="178.8"/>
+ <waypoint alt="30.0" name="WP2" x="-79.8" y="276.9"/>
+ <waypoint alt="60.0" name="A" x="-638.6" y="127.4"/>
+ <waypoint alt="60.0" name="B" x="-577.2" y="-133.3"/>
+ <waypoint alt="60.0" name="C" x="366.1" y="100.9"/>
+ <waypoint alt="60.0" name="D" x="407.9" y="-109.3"/>
+ <waypoint alt="2.0" name="Arch1" x="-32.4" y="9.4"/>
+ <waypoint alt="2.0" name="Arch2" x="17.6" y="10.4"/>
+ <waypoint alt="2.0" name="Arch3" x="19.7" y="59.4"/>
+ <waypoint alt="20.0" name="Target" x="-149.8" y="228.8"/>
+ <waypoint alt="2.0" name="Drop" x="-42.8" y="-15.0"/>
+ <waypoint alt="0.0" name="L5" x="-67.7" y="-7.3"/>
+ <waypoint alt="0.0" name="L1" x="-147.4" y="-8.9"/>
+ <waypoint alt="0.0" name="L2" x="-127.5" y="-8.5"/>
+ <waypoint alt="0.0" name="L0" x="-166.9" y="-9.8"/>
+ <waypoint alt="0.0" name="L3" x="-107.5" y="-8.1"/>
+ <waypoint alt="0.0" name="L4" x="-87.6" y="-7.7"/>
+ </waypoints>
+ <blocks>
+ <block name="WP1_to_WP2">
+ <while cond="TRUE">
+ <go approaching_time="0." wp="WP1"/>
+ <go approaching_time="0." wp="WP2"/>
+ <while cond="10 > block_time"/>
+ </while>
+ </block>
+ <block name="circle_target">
+ <while cond="TRUE">
+ <circle radius="15" wp="Target"/>
+ <while cond="10 > block_time"/>
+ </while>
+ </block>
+ <block name="circle_home">
+ <circle radius="55" wp="HOME"/>
+ </block>
+ <block name="eight">
+ <eight center="WP1" radius="50" turn_around="WP2"/>
+ </block>
+ </blocks>
+</flight_plan>
Added: paparazzi3/branches/HB/trunk/conf/flight_plans/HB/hochschule.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/flight_plans/HB/hochschule.xml
(rev 0)
+++ paparazzi3/branches/HB/trunk/conf/flight_plans/HB/hochschule.xml
2010-08-26 16:04:52 UTC (rev 5714)
@@ -0,0 +1,21 @@
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
+
+<flight_plan alt="50" ground_alt="9" lat0="53.071519" lon0="8.793271"
max_dist_from_home="200" name="Bremen" qfu="270" security_height="10">
+ <waypoints>
+ <waypoint name="HOME" x="-1.6" y="-58.7"/>
+ <waypoint name="WP1" x="60.9" y="-139.0"/>
+ <waypoint name="WP2" x="-65.1" y="2.6"/>
+ </waypoints>
+ <blocks>
+ <block name="WP1_to_WP2">
+ <while cond="TRUE">
+ <go approaching_time="0." wp="WP1"/>
+ <go approaching_time="0." wp="WP2"/>
+ <while cond="10 > block_time"/>
+ </while>
+ </block>
+ <block name="circle_home">
+ <circle radius="55" wp="HOME"/>
+ </block>
+ </blocks>
+</flight_plan>
Property changes on:
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/hochschule.xml
___________________________________________________________________
Added: svn:executable
+ *
Added: paparazzi3/branches/HB/trunk/conf/flight_plans/HB/seedorf.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/flight_plans/HB/seedorf.xml
(rev 0)
+++ paparazzi3/branches/HB/trunk/conf/flight_plans/HB/seedorf.xml
2010-08-26 16:04:52 UTC (rev 5714)
@@ -0,0 +1,81 @@
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
+
+<flight_plan alt="18" ground_alt="0" lat0="53.334592" lon0="9.262360"
max_dist_from_home="350" name="Seedorf" qfu="270" security_height="5">
+ <header>
+#include "bomb.h"
+</header>
+ <waypoints>
+ <waypoint alt="45.0" name="HOME" x="-69.0" y="49.5"/>
+ <waypoint alt="30.0" name="safe" x="-6.3" y="34.0"/>
