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[paparazzi-commits] [6409] Demo planes
|
From: |
Martin Mueller |
|
Subject: |
[paparazzi-commits] [6409] Demo planes |
|
Date: |
Thu, 18 Nov 2010 07:27:22 +0000 |
Revision: 6409
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6409
Author: mmm
Date: 2010-11-18 07:27:21 +0000 (Thu, 18 Nov 2010)
Log Message:
-----------
Demo planes
Modified Paths:
--------------
paparazzi-software/trunk/conf/airframes/mm/fixed-wing/drops.xml
paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjetdcc.xml
paparazzi-software/trunk/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
paparazzi-software/trunk/conf/airframes/mm/fixed-wing/slowfast.xml
paparazzi-software/trunk/conf/airframes/mm/fixed-wing/slowfast2.xml
Added Paths:
-----------
paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjet43.xml
paparazzi-software/trunk/conf/airframes/mm/rotor/
paparazzi-software/trunk/conf/airframes/mm/rotor/qmk1.xml
paparazzi-software/trunk/conf/settings/tuning_loiter.xml
Modified: paparazzi-software/trunk/conf/airframes/mm/fixed-wing/drops.xml
===================================================================
--- paparazzi-software/trunk/conf/airframes/mm/fixed-wing/drops.xml
2010-11-17 21:14:36 UTC (rev 6408)
+++ paparazzi-software/trunk/conf/airframes/mm/fixed-wing/drops.xml
2010-11-18 07:27:21 UTC (rev 6409)
@@ -1,15 +1,37 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
+<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
<!-- Twinstar II, 2x Jeti 12 advance
Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
- PerkinElmer TPS334 IR Sensors
Tilted infrared sensor
XBee modem
- K66, LEA 5H
+ R6107SP, LEA 5H
-->
-<airframe name="Drops K66">
+<airframe name="Drops">
+ <firmware name="fixedwing">
+ <target name="sim" board="pc"/>
+ <target name="ap" board="tiny_2.1">
+ <define name="AGR_CLIMB"/>
+ <define name="LOITER_TRIM"/>
+ <define name="ALT_KALMAN"/>
+ <define name="WIND_INFO"/>
+ <define name="WIND_INFO_RET"/>
+ </target>
+
+ <subsystem name="radio_control" type="ppm"/>
+ <subsystem name="telemetry" type="xbee_api"/>
+ <subsystem name="control_adaptive"/>
+ <subsystem name="attitude" type="infrared"/>
+ <subsystem name="gps" type="ublox_lea5h"/>
+ <subsystem name="navigation"/>
+ <subsystem name="navigation_bomb"/>
+
+ <subsystem name="gyro" type="roll">
+ <param name="ADC_GYRO_ROLL" value="ADC_3"/>
+ </subsystem>
+ </firmware>
+
<!-- commands section -->
<servos>
<servo name="MOTOR_LEFT" no="0" min="1000" neutral="1000" max="2000"/>
@@ -70,7 +92,7 @@
<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="32"/>
+ <!--define name="GYRO_NB_SAMPLES" value="32"/-->
</section>
<section name="INFRARED" prefix="IR_">
@@ -120,8 +142,6 @@
<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."/>
@@ -154,7 +174,7 @@
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
- <define name="THROTTLE_SLEW" value="0.1"/>
+ <define name="THROTTLE_SLEW" value="0.1"/>
</section>
@@ -168,14 +188,19 @@
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-8898.3046875"/>
<define name="PITCH_DGAIN" value="-1694.91503906"/>
+ <define name="PITCH_IGAIN" value="0"/>
<define name="ELEVATOR_OF_ROLL" value="1520.73706055"/>
<define name="ROLL_ATTITUDE_GAIN" value="-5847.45800781"/>
<define name="ROLL_RATE_GAIN" value="-2923.72900391"/>
+ <define name="ROLL_IGAIN" value="-5000"/>
- <define name="ROLL_KFF" value="-500"/>
- <define name="ROLL_IGAIN" value="-5000"/>
+ <define name="ROLL_KFFA" value="500"/>
+ <define name="ROLL_KFFD" value="0"/>
+
+ <define name="PITCH_KFFA" value="0"/>
+ <define name="PITCH_KFFD" value="0"/>
</section>
<section name="NAV">
@@ -209,13 +234,9 @@
<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>
- <section name="DATALINK" prefix="DATALINK_">
- <define name="DEVICE_TYPE" value="XBEE"/>
- <define name="DEVICE_ADDRESS" value="...."/>
- </section>
- <makefile>
+<!--makefile>
CONFIG = \"tiny_2_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
@@ -280,5 +301,7 @@
sim.srcs += bomb.c
- </makefile>
+</makefile-->
+
</airframe>
+
Added: paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjet43.xml
===================================================================
--- paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjet43.xml
(rev 0)
+++ paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjet43.xml
2010-11-18 07:27:21 UTC (rev 6409)
@@ -0,0 +1,190 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
+ Lisa/L board (http://paparazzi.enac.fr/wiki/Lisa)
+ XBee modem with AT firmware
+ LEA 5H GPS
+-->
+
+<airframe name="Delta Wing">
+
+ <firmware name="fixedwing">
+ <target name="sim" board="pc"/>
+ <target name="ap" board="lisa_l_1.0"/>
+ <define name="LOITER_TRIM"/>
+ <define name="ARDUIMU_I2C_DEV" value="i2c2"/>
+ <define name="PERIPHERALS_AUTO_INIT"/>
+ <define name="USE_I2C2"/>
+ <define name="USE_AD1"/>
+
+ <subsystem name="radio_control" type="spektrum"/>
+ <subsystem name="telemetry" type="transparent"/>
+ <subsystem name="control"/>
+ <!--subsystem name="attitude" type="infrared"/-->
+ <subsystem name="gps" type="ublox_lea5h"/>
+ <subsystem name="navigation"/>
+ <!-- Interfaces -->
+ <subsystem name="i2c"/>
+ </firmware>
+
+ <!-- modules -->
+ <modules>
+ <load name="ins_arduimu.xml">
+ </load>
+ </modules>
+
+ <firