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[paparazzi-commits] [6225] update LAAS aircrafts with reorg
|
From: |
Gautier Hattenberger |
|
Subject: |
[paparazzi-commits] [6225] update LAAS aircrafts with reorg |
|
Date: |
Mon, 25 Oct 2010 08:54:39 +0000 |
Revision: 6225
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6225
Author: gautier
Date: 2010-10-25 08:54:38 +0000 (Mon, 25 Oct 2010)
Log Message:
-----------
update LAAS aircrafts with reorg
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/LAAS/mmlaas_N1.xml
paparazzi3/trunk/conf/airframes/LAAS/mmlaas_N2.xml
paparazzi3/trunk/conf/airframes/LAAS/mmlaas_N3.xml
Modified: paparazzi3/trunk/conf/airframes/LAAS/mmlaas_N1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/LAAS/mmlaas_N1.xml 2010-10-24 18:49:14 UTC
(rev 6224)
+++ paparazzi3/trunk/conf/airframes/LAAS/mmlaas_N1.xml 2010-10-25 08:54:38 UTC
(rev 6225)
@@ -2,8 +2,45 @@
<airframe name="MiniMag Laas N1 Tiny 0.99">
+ <firmware name="fixedwing">
+ <target name="sim" board="pc">
+ <define name="AGR_CLIMB" />
+ <define name="LOITER_TRIM" />
+ <define name="ALT_KALMAN" />
+ </target>
+ <target name="ap" board="tiny_0.99">
+ <define name="AGR_CLIMB" />
+ <define name="LOITER_TRIM" />
+ <define name="ALT_KALMAN" />
+ </target>
+
+ <subsystem name="radio_control" type="ppm"/>
+
+ <!-- Communication -->
+ <subsystem name="telemetry" type="xbee_api">
+ <param name="MODEM_BAUD" value="B57600"/>
+ </subsystem>
+
+ <subsystem name="control"/>
+ <!-- Sensors -->
+ <subsystem name="attitude" type="infrared">
+ <param name="ADC_IR1" value="ADC_0"/>
+ <param name="ADC_IR2" value="ADC_1"/>
+ <param name="ADC_IR_TOP" value="ADC_2"/>
+ </subsystem>
+ <subsystem name="gps" type="ublox_lea4p"/>
+ <subsystem name="navigation"/>
+
+ </firmware>
+
+ <firmware name="setup">
+ <target name="tunnel" board="tiny_0.99" />
+ <target name="setup_actuators" board="tiny_0.99" />
+ </firmware>
+
<modules>
<load name="formation_flight.xml"/>
+ <load name="tcas.xml"/>
<!--load name="potential.xml"/-->
</modules>
@@ -24,7 +61,6 @@
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
- <axis name="HATCH" failsafe_value="0"/>
</commands>
<rc_commands>
@@ -35,8 +71,8 @@
</rc_commands>
<section name="MIXER">
- <define name="AILERON_DIFF" value="0.66"/>
- <define name="COMBI_SWITCH" value="1.0"/>
+ <define name="AILERON_DIFF" value="0.66"/>
+ <define name="COMBI_SWITCH" value="1.0"/>
</section>
<command_laws>
@@ -54,47 +90,38 @@
<define name="MAX_PITCH" value="0.6"/>
</section>
- <section name="adc" prefix="ADC_CHANNEL_">
- <define name="IR1" value="ADC_0"/>
- <define name="IR2" value="ADC_1"/>
- <define name="IR_TOP" value="ADC_2"/>
- <define name="IR_NB_SAMPLES" value="16"/>
- </section>
-
<section name="INFRARED" prefix="IR_">
<define name="ROLL_NEUTRAL_DEFAULT" value="-2.6" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="8.6" unit="deg"/>
- <linear name="RollOfIrs" arity="2" coeff1="0.7" coeff2="0.7"/>
+ <define name="HORIZ_SENSOR_TILTED" value="1"/>
+ <define name="IR2_SIGN" value="-1"/>
+ <define name="TOP_SIGN" value="1"/>
+
+ <!--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="1.5"/>
+ <linear name="TopOfIr" arity="1" coeff1="1.5"/-->
<define name="ADC_IR1_NEUTRAL" value="507"/>
<define name="ADC_IR2_NEUTRAL" value="509"/>
<define name="ADC_TOP_NEUTRAL" value="515"/>
- <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="VERTICAL_CORRECTION" value="1.5"/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
-
+
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
<define name="MINIMUM_AIRSPEED" value="8." unit="m/s"/>
<define name="MAXIMUM_AIRSPEED" value="16." unit="m/s"/>
<define name="CARROT" value="3." 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\rATBD6\rATWR\r\""/> -->
