[paparazzi-commits] [5916] changes to accomodate ubx gps passthrough from overo to twog.

[Paul Cox]

Revision: 5916
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5916
Author:   paulcox
Date:     2010-09-22 10:52:10 +0000 (Wed, 22 Sep 2010)
Log Message:
-----------
changes to accomodate ubx gps passthrough from overo to twog.
ExtraPprz used for twog -> overo
ubx msgs sent to twog via HITL mechanism.
twinjet_overo is the twog airframe that corresponds to this setup.

Added Paths:
-----------
    paparazzi3/trunk/conf/airframes/twinjet_overo.xml
    
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h_hitl.makefile
    paparazzi3/trunk/conf/modules/twog_extra_dl.xml

Added: paparazzi3/trunk/conf/airframes/twinjet_overo.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/twinjet_overo.xml                           
(rev 0)
+++ paparazzi3/trunk/conf/airframes/twinjet_overo.xml   2010-09-22 10:52:10 UTC 
(rev 5916)
@@ -0,0 +1,186 @@
+<!DOCTYPE airframe SYSTEM "airframe.dtd">
+
+<!-- Twinjet Multiplex (http://www.multiplex-rc.de/)
+     Twog v1 board (http://paparazzi.enac.fr/wiki/Twog_v1)
+     PerkinElmer TPS334 IR Sensors
+     Aligned infrared sensor
+     XBee modem with AT firmware
+     LEA 5H GPS
+-->
+
+<airframe name="Twinjet">
+
+  <firmware name="fixedwing">
+    <target name="ap"                  board="twog_1">
+      <define name="LOITER_TRIM"/>
+      <define name="ALT_KALMAN"/>
+      <define name="AGR_CLIMB"/>
+      <define name="UBX_EXTERNAL"/>
+    </target>
+
+    <target name="sim"                         board="pc">
+      <define name="LOITER_TRIM"/>
+      <define name="ALT_KALMAN"/>
+      <define name="AGR_CLIMB"/>
+    </target>
+
+    <subsystem name="radio_control" type="ppm"/>
+    <subsystem name="telemetry"     type="transparent"/>
+    <subsystem name="control"/>
+    <subsystem name="attitude"      type="infrared"/>
+    <subsystem name="gyro"          type="roll"/>
+    <subsystem name="gps"           type="ublox_lea5h_hitl"/>
+    <subsystem name="navigation"/>
+  </firmware>
+
+  <firmware name="setup">
+    <target name="tunnel"              board="twog_1" />
+    <target name="setup_actuators"     board="twog_1" />
+  </firmware>
+
+  <modules>
+    <load name="twog_extra_dl.xml"/>
+  </modules>
+
+  <servos>
+    <servo name="THROTTLE"      no="0" min="1000" neutral="1000" max="2000"/>
+    <servo name="AILEVON_RIGHT" no="1" min="1230" neutral="1710" max="2100"/>
+    <servo name="AILEVON_LEFT"  no="2" min="2120" neutral="1785" max="1300"/>
+  </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="1.00"/>
+  </section>
+
+  <command_laws>
+    <set servo="THROTTLE" value="@THROTTLE"/>
+    <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
+    <set servo="AILEVON_LEFT" value="$aileron + $elevator"/>
+    <set servo="AILEVON_RIGHT" value="-$aileron + $elevator"/>
+  </command_laws>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="0.6"/>
+    <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="HORIZ_SENSOR_ALIGNED" value="1"/>
+    <define name="IR1_SIGN" value="1"/>
+    <define name="IR2_SIGN" value="-1"/>
+
+    <define name="ROLL_NEUTRAL_DEFAULT" value="5" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="10" unit="deg"/>
+
+    <define name="LATERAL_CORRECTION" value="1."/>
+    <define name="LONGITUDINAL_CORRECTION" value="1."/>
+    <define name="VERTICAL_CORRECTION" value="1.25"/>
+
+    <define name="CORRECTION_UP" value="1."/>
+    <define name="CORRECTION_DOWN" value="1."/>
+    <define name="CORRECTION_LEFT" value="1."/>
+    <define name="CORRECTION_RIGHT" value="1."/>
+  </section>
+
+  <section name="GYRO" prefix="GYRO_">
+    <define name="ADC_ROLL_NEUTRAL" value="316"/>
+    <define name="ROLL_DIRECTION" value="1."/>
+    <define name="ROLL_SCALE" value="0.44"/>
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="-0.9"/>
+
+    <define name="ROLL_MAX_SETPOINT" value="0.53" unit="radians"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+
+    <define name="PITCH_PGAIN" value="-6000."/>
+    <define name="PITCH_DGAIN" value="0."/>
+    <define name="ELEVATOR_OF_ROLL" value="0"/>
+
+    <!--  roll rate loop -->
+    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_RATE_GAIN" value="-1500"/>
+  </section>
+
+
+ <section name="VERTICAL CONTROL" prefix="V_CTL_">
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="-0.05"/>
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="3."/>
+
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.40"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".3"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.8"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="2000"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1500"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" 
unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="-0.008"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0.25"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.14"/>
+
+    <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
+  </section>
+
+
+
+  <section name="NAV">
+    <define name="NAV_PITCH" value="0."/>
+    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
+  </section>
+
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="1000"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
+    <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
+  </section>
+
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
+    <define name="CARROT" value="5." unit="s"/>
+    <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)" 
unit="s"/>
+  </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+    <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
+    <define name="DEFAULT_THROTTLE" 
value="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE+0.05" unit="%"/>
+    <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
+    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
+    <define name="HOME_RADIUS" value="50" unit="m"/>
+  </section>
+
+  <section name="AGGRESSIVE" prefix="AGR_">
+    <define name="CLIMB_THROTTLE" value="0.65"/><!-- Throttle for Aggressive 
Climb -->
+    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive 
Decent -->
+    <define name="CLIMB_PITCH" value="0.2"/><!-- 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>
+
+</airframe>