+ <waypoint name="app_T" x="-136.5" y="52.7"/>
+ <waypoint name="app_T2" x="-259.1" y="91.6"/>
+ <waypoint name="app_D" x="38.9" y="49.8"/>
+ <waypoint alt="20.0" name="ID_TARGET" x="-174.4" y="90.9"/>
+ <waypoint alt="2.0" name="TARGET" x="-42.8" y="-15.0"/>
+ <waypoint alt="0.0" name="L5" x="-67.7" y="-7.3"/>
+ <waypoint alt="0.0" name="L1" x="-147.4" y="-8.9"/>
+ <waypoint alt="0.0" name="L2" x="-127.5" y="-8.5"/>
+ <waypoint alt="0.0" name="L0" x="-166.9" y="-9.8"/>
+ <waypoint alt="0.0" name="L3" x="-107.5" y="-8.1"/>
+ <waypoint alt="0.0" name="L4" x="-87.6" y="-7.7"/>
+ <waypoint alt="30.0" name="BASELEG" x="89.1" y="36.4"/>
+ <waypoint alt="30.0" name="_BASELEG_L" x="109.1" y="36.4"/>
+ <waypoint alt="10.0" name="RELEASE" x="85.5" y="4.9"/>
+ <waypoint name="CLIMB" x="43.1" y="-23.5"/>
+ <waypoint alt="20.0" name="START" x="25.1" y="-14.8"/>
+ <waypoint name="STDBY" x="-56.7" y="-130.7"/>
+ <waypoint alt="10.0" name="app_L" x="17.6" y="-8.0"/>
+ <waypoint alt="0.0" name="LAND" x="-54.2" y="-7.4"/>
+ </waypoints>
+ <blocks>
+ <block name="circle up">
+ <circle radius="50" until="(estimator_z > 40) && (block_time > 45)"
wp="HOME"/>
+ </block>
+ <block name="app. ident target">
+ <go approaching_time="3.5" wp="app_T"/>
+ <go from="app_T" hmode="route" wp="app_T2"/>
+ </block>
+ <block name="ident target">
+ <go approaching_time="0." wp="ID_TARGET"/>
+ </block>
+ <block name="app. Drop">
+ <go approaching_time="1." wp="app_D"/>
+ </block>
+ <block name="bomb" strip_button="Bomb">
+ <set value="BombComputeApproach(WP_TARGET, WP_START, nav_radius)"
var="unit"/>
+ <circle radius="BOMB_RADIUS"
until="NavQdrCloseTo(DegOfRad(bomb_start_qdr)-10)" wp="BASELEG"/>
+ </block>
+ <block name="align">
+ <exception cond="BombUpdateRelease(WP_TARGET)" deroute="app. Drop"/>
+ <go approaching_time="bomb_trigger_delay" from="START" hmode="route"
wp="RELEASE"/>
+ </block>
+ <block name="shoot">
+ <set value="BombShoot()" var="unit"/>
+ <go approaching_time="0" from="RELEASE" hmode="route" wp="CLIMB"/>
+ <set value="BombCloseHatch()" var="unit"/>
+ <deroute block="recover"/>
+ </block>
+ <block name="recover">
+ <go wp="safe"/>
+ <circle radius="55" until="block_time > 20" wp="HOME"/>
+ </block>
+ <block name="land">
+ <call fun="nav_compute_baseleg(WP_app_L, WP_LAND, WP__BASELEG_L,
nav_radius)"/>
+ <circle radius="nav_radius" until="NavCircleCount() > 0.5"
wp="_BASELEG_L"/>
+ <circle radius="nav_radius"
until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z)"
wp="_BASELEG_L"/>
+ </block>
+ <block name="final">
+ <go from="app_L" hmode="route" throttle="0.7" vmode="throttle"
wp="LAND"/>
+ <go from="LAND" hmode="route" throttle="0.4" vmode="throttle" wp="L4"/>
+ </block>
+ <block name="kill">
+ <while cond="TRUE">
+ <go from="LAND" hmode="route" throttle="0.0" vmode="throttle" wp="L1"/>
+ <while cond="15 > (estimator_z)"/>
+ </while>
+ </block>
+ <block name="gone_circle_home">
+ <circle radius="55" wp="HOME"/>
+ </block>
+ </blocks>
+</flight_plan>
Added: paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz.xml
(rev 0)
+++ paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz.xml
2010-08-26 16:04:52 UTC (rev 5714)