<define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
@@ -102,7 +129,7 @@
<define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="60."/>
</section>
-
+
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -128,7 +155,7 @@
<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"/>
+ <define name="THROTTLE_SLEW" value="0.05"/>
</section>
@@ -139,12 +166,11 @@
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
- <define name="ROLL_PGAIN" value="10000."/>
+ <define name="ROLL_ATTITUDE_GAIN" value="-10000"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-12000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
-
</section>
<section name="NAV">
@@ -186,19 +212,14 @@
<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>
<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="...."/>
+ <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="SIMU">
@@ -206,67 +227,8 @@
</section>
<makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
-
-FLASH_MODE=IAP
-
-ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.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
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
-
-ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0
-DDATALINK=XBEE -DUART0_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.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
-
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_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 -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c nav_line.c
-
-# Hack to use the same tuning file than slayer1
-#\xA0ap.CFLAGS += -DUSE_GPIO
-# ap.srcs += $(SRC_ARCH)/gpio.c
-
-# traffic
-ap.CFLAGS += -DTRAFFIC_INFO
-ap.srcs += traffic_info.c snav.c
-
# external module
-ap.srcs += external.c
+#ap.srcs += external.c
-# tcas
-ap.CFLAGS += -DTCAS
-ap.srcs += tcas.c
-
-# Harware In The Loop
-
-#ap.CFLAGS += -DHITL
-
-ap.CFLAGS += -DUSE_MODULES
-sim.CFLAGS += -DUSE_MODULES
-
-
-# Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-DTRAFFIC_INFO -DTCAS
-sim.srcs += nav_survey_rectangle.c nav_line.c external.c traffic_info.c snav.c
tcas.c
-
</makefile>
</airframe>
Modified: paparazzi3/trunk/conf/airframes/LAAS/mmlaas_N2.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/LAAS/mmlaas_N2.xml 2010-10-24 18:49:14 UTC
(rev 6224)
+++ paparazzi3/trunk/conf/airframes/LAAS/mmlaas_N2.xml 2010-10-25 08:54:38 UTC
(rev 6225)
@@ -2,8 +2,45 @@
<airframe name="MiniMag Laas N2 Tiny 1.1">
+ <firmware name="fixedwing">
+ <target name="sim" board="pc">
+ <define name="AGR_CLIMB" />
+ <define name="LOITER_TRIM" />
+ <define name="ALT_KALMAN" />
+ </target>
+ <target name="ap" board="tiny_1.1">
+ <define name="AGR_CLIMB" />
+ <define name="LOITER_TRIM" />
+ <define name="ALT_KALMAN" />
+ </target>
+
+ <subsystem name="radio_control" type="ppm"/>
+
+ <!-- Communication -->
+ <subsystem name="telemetry" type="xbee_api">
+ <param name="MODEM_BAUD" value="B57600"/>
+ </subsystem>
+
+ <subsystem name="control"/>
+ <!-- Sensors -->
+ <subsystem name="attitude" type="infrared">
+ <param name="ADC_IR1" value="ADC_0"/>
+ <param name="ADC_IR2" value="ADC_1"/>
+ <param name="ADC_IR_TOP" value="ADC_2"/>
+ </subsystem>
+ <subsystem name="gps" type="ublox_lea4p"/>
+ <subsystem name="navigation"/>
+
+ </firmware>
+
+ <firmware name="setup">
+ <target name="tunnel" board="tiny_1.1" />
+ <target name="setup_actuators" board="tiny_1.1" />
+ </firmware>
+
<modules>
<load name="formation_flight.xml"/>
+ <load name="tcas.xml"/>
<!--load name="potential.xml"/-->
</modules>
@@ -25,7 +62,6 @@
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
- <axis name="HATCH" failsafe_value="0"/>
</commands>
<rc_commands>
@@ -55,31 +91,23 @@
<define name="MAX_PITCH" value="0.6"/>
</section>
- <section name="adc" prefix="ADC_CHANNEL_">
- <define name="IR1" value="ADC_0"/>