Property changes on: paparazzi3/trunk/conf/airframes/twinjet_overo.xml
___________________________________________________________________
Added: svn:executable
   + *

Added: 
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h_hitl.makefile
===================================================================
--- 
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h_hitl.makefile
                          (rev 0)
+++ 
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h_hitl.makefile
  2010-09-22 10:52:10 UTC (rev 5916)
@@ -0,0 +1,6 @@
+# UBlox LEA 5H
+
+
+ap.CFLAGS += -DGPS -DUBX -DGPS_USE_LATLONG
+
+ap.srcs   += $(SRC_FIXEDWING)/gps_ubx.c $(SRC_FIXEDWING)/gps.c 
$(SRC_FIXEDWING)/latlong.c


Property changes on: 
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h_hitl.makefile
___________________________________________________________________
Added: svn:executable
   + *

Added: paparazzi3/trunk/conf/modules/twog_extra_dl.xml
===================================================================
--- paparazzi3/trunk/conf/modules/twog_extra_dl.xml                             
(rev 0)
+++ paparazzi3/trunk/conf/modules/twog_extra_dl.xml     2010-09-22 10:52:10 UTC 
(rev 5916)
@@ -0,0 +1,16 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="extra_dl" dir="core">
+  <header>
+    <file name="extra_pprz_dl.h"/>
+  </header>
+  <event fun="ExtraDatalinkEvent()"/>
+  <makefile>
+    <flag name="EXTRA_DOWNLINK_DEVICE" value="Uart0"/>
+    <flag name="EXTRA_PPRZ_UART" value="Uart0"/>
+    <flag name="USE_UART0"/>
+    <flag name="UART0_BAUD" value="B57600"/>
+    <file name="extra_pprz_dl.c"/>
+  </makefile>
+</module>
+


Property changes on: paparazzi3/trunk/conf/modules/twog_extra_dl.xml
___________________________________________________________________
Added: svn:executable
   + *