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[paparazzi-commits] [5747] update airframe files with subsystems
|
From: |
Gautier Hattenberger |
|
Subject: |
[paparazzi-commits] [5747] update airframe files with subsystems |
|
Date: |
Mon, 30 Aug 2010 16:33:41 +0000 |
Revision: 5747
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5747
Author: gautier
Date: 2010-08-30 16:33:41 +0000 (Mon, 30 Aug 2010)
Log Message:
-----------
update airframe files with subsystems
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/twinjet2.xml
paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mini.xml
Added Paths:
-----------
paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/merlin.xml
Added: paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/merlin.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/merlin.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/merlin.xml 2010-08-30
16:33:41 UTC (rev 5747)
@@ -0,0 +1,200 @@
+<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+
+<!-- Merlin
+ Tiny 2.11
+ Tilted infrared sensor
+ XBee modem
+ LEA 5H
+-->
+
+<airframe name="Merlin">
+
+ <firmware name="fixedwing">
+ <target name="ap" board="tiny_2.11">
+ <define name="PITCH_TRIM"/>
+ <define name="ALT_KALMAN"/>
+ </target>
+
+ <target name="sim" board="pc">
+ <define name="PITCH_TRIM"/>
+ <define name="ALT_KALMAN"/>
+ </target>
+
+ <subsystem name="radio_control" type="ppm"/>
+ <subsystem name="telemetry" type="transparent"/>
+ <subsystem name="control_new"/>
+ <subsystem name="attitude" type="infrared"/>
+ <subsystem name="gps" type="ublox_lea5h"/>
+ <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="AILERON_RIGHT" no="0" min="1900" neutral="1500" max="1100"/>
+ <servo name="AILERON_LEFT" no="2" min="1900" neutral="1500" max="1100"/>
+ <servo name="ELEVATOR" no="6" min="1100" neutral="1500" max="1900"/>
+ <servo name="RUDDER" no="7" min="1100" neutral="1500" max="1900"/>
+ <servo name="MOTOR" no="3" min="1000" neutral="1000" max="2000"/>
+ </servos>
+
+ <commands>
+ <axis name="THROTTLE" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="PITCH" failsafe_value="0"/>
+ <axis name="YAW" failsafe_value="0"/>
+ </commands>
+
+ <rc_commands>
+ <set command="THROTTLE" value="@THROTTLE"/>
+ <set command="ROLL" value="@ROLL"/>
+ <set command="PITCH" value="@PITCH"/>
+ <set command="YAW" value="@YAW"/>
+ </rc_commands>
+
+ <section name="MIXER">
+ <define name="AILERON_DIFF" value="0.8"/>
+ </section>
+
+ <command_laws>
+ <set servo="MOTOR" value="@THROTTLE"/>
+ <set servo="ELEVATOR" value="@PITCH"/>
+ <set servo="RUDDER" value="@YAW"/>
+ <let var="roll" value="@ROLL"/>
+ <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
+ <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
+ </command_laws>
+
+ <section name="AUTO1" prefix="AUTO1_">
+ <define name="MAX_ROLL" value="0.85"/>
+ <define name="MAX_PITCH" value="0.6"/>
+ </section>
+
+ <section name="INFRARED" prefix="IR_">
+ <define name="ADC_IR1_NEUTRAL" value="512"/>
+ <define name="ADC_IR2_NEUTRAL" value="512"/>
+ <define name="ADC_TOP_NEUTRAL" value="512"/>
+
+ <define name="LATERAL_CORRECTION" value="1"/>
+ <define name="LONGITUDINAL_CORRECTION" value="1"/>
+ <define name="VERTICAL_CORRECTION" value="1"/>
+
+ <define name="HORIZ_SENSOR_TILTED" value="1"/>
+ <define name="IR1_SIGN" value="1"/>
+ <define name="IR2_SIGN" value="1"/>
+ <define name="TOP_SIGN" value="1"/>
+
+ <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+ <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+ </section>
+
+ <section name="BAT">
+ <define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ <!-- 0.0247311828 -->
+ <!-- 0.02432905 -->
+ <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
+ </section>
+
+ <section name="MISC">
+ <define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
+ <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
+ <define name="MAXIMUM_AIRSPEED" value="18." unit="m/s"/>
+ <define name="CARROT" value="5." unit="s"/>
+ <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
+ <define name="CONTROL_RATE" value="60" unit="Hz"/>
+<!-- <define name="XBEE_INIT" value=""ATPL2\rATRN1\rATTT80\r""/>
-->
+<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
+ <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
+
+ <define name="TRIGGER_DELAY" value="1."/>
+ <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
+ <define name="MIN_CIRCLE_RADIUS" value="50."/>
+ </section>
+
+
+ <section name="VERTICAL CONTROL" prefix="V_CTL_">
+ <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
+ <!-- outer loop proportional gain -->
+ <define name="ALTITUDE_PGAIN" value="-0.06"/>
+ <!-- outer loop saturation -->
+ <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+ <!-- auto throttle inner loop -->
+ <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
+ <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