- <define name="IR2" value="ADC_1"/>
- <define name="IR_TOP" value="ADC_2"/>
- <define name="IR_NB_SAMPLES" value="16"/>
- </section>
-
<section name="INFRARED" prefix="IR_">
<define name="ROLL_NEUTRAL_DEFAULT" value="-1.6" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="8.5" unit="deg"/>
- <linear name="RollOfIrs" arity="2" coeff1="0.7" coeff2="-0.7"/>
+ <define name="HORIZ_SENSOR_TILTED" value="1"/>
+ <define name="IR2_SIGN" value="-1"/>
+ <define name="TOP_SIGN" value="1"/>
+
+ <!--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"/>
+ <linear name="TopOfIr" arity="1" coeff1="-1"/-->
<define name="ADC_IR1_NEUTRAL" value="515"/>
<define name="ADC_IR2_NEUTRAL" value="518"/>
<define name="ADC_TOP_NEUTRAL" value="513"/>
- <define name="CORRECTION_UP" value="1."/>
- <define name="CORRECTION_DOWN" value="1."/>
- <define name="CORRECTION_LEFT" value="0.8"/>
- <define name="CORRECTION_RIGHT" value="0.8"/>
-
- <define name="LATERAL_CORRECTION" value="1."/>
+ <define name="LATERAL_CORRECTION" value="0.8"/>
<define name="LONGITUDINAL_CORRECTION" value="1."/>
<define name="VERTICAL_CORRECTION" value="1."/>
</section>
@@ -95,7 +123,6 @@
<define name="MAXIMUM_AIRSPEED" value="16." unit="m/s"/>
<define name="CARROT" value="3." 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\rATBD6\rATWR\r\""/> -->
<define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/>-->
@@ -140,12 +167,11 @@
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
- <define name="ROLL_PGAIN" value="10000."/>
+ <define name="ROLL_ATTITUDE_GAIN" value="-10000"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-12000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
-
</section>
<section name="NAV">
@@ -195,11 +221,6 @@
<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>
<section name="SIMU">
@@ -207,66 +228,8 @@
</section>
<makefile>
-
-CONFIG=\"tiny_1_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 += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
-ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
-
-ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
-
-ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0
-DDATALINK=XBEE -DUART0_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.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
-
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
-DGPS_BAUD=38400
-
-ap.srcs += gps_ubx.c gps.c latlong.c
-
-ap.CFLAGS += -DINFRARED -DALT_KALMAN
-ap.srcs += infrared.c estimator.c
-
-ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c nav_line.c
-
-#traffic
-ap.CFLAGS += -DTRAFFIC_INFO
-ap.srcs += traffic_info.c snav.c
-
# external module
-ap.srcs += external.c
+#ap.srcs += external.c
-# tcas
-ap.CFLAGS += -DTCAS
-ap.srcs += tcas.c
-
-
-# Harware In The Loop
-
-#ap.CFLAGS += -DHITL
-
-ap.CFLAGS += -DUSE_MODULES
-sim.CFLAGS += -DUSE_MODULES
-
-# Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-DTRAFFIC_INFO -DTCAS
-sim.srcs += nav_survey_rectangle.c nav_line.c external.c traffic_info.c snav.c
tcas.c
-
</makefile>
</airframe>
Modified: paparazzi3/trunk/conf/airframes/LAAS/mmlaas_N3.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/LAAS/mmlaas_N3.xml 2010-10-24 18:49:14 UTC
(rev 6224)
+++ paparazzi3/trunk/conf/airframes/LAAS/mmlaas_N3.xml 2010-10-25 08:54:38 UTC
(rev 6225)
@@ -2,9 +2,46 @@
<airframe name="MiniMag Laas N3 Tiny 1.1">
+ <firmware name="fixedwing">
+ <target name="sim" board="pc">
+ <define name="AGR_CLIMB" />
+ <define name="LOITER_TRIM" />
+ <define name="ALT_KALMAN" />
+ </target>
+ <target name="ap" board="tiny_1.1">
+ <define name="AGR_CLIMB" />
+ <define name="LOITER_TRIM" />
+ <define name="ALT_KALMAN" />
+ </target>
+
+ <subsystem name="radio_control" type="ppm"/>
+
+ <!-- Communication -->
+ <subsystem name="telemetry" type="xbee_api">