@@ -0,0 +1,21 @@
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
+
+<flight_plan alt="50" ground_alt="9" lat0="52.959360" lon0="8.778601"
max_dist_from_home="275" name="Stieglitz" qfu="270" security_height="10">
+ <waypoints>
+ <waypoint alt="50.0" name="HOME" x="-25.9" y="-8.8"/>
+ <waypoint alt="50.0" name="WP1" x="-56.2" y="-81.9"/>
+ <waypoint alt="50.0" name="WP2" x="-33.9" y="49.2"/>
+ </waypoints>
+ <blocks>
+ <block name="WP1_to_WP2">
+ <while cond="TRUE">
+ <go wp="WP1" approaching_time="0."/>
+ <go wp="WP2" approaching_time="0."/>
+ <while cond="10 > block_time"/>
+ </while>
+ </block>
+ <block name="circle_home">
+ <circle radius="55" wp="HOME"/>
+ </block>
+ </blocks>
+</flight_plan>
Property changes on:
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz.xml
___________________________________________________________________
Added: svn:executable
+ *
Added:
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_bomb_lerche.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_bomb_lerche.xml
(rev 0)
+++ paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_bomb_lerche.xml
2010-08-26 16:04:52 UTC (rev 5714)
@@ -0,0 +1,55 @@
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
+
+<flight_plan alt="50" ground_alt="9" lat0="52.959360" lon0="8.778601"
max_dist_from_home="275" name="Stieglitz" qfu="270" security_height="10">
+ <header>
+#include "bomb.h"
+</header>
+ <waypoints>
+ <waypoint name="HOME" x="-25.9" y="-8.8"/>
+ <waypoint alt="60.0" name="WP1" x="-80.6" y="-48.6"/>
+ <waypoint name="WP2" x="25.4" y="94.4"/>
+ <waypoint name="ID_TARGET" x="-25.8" y="26.1"/>
+ <waypoint name="TARGET_R" x="-25.8" y="62.4"/>
+ <waypoint name="BASELEG" x="309.9" y="138.1"/>
+ <waypoint name="RELEASE" x="126.9" y="181.6"/>
+ <waypoint name="CLIMB" x="19.2" y="212.5"/>
+ <waypoint alt="20.0" name="START" x="-68.7" y="-32.9"/>
+ <waypoint alt="0.0" name="TARGET" x="-1.5" y="59.9"/>
+ <waypoint name="STDBY" x="-82.4" y="33.8"/>
+ </waypoints>
+ <blocks>
+ <block name="Identify">
+ <circle radius="-50" wp="ID_TARGET"/>
+ </block>
+ <block name="Take off">
+ <heading course="QFU" pitch="15" throttle="0.8" until="(estimator_z >
ground_alt+30)" vmode="throttle"/>
+ </block>
+ <block name="bomb" strip_button="Bomb">
+ <set value="BombComputeApproach(WP_TARGET, WP_START, nav_radius)"
var="unit"/>
+ <circle radius="BOMB_RADIUS"
until="NavQdrCloseTo(DegOfRad(bomb_start_qdr)-10)" wp="BASELEG"/>
+ </block>
+ <block name="align">
+ <exception cond="BombUpdateRelease(WP_TARGET)" deroute="standby"/>
+ <go approaching_time="bomb_trigger_delay" from="START" hmode="route"
wp="RELEASE"/>
+ </block>
+ <block name="shoot">
+ <set value="BombShoot()" var="unit"/>
+ <go approaching_time="0" from="RELEASE" hmode="route" wp="CLIMB"/>
+ <set value="BombCloseHatch()" var="unit"/>
+ <deroute block="standby"/>
+ </block>
+ <block name="standby" strip_button="STDBY">
+ <circle radius="nav_radius" wp="STDBY"/>
+ </block>
+ <block name="WP1_to_WP2">
+ <while cond="TRUE">
+ <go approaching_time="0." wp="WP1"/>
+ <go approaching_time="0." wp="WP2"/>
+ <while cond="10 > block_time"/>
+ </while>
+ </block>
+ <block name="circle_home">
+ <circle radius="55" wp="HOME"/>