+ <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
+ <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
+ <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
+ <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2"
unit="%/(m/s)"/>
+ <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/>
+ <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
+ <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
+
+ <!-- auto pitch inner loop -->
+ <define name="AUTO_PITCH_PGAIN" value="-0.06"/>
+ <define name="AUTO_PITCH_IGAIN" value="-0.0"/>
+ <define name="AUTO_PITCH_DGAIN" value="-0.0"/>
+ <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
+ <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
+
+ <!-- pitch trim -->
+ <define name="PITCH_LOITER_TRIM" value="RadOfDeg(5.)"/>
+ <define name="PITCH_DASH_TRIM" value="RadOfDeg(-5.)"/>
+
+ <define name="THROTTLE_SLEW" value="0.1"/>
+
+ </section>
+
+
+ <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+ <define name="COURSE_PGAIN" value="-1.0"/>
+ <define name="ROLL_MAX_SETPOINT" value="0.60" unit="radians"/>
+ <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+ <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+
+ <define name="ROLL_ATTITUDE_GAIN" value="-5900"/>
+ <define name="ROLL_RATE_GAIN" value="-2900"/>
+ <define name="ROLL_IGAIN" value="-500"/>
+ <define name="ROLL_KFFA" value="-500"/>
+ <define name="ROLL_KFFD" value="-500"/>
+
+ <define name="PITCH_PGAIN" value="-9000."/>
+ <define name="PITCH_DGAIN" value="1.5"/>
+ <define name="PITCH_IGAIN" value="-500"/>
+ <define name="PITCH_KFFA" value="0."/>
+ <define name="PITCH_KFFD" value="0."/>
+
+ <define name="PITCH_OF_ROLL" value="RadOfDeg(0.2)"/>
+ </section>
+
+ <section name="NAV">
+ <define name="NAV_PITCH" value="0."/>
+ <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+ </section>
+
+ <section name="AGGRESSIVE" prefix="AGR_">
+ <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate
Aggressive Climb CANNOT BE ZERO!!-->
+ <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend
Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
+ <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb
-->
+ <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb
-->
+ <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive
Decent -->
+ <define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive
Decent -->
+ <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for
Altitude Error Equal to Start Altitude -->
+ <define name="DESCENT_NAV_RATIO" value="1.0"/>
+ </section>
+
+ <section name="FAILSAFE" prefix="FAILSAFE_">
+ <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
+ <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+ <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
+ <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
+ <define name="HOME_RADIUS" value="100" unit="m"/>
+ </section>
+
+</airframe>
+
Modified: paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/twinjet2.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/twinjet2.xml
2010-08-30 14:38:45 UTC (rev 5746)
+++ paparazzi3/trunk/conf/airframes/ENAC/fixed-wing/twinjet2.xml
2010-08-30 16:33:41 UTC (rev 5747)
@@ -12,8 +12,42 @@
<!--load name="ins_vn100.xml"/-->
<!--load name="ets_module_sensors.xml"/-->
<!--load name="infrared_i2c.xml"/-->
+ <!--load name="max3100.xml"/>
+ <load name="gsm.xml"/-->
+ <load name="sys_mon.xml">
+ <param name="TEST" value="1"/>
+ </load>
+ <!--load name="enose.xml"/-->
+ <load name="light.xml"/>
</modules>
+ <firmware name="fixedwing">
+ <target name="ap" board="tiny_2.11">
+ <define name="PITCH_TRIM"/>
+ <define name="ALT_KALMAN"/>
+ <define name="USE_I2C0"/>
+ </target>
+
+ <target name="sim" board="pc">
+ <define name="PITCH_TRIM"/>
+ <define name="ALT_KALMAN"/>
+ <define name="USE_I2C0"/>
+ </target>
+
+ <subsystem name="radio_control" type="ppm"/>
+ <subsystem name="telemetry" type="xbee_api"/>
+ <subsystem name="control_new"/>
+ <subsystem name="attitude" type="infrared"/>
+ <subsystem name="gps" type="ublox_lea5h"/>
+ <subsystem name="navigation"/>
+ <subsystem name="i2c"/>
+ </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_LEFT" no="3" min="1000" neutral="1000" max="2000"/>
@@ -39,7 +73,7 @@
<section name="MIXER">
<define name="AILEVON_AILERON_RATE" value="0.75"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
- <define name="MOTOR_YAW_RATE" value="0.05"/>
+ <define name="MOTOR_YAW_RATE" value="0.0"/>
</section>
<command_laws>
@@ -57,17 +91,6 @@
<define name="MAX_PITCH" value="0.6"/>
</section>
- <section name="adc" prefix="ADC_CHANNEL_">
- <define name="IR1" value="ADC_1"/>
- <define name="IR2" value="ADC_2"/>
- <define name="IR_TOP" value="ADC_0"/>
- <define name="IR_NB_SAMPLES" value="16"/>
-
- <!--<define name="GYRO_ROLL" value="ADC_3"/>
- <define name="GYRO_NB_SAMPLES" value="16"/> -->