+ <param name="MODEM_BAUD" value="B57600"/>
+ </subsystem>
+
+ <subsystem name="control"/>
+ <!-- Sensors -->
+ <subsystem name="attitude" type="infrared">
+ <param name="ADC_IR1" value="ADC_0"/>
+ <param name="ADC_IR2" value="ADC_1"/>
+ <param name="ADC_IR_TOP" value="ADC_2"/>
+ </subsystem>
+ <subsystem name="gps" type="ublox_lea4p"/>
+ <subsystem name="navigation"/>
+
+ </firmware>
+
+ <firmware name="setup">
+ <target name="tunnel" board="tiny_1.1" />
+ <target name="setup_actuators" board="tiny_1.1" />
+ </firmware>
+
<modules>
<load name="formation_flight.xml"/>
- <load name="potential.xml"/>
+ <load name="tcas.xml"/>
+ <!--load name="potential.xml"/-->
</modules>
<!-- commands section -->
@@ -25,7 +62,6 @@
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
- <axis name="HATCH" failsafe_value="0"/>
</commands>
<rc_commands>
@@ -55,30 +91,22 @@
<define name="MAX_PITCH" value="0.6"/>
</section>
- <section name="adc" prefix="ADC_CHANNEL_">
- <define name="IR1" value="ADC_0"/>
- <define name="IR2" value="ADC_1"/>
- <define name="IR_TOP" value="ADC_2"/>
- <define name="IR_NB_SAMPLES" value="16"/>
- </section>
-
<section name="INFRARED" prefix="IR_">
<define name="ROLL_NEUTRAL_DEFAULT" value="3" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="9" unit="deg"/>
- <linear name="RollOfIrs" arity="2" coeff1="-0.7" coeff2="0.7"/>
+ <define name="HORIZ_SENSOR_TILTED" value="1"/>
+ <define name="IR2_SIGN" value="-1"/>
+ <define name="TOP_SIGN" value="1"/>
+
+ <!--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"/>
+ <linear name="TopOfIr" arity="1" coeff1="1"/-->
<define name="ADC_IR1_NEUTRAL" value="519"/>
<define name="ADC_IR2_NEUTRAL" value="508"/>
<define name="ADC_TOP_NEUTRAL" value="516"/>
- <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="1.4"/>
@@ -95,13 +123,12 @@
<define name="MAXIMUM_AIRSPEED" value="16." unit="m/s"/>
<define name="CARROT" value="3." 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\rATBD6\rATWR\r\""/> -->
<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="40."/>
+ <define name="DEFAULT_CIRCLE_RADIUS" value="60."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
@@ -140,12 +167,11 @@
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
- <define name="ROLL_PGAIN" value="10000."/>
+ <define name="ROLL_ATTITUDE_GAIN" value="-10000"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-12000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
-
</section>
<section name="NAV">
@@ -195,11 +221,6 @@
<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>
<section name="SIMU">
@@ -207,64 +228,8 @@
</section>
<makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
-
-FLASH_MODE=IAP
-
-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
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
-
-ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0
-DDATALINK=XBEE -DUART0_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.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
-
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
-DGPS_BAUD=38400
-
-ap.srcs += gps_ubx.c gps.c latlong.c
-
-ap.CFLAGS += -DINFRARED -DALT_KALMAN
-ap.srcs += infrared.c estimator.c
-
-ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c nav_line.c
-
-# traffic
-ap.CFLAGS += -DTRAFFIC_INFO
-ap.srcs += traffic_info.c snav.c
-
# external module
-ap.srcs += external.c
+#ap.srcs += external.c
-# tcas
-ap.CFLAGS += -DTCAS
-ap.srcs += tcas.c
-
-
-# Harware In The Loop
-
-#ap.CFLAGS += -DHITL
-
-ap.CFLAGS += -DUSE_MODULES
-sim.CFLAGS += -DUSE_MODULES
-
-
-# Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-DTRAFFIC_INFO -DTCAS
-sim.srcs += nav_survey_rectangle.c nav_line.c external.c traffic_info.c snav.c
tcas.c
-
</makefile>
</airframe>
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