+ </block>
+ </blocks>
+</flight_plan>
Property changes on:
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_bomb_lerche.xml
___________________________________________________________________
Added: svn:executable
+ *
Added: paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_chni.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_chni.xml
(rev 0)
+++ paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_chni.xml
2010-08-26 16:04:52 UTC (rev 5714)
@@ -0,0 +1,51 @@
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
+
+<flight_plan alt="80" ground_alt="9" lat0="52.959360" lon0="8.778601"
max_dist_from_home="275" name="Stieglitz" qfu="270" security_height="50">
+ <header>
+ #include "razor_util.h"
+ #include "nav_line.h"
+</header>
+ <waypoints>
+ <waypoint name="HOME" x="-88.5" y="-70.1"/>
+ <waypoint name="CLIMB" x="-79.6" y="-97.9"/>
+ <waypoint alt="90.0" name="STANDBY" x="-62.6" y="-106.0"/>
+ <waypoint name="WP1" x="-87.1" y="-120.4"/>
+ <waypoint name="WP2" x="-56.1" y="27.6"/>
+ </waypoints>
+ <blocks>
+ <block name="Wait GPS">
+ <set value="1" var="kill_throttle"/>
+ <while cond="!GpsFixValid()"/>
+ </block>
+ <block name="Holding point">
+ <set value="1" var="kill_throttle"/>
+ <attitude roll="0" throttle="0" vmode="throttle"/>
+ </block>
+ <block key="t" name="Takeoff" strip_button="Takeoff (wp CLIMB)"
strip_icon="takeoff.png">
+ <exception cond="estimator_z > ground_alt+40" deroute="Standby"/>
+ <set value="0" var="kill_throttle"/>
+ <go wp="CLIMB"/>
+ </block>
+ <block name="Standby" strip_button="Standby" strip_icon="home.png">
+ <circle radius="nav_radius" wp="STANDBY"/>
+ </block>
+ <block name="WP1_to_WP2">
+ <while cond="TRUE">
+ <go approaching_time="0." wp="WP1"/>
+ <go approaching_time="0." wp="WP2"/>
+ <while cond="10 > block_time"/>
+ </while>
+ </block>
+ <block name="Line" strip_button="Line (wp 1-2)" strip_icon="line.png">
+ <call fun="nav_line_init()"/>
+ <while cond="TRUE">
+ <call fun="nav_line(WP_WP1, WP_WP2, nav_radius)"/>
+ <call fun="nav_line(WP_WP2, WP_WP1, nav_radius)"/>
+ </while>
+ </block>
+ <block name="circle_home">
+ <circle radius="55" wp="HOME"/>
+ </block>
+ <block name="Takeoff and climb"/>
+ </blocks>
+</flight_plan>
Added: paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_gates.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_gates.xml
(rev 0)
+++ paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_gates.xml
2010-08-26 16:04:52 UTC (rev 5714)
@@ -0,0 +1,23 @@
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
+
+<flight_plan alt="60" ground_alt="9" lat0="52.959360" lon0="8.778601"
max_dist_from_home="275" name="Stieglitz" qfu="270" security_height="10">
+ <waypoints>
+ <waypoint alt="60.0" name="HOME" x="-25.9" y="-8.8"/>
+ <waypoint name="WP1" x="-62.8" y="-100.1"/>
+ <waypoint name="WP2" x="-61.5" y="-50.1"/>
+ <waypoint name="WP3" x="-9.9" y="-49.5"/>
+ </waypoints>
+ <blocks>
+ <block name="WP1_to_WP2">
+ <while cond="TRUE">
+ <go approaching_time="0." wp="WP1"/>
+ <go approaching_time="0." wp="WP2"/>
+ <go approaching_time="0." wp="WP3"/>
+ <while cond="30 > block_time"/>
+ </while>
+ </block>
+ <block name="circle_home">