-
- </section>
-
<section name="INFRARED" prefix="IR_">
<define name="ADC_IR1_NEUTRAL" value="512"/>
<define name="ADC_IR2_NEUTRAL" value="512"/>
@@ -85,27 +108,9 @@
<define name="ROLL_NEUTRAL_DEFAULT" value="-1.146" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0.15" unit="deg"/>
- <define name="CORRECTION_UP" value="1."/>
- <define name="CORRECTION_DOWN" value="1."/>
- <define name="CORRECTION_LEFT" value="1."/>
- <define name="CORRECTION_RIGHT" value="1."/>
-
<define name="I2C_DEFAULT_CONF" value="1"/>
</section>
- <!--
- <section name="GYRO" prefix="GYRO_">
- <define name="ADC_ROLL_NEUTRAL" value="520"/>
- <define name="ADC_TEMP_NEUTRAL" value="476"/>
- <define name="ADC_TEMP_SLOPE" value="0"/>
- <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
- <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
- <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
- <define name="ROLL_SCALE"
value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)"
unit="deg/s/adc_unit"/>
- <define name="ROLL_DIRECTION" value="-1."/>
- </section>
- -->
-
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
@@ -205,17 +210,6 @@
<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="%"/>
@@ -224,16 +218,11 @@
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
- <section name="DATALINK" prefix="DATALINK_">
- <define name="DEVICE_TYPE" value="XBEE"/>
- <define name="DEVICE_ADDRESS" value="...."/>
- </section>
-
-
<section name="SIMU">
<define name="YAW_RESPONSE_FACTOR" value="1."/>
</section>
+ <!--
<makefile>
CONFIG = \"tiny_2_1_1.h\"
@@ -303,6 +292,11 @@
ap.CFLAGS += -DUSE_LIGHT
ap.srcs += light.c
+########## Max3100
+ap.CFLAGS += -DMAX3100_BAUD_RATE=MAX3100_B9600
+
+ap.CFLAGS += -DGCS_NUMBER=\"+33640286530\"
+
ap.CFLAGS += -DUSE_MODULES
# Config for SITL simulation
@@ -328,4 +322,6 @@
sim.CFLAGS += -DUSE_MODULES
</makefile>
+ -->
+
</airframe>
Modified: paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mini.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mini.xml 2010-08-30
14:38:45 UTC (rev 5746)
+++ paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mini.xml 2010-08-30
16:33:41 UTC (rev 5747)
@@ -1,4 +1,4 @@
-<airframe name="NFF">
+<airframe name="Blender">
<modules main_freq="512">
<load name="booz_drop.xml"/>
@@ -6,6 +6,29 @@
<!--load name="sonar_maxbotix_booz.xml"/-->
</modules>
+ <firmware name="rotorcraft">
+ <target name="ap" board="booz_1.0">
+ <define name="BOOZ_FAILSAFE_GROUND_DETECT"/>
+ <define name="USE_GPS_ACC4R"/>
+ </target>
+ <target name="sim" board="pc">
+ <subsystem name="fdm" type="nps"/>
+ </target>
+ <subsystem name="radio_control" type="ppm"/>
+ <subsystem name="actuators" type="asctec"/>
+ <subsystem name="imu" type="b2_v1.1"/>
+ <subsystem name="gps" type="ublox"/>
+ <subsystem name="ahrs" type="cmpl"/>
+ <subsystem name="ins" type="hff"/>
+ </firmware>
+
+ <firmware name="booz_test_progs">
+ <target name="test_telemetry" board="booz_1.0"/>
+ <target name="test_baro" board="booz_1.0"/>
+ <target name="test_rc_spektrum" board="booz_1.0"/>
+ <target name="test_rc_ppm" board="booz_1.0"/>
+ </firmware>
+
<servos min="0" neutral="0" max="0xff">
<servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
<servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
@@ -205,33 +228,8 @@
<define name="ALT_SHIFT_MINUS" value="-1"/>
</section>
- <makefile>
-ARCH=lpc21
-ARCHI=arm7
-BOARD_CFG = \"boards/booz2_v1_0.h\"
-FLASH_MODE=IAP
+ <makefile location="after">
-# prevents motors from ever starting
-#ap.CFLAGS += -DKILL_MOTORS
-
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
-include $(CFG_BOOZ)/booz2_autopilot.makefile
-include $(CFG_BOOZ)/booz2_test_progs.makefile
-ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
-
-ap.CFLAGS += -DMODEM_BAUD=B57600
-include $(CFG_BOOZ)/subsystems/booz2_actuators_asctec.makefile
-include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
-include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
-include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
-include $(CFG_BOOZ)/subsystems/booz2_analog_bat_baro.makefile
-include $(CFG_BOOZ)/subsystems/booz2_fms_datalink.makefile
-
-include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
-
-include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
-ap.CFLAGS += -DUSE_GPS_ACC4R
-
ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
-DUSE_PWM1
@@ -239,11 +237,8 @@
ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
-ap.CFLAGS += -DUSE_MODULES
-
sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
sim.CFLAGS += -DNPS_NO_SUPERVISION
-include $(CFG_BOOZ)/booz2_simulator_nps.makefile
sim.CFLAGS += -DB2_GUIDANCE_H_USE_REF
sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
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- [paparazzi-commits] [5747] update airframe files with subsystems,
Gautier Hattenberger <=