[paparazzi-commits] [5746] add new enac funjet

[Gautier Hattenberger]

Revision: 5746
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5746
Author:   gautier
Date:     2010-08-30 14:38:45 +0000 (Mon, 30 Aug 2010)
Log Message:
-----------
add new enac funjet

Added Paths:
-----------
    paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/funjet2.xml

Added: paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/funjet2.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/funjet2.xml                 
        (rev 0)
+++ paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/funjet2.xml 2010-08-30 
14:38:45 UTC (rev 5746)
@@ -0,0 +1,216 @@
+<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+
+<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
+     Tiny 2.11 board (http://paparazzi.enac.fr/wiki/Tiny_v2)
+     IR i2c
+     Tilted infrared sensor 
(http://paparazzi.enac.fr/wiki/Image:Tiny_v2_1_Funjet.jpg)
+     Radiotronix modem
+     LEA 5H GPS
+     Airspeed sensor
+     Digital camera
+-->
+
+<airframe name="Funjet Tiny 2.11">
+
+  <modules>
+    <load name="infrared_i2c.xml"/>
+  </modules>
+
+  <firmware name="fixedwing">
+    <target name="sim"                         board="pc">
+      <define name="AGR_CLIMB"/>
+      <define name="ALT_KALMAN"/>
+      <define name="LOITER_TRIM"/>
+      <define name="USE_I2C0"/>
+    </target>
+    <target name="ap"                  board="tiny_2.11">
+      <param name="FLASH_MODE"                 value="IAP"/>
+      <define name="AGR_CLIMB"/>
+      <define name="ALT_KALMAN"/>
+      <define name="LOITER_TRIM"/>
+      <define name="USE_I2C0"/>
+    </target>
+
+    <subsystem name="radio_control" type="ppm"/>
+    <!--subsystem name="joystick"/-->
+    <subsystem name="i2c"/>
+
+    <!-- Communication -->
+    <subsystem name="telemetry"        type="transparent"/>
+
+    <!-- Actuators are automatically chosen according to board-->
+    <subsystem name="control"/>
+    <!-- Sensors -->
+    <!--subsystem name="attitude"              type="infrared"/-->
+    <subsystem name="gps"                  type="ublox_lea5h"/>
+    <subsystem name="gyro"        type="roll"/>
+
+    <subsystem name="navigation"/>
+  </firmware>
+
+
+  <firmware name="setup">
+    <target name="tunnel"                  board="tiny_2.11"/>
+    <target name="setup_actuators"     board="tiny_2.11"/>
+  </firmware>
+
+<!-- commands section -->
+  <servos>
+    <servo name="MOTOR"         no="0" min="1040" neutral="1040" max="1670"/>
+    <servo name="AILEVON_LEFT"  no="2" min="1900" neutral="1500" max="1050"/>
+    <servo name="AILEVON_RIGHT" no="6" min="1120" neutral="1500" max="1980"/>
+  </servos>
+
+  <commands>
+    <axis name="THROTTLE" failsafe_value="0"/>
+    <axis name="ROLL"     failsafe_value="0"/>
+    <axis name="PITCH"    failsafe_value="0"/>
+  </commands>
+
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL"     value="@ROLL"/>
+    <set command="PITCH"    value="@PITCH"/>
+  </rc_commands>
+
+  <section name="MIXER">
+    <define name="AILEVON_AILERON_RATE" value="0.75"/>
+    <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
+  </section>
+
+  <command_laws>
+    <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
+    <set servo="MOTOR"           value="@THROTTLE"/>
+    <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
+    <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+  </command_laws>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="0.85"/>
+    <define name="MAX_PITCH" value="0.6"/>
+  </section>
+
+  <section name="INFRARED" prefix="IR_">
+    <define name="I2C_DEFAULT_CONF" value="0x1"/>
+
+    <define name="CORRECTION_UP" value="1."/>
+    <define name="CORRECTION_DOWN" value="1."/>
+    <define name="CORRECTION_LEFT" value="1."/>
+    <define name="CORRECTION_RIGHT" value="1."/>
+
+    <define name="LATERAL_CORRECTION" value="1"/>
+    <define name="LONGITUDINAL_CORRECTION" value="1"/>
+    <define name="VERTICAL_CORRECTION" value="1"/>
+
+    <define name="HORIZ_SENSOR_TILTED" value="1"/>
+    <define name="IR1_SIGN" value="1"/>
+    <define name="IR2_SIGN" value="1"/>
+    <define name="TOP_SIGN" value="1"/>
+
+    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+  </section>
+
+  <section name="GYRO" prefix="GYRO_">
+    <define name="ADC_ROLL_NEUTRAL" value="520"/>
+    <define name="ADC_TEMP_NEUTRAL" value="476"/>   
+    <define name="ADC_TEMP_SLOPE" value="0"/>  
+    <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
+    <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
+    <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
+    <define name="ROLL_SCALE" 
value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)"
 unit="deg/s/adc_unit"/>
+    <define name="ROLL_DIRECTION" value="-1."/> 
+  </section>
+
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
+    <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="FALSE"/>
+
+    <define name="TRIGGER_DELAY" value="1."/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
+    <define name="MIN_CIRCLE_RADIUS" value="50."/>
+  </section>
+
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+    <!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="3."/>
+
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.3"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" 
unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0.04"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
+
+    <!-- auto pitch inner loop -->
+    <define name="AUTO_PITCH_PGAIN" value="-0.03"/>
+    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
+    <define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/>
+    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
+    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
+
+    <define name="THROTTLE_SLEW" value="0.1"/>
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="-1."/>
+    <define name="ROLL_MAX_SETPOINT" value="0.8" 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_ATTITUDE_GAIN" value="-8000."/>
+    <define name="ROLL_RATE_GAIN" value="-1000."/>
+
+    <define name="PITCH_PGAIN" value="-10000."/>
+    <define name="PITCH_DGAIN" value="0.4"/>
+
+    <define name="AILERON_OF_THROTTLE" value="0.0"/>
+    <define name="ELEVATOR_OF_ROLL" value="1000"/>
+  </section>
+
+  <section name="NAV">
+    <define name="NAV_PITCH" value="0."/>
+    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+  </section>
+
+  <section name="AGGRESSIVE" prefix="AGR_">
+    <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate 
Aggressive Climb CANNOT BE ZERO!!-->
+    <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend 
Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
+    <define name="CLIMB_THROTTLE" value="0.7"/><!-- Gaz for Aggressive Climb 
-->
+    <define name="CLIMB_PITCH" value="0.2"/><!-- Pitch for Aggressive Climb -->
+    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive 
Decent -->
+    <define name="DESCENT_PITCH" value="-0.2"/><!-- Pitch for Aggressive 
Decent -->
+    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for 
Altitude Error Equal to Start Altitude -->
+    <define name="DESCENT_NAV_RATIO" value="1.0"/>
+    </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+    <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
+    <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+    <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+    <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+    <define name="HOME_RADIUS" value="100" unit="m"/>
+  </section>
+
+  <section name="SIMU">
+    <define name="ROLL_RESPONSE_FACTOR" value="15"/>
+    <define name="MAX_ROLL_DOT" value="20" unit="rad/s"/>
+  </section>
+
+</airframe>