+ <circle radius="55" wp="HOME"/>
+ </block>
+ </blocks>
+</flight_plan>
Property changes on:
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_gates.xml
___________________________________________________________________
Added: svn:executable
+ *
Added:
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_ident_busca.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_ident_busca.xml
(rev 0)
+++ paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_ident_busca.xml
2010-08-26 16:04:52 UTC (rev 5714)
@@ -0,0 +1,36 @@
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
+
+<flight_plan alt="60" ground_alt="9" lat0="52.959360" lon0="8.778601"
max_dist_from_home="275" name="Stieglitz" qfu="270" security_height="10">
+ <waypoints>
+ <waypoint name="HOME" x="-14.8" y="-13.2"/>
+ <waypoint name="WP1" x="-80.4" y="-49.6"/>
+ <waypoint name="WP2" x="14.4" y="81.9"/>
+ <waypoint name="WP1_H" x="-109.1" y="-22.9"/>
+ <waypoint name="WP2_H" x="-13.0" y="107.7"/>
+ <waypoint name="TARGET" x="-25.8" y="26.1"/>
+ <waypoint name="TARGET_R" x="-33.2" y="60.1"/>
+ </waypoints>
+ <blocks>
+ <block name="Circle test">
+ <circle radius="-50" wp="TARGET"/>
+ </block>
+ <block name="WP1_to_WP2 (route test)">
+ <while cond="TRUE">
+ <go approaching_time="3" wp="WP1_H"/>
+ <go approaching_time="0" from="WP1" hmode="route" wp="WP2"/>
+ <go approaching_time="3" wp="WP2_H"/>
+ <go approaching_time="0" from="WP2" hmode="route" wp="WP1"/>
+ <while cond="10 > block_time"/>
+ </while>
+ </block>
+ <block name="Identify">
+ <eight center="TARGET" radius="40" turn_around="TARGET_R"/>
+ </block>
+ <block name="Course test">
+ <heading alt="ground_alt+50" course="60" until="block_time > 10"/>
+ </block>
+ <block name="circle_home">
+ <circle radius="55" wp="HOME"/>
+ </block>
+ </blocks>
+</flight_plan>
Property changes on:
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_ident_busca.xml
___________________________________________________________________
Added: svn:executable
+ *
Added:
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_ident_lerche.xml
===================================================================
---
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_ident_lerche.xml
(rev 0)
+++
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_ident_lerche.xml
2010-08-26 16:04:52 UTC (rev 5714)
@@ -0,0 +1,26 @@
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
+
+<flight_plan alt="50" ground_alt="9" lat0="52.959360" lon0="8.778601"
max_dist_from_home="275" name="Stieglitz" qfu="270" security_height="10">
+ <waypoints>
+ <waypoint name="HOME" x="-25.9" y="-8.8"/>
+ <waypoint alt="40.0" name="WP1" x="-66.4" y="-27.6"/>
+ <waypoint alt="60.0" name="WP2" x="12.7" y="79.7"/>
+ <waypoint name="TARGET" x="-25.8" y="26.1"/>
+ <waypoint name="TARGET_R" x="-25.8" y="62.4"/>
+ </waypoints>
+ <blocks>
+ <block name="WP1_to_WP2">
+ <while cond="TRUE">
+ <go approaching_time="0." wp="WP1"/>
+ <go approaching_time="0." wp="WP2"/>
+ <while cond="10 > block_time"/>
+ </while>
+ </block>
+ <block name="Identify">
+ <circle radius="-40" wp="TARGET"/>
+ </block>
+ <block name="circle_home">
+ <circle radius="55" wp="HOME"/>
+ </block>
+ </blocks>
+</flight_plan>
Property changes on:
paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_ident_lerche.xml
___________________________________________________________________
Added: svn:executable
+ *
Added: paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_test.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_test.xml
(rev 0)
+++ paparazzi3/branches/HB/trunk/conf/flight_plans/HB/stieglitz_test.xml
2010-08-26 16:04:52 UTC (rev 5714)
@@ -0,0 +1,105 @@
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
+
+<flight_plan alt="80" ground_alt="9" lat0="52.959360" lon0="8.778601"
max_dist_from_home="275" name="Stieglitz" qfu="270" security_height="50">
+ <header>
+#include "bomb.h"
+</header>
+ <waypoints>
+ <waypoint alt="45.0" name="HOME" x="-69.0" y="49.5"/>
+ <waypoint alt="30.0" name="safe" x="-101.2" y="0.7"/>
+ <waypoint name="app_T" x="-82.2" y="-83.7"/>
+ <waypoint name="app_T2" x="-162.4" y="-85.2"/>
+ <waypoint name="app_D" x="-79.0" y="-106.7"/>
+ <waypoint alt="60.0" name="_A" x="-262.9" y="-129.7"/>
+ <waypoint alt="70.0" name="_B" x="-64.9" y="-238.0"/>
+ <waypoint alt="60.0" name="_C" x="11.1" y="12.3"/>
+ <waypoint alt="60.0" name="_D" x="53.0" y="-123.8"/>
+ <waypoint alt="60.0" name="_A1" x="-299.7" y="117.9"/>
+ <waypoint alt="60.0" name="_A2" x="-147.4" y="242.2"/>
+ <waypoint alt="60.0" name="_C1" x="108.8" y="210.6"/>
+ <waypoint alt="3.0" name="Arch1" x="151.2" y="-62.2"/>
+ <waypoint alt="3.0" name="Arch2" x="107.2" y="-50.8"/>
+ <waypoint alt="3.0" name="Arch3" x="152.2" y="-38.0"/>
+ <waypoint alt="20.0" name="ID_TARGET" x="-125.5" y="-80.5"/>
+ <waypoint alt="2.0" name="TARGET" x="-63.7" y="-65.8"/>
+ <waypoint alt="0.0" name="L5" x="-7.6" y="9.6"/>
+ <waypoint alt="0.0" name="L1" x="-27.9" y="-52.6"/>
+ <waypoint alt="0.0" name="L2" x="-21.9" y="-36.9"/>
+ <waypoint alt="0.0" name="L0" x="-32.7" y="-68.3"/>
+ <waypoint alt="0.0" name="L3" x="-18.0" y="-21.7"/>
+ <waypoint alt="0.0" name="L4" x="-12.8" y="-7.5"/>
+ <waypoint alt="30.0" name="BASELEG" x="-88.8" y="77.6"/>
+ <waypoint alt="20.0" name="_BASELEG_L" x="-76.1" y="100.0"/>
+ <waypoint alt="10.0" name="RELEASE" x="-66.2" y="-78.4"/>
+ <waypoint name="CLIMB" x="-74.2" y="30.4"/>
+ <waypoint alt="20.0" name="START" x="-69.2" y="-90.8"/>
+ <waypoint name="STDBY" x="-56.7" y="-130.7"/>
+ <waypoint alt="6.0" name="app_L" x="9.9" y="56.0"/>
+ <waypoint alt="0.0" name="LAND" x="-1.9" y="25.1"/>
+ </waypoints>
+ <sectors>
+ <sector name="Ristedt">
+ <corner name="_A"/>
+ <corner name="_A1"/>
+ <corner name="_A2"/>
+ <corner name="_C1"/>
+ <corner name="_C"/>
+ <corner name="_D"/>
+ <corner name="_B"/>
+ </sector>
+ </sectors>
+ <exceptions>
+ <exception cond="!InsideRistedt(estimator_x, estimator_y)"
deroute="recover"/>
+ </exceptions>
+ <blocks>
+ <block name="circle up">
+ <circle radius="50" until="(estimator_z > 40) && (block_time > 45)"
wp="HOME"/>
+ </block>
+ <block name="app. ident target">
+ <go approaching_time="3.5" wp="app_T"/>
+ <go from="app_T" hmode="route" wp="app_T2"/>
+ </block>
+ <block name="ident target">
+ <go approaching_time="0." wp="ID_TARGET"/>
+ </block>
+ <block name="app. Drop">
+ <go approaching_time="1." wp="app_D"/>
+ </block>
+ <block name="bomb" strip_button="Bomb">
+ <set value="BombComputeApproach(WP_TARGET, WP_START, nav_radius)"
var="unit"/>
+ <circle radius="BOMB_RADIUS"
until="NavQdrCloseTo(DegOfRad(bomb_start_qdr)-10)" wp="BASELEG"/>
+ </block>
+ <block name="align">
+ <exception cond="BombUpdateRelease(WP_TARGET)" deroute="app. Drop"/>
+ <go approaching_time="bomb_trigger_delay" from="START" hmode="route"
wp="RELEASE"/>
+ </block>
+ <block name="shoot">
+ <set value="BombShoot()" var="unit"/>
+ <go approaching_time="0" from="RELEASE" hmode="route" wp="CLIMB"/>
+ <set value="BombCloseHatch()" var="unit"/>
+ <deroute block="recover"/>
+ </block>
+ <block name="recover">
+ <go wp="safe"/>
+ <circle radius="55" until="block_time > 20" wp="HOME"/>
+ </block>
+ <block name="land">
+ <call fun="nav_compute_baseleg(WP_app_L, WP_LAND, WP__BASELEG_L,
nav_radius)"/>
+ <circle radius="nav_radius" until="NavCircleCount() > 0.5"
wp="_BASELEG_L"/>
+ <circle radius="nav_radius"
until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z)"
wp="_BASELEG_L"/>
+ </block>
+ <block name="final">
+ <go from="app_L" hmode="route" throttle="0.7" vmode="throttle"
wp="LAND"/>
+ <go from="LAND" hmode="route" throttle="0.4" vmode="throttle" wp="L4"/>
+ </block>
+ <block name="kill">
+ <while cond="TRUE">
+ <go from="LAND" hmode="route" throttle="0.0" vmode="throttle" wp="L1"/>
+ <while cond="15 > (estimator_z)"/>
+ </while>
+ </block>
+ <block name="gone_circle_home">
+ <circle radius="55" wp="HOME"/>
+ </block>
+ </blocks>
+</flight_plan>
Modified: paparazzi3/branches/HB/trunk/conf/messages.xml
===================================================================
--- paparazzi3/branches/HB/trunk/conf/messages.xml 2010-08-26 15:52:58 UTC
(rev 5713)
+++ paparazzi3/branches/HB/trunk/conf/messages.xml 2010-08-26 16:04:52 UTC
(rev 5714)
@@ -16,7 +16,7 @@
</message>
<message name="TAKEOFF" id="4">
- <field name="cpu_time" type="uint16" unit="s"></field>
+ <field name="cpu_time" type="uint16" unit="s"/>
</message>
<!-- add the following msg for debugging Haiyang 20080521-->
@@ -51,7 +51,7 @@
<field name="alt" type="int32" unit="cm" alt_unit="m"
alt_unit_coef="0.01"/>
<field name="speed" type="uint16" unit="cm/s" alt_unit="m/s"
alt_unit_coef="0.01"/>
<field name="climb" type="int16" unit="cm/s" alt_unit="m/s"
alt_unit_coef="0.01"/>
- <field name="week" type="uint16" unit="weeks"></field>
+ <field name="week" type="uint16" unit="weeks"/>
<field name="itow" type="uint32" unit="ms"/>
<field name="utm_zone" type="uint8"/>
<field name="gps_nb_err" type="uint8"/>
@@ -1493,10 +1493,34 @@
<field name="mz" type="int32" unit="adc"/>
</message>
- <!--206 is free -->
- <!--207 is free -->
- <!--208 is free -->
+ <message name="IMU_GYRO_RAW_AVG" id="206">
+ <field name="gp" type="uint16" unit="adc"/>
+ <field name="gq" type="uint16" unit="adc"/>
+ <field name="gr" type="uint16" unit="adc"/>
+ <field name="vgp" type="float" unit="adc" format="%.0f"/>
+ <field name="vgq" type="float" unit="adc" format="%.0f"/>
+ <field name="vgr" type="float" unit="adc" format="%.0f"/>
+ </message>
+
@@ Diff output truncated at 153600 characters. @@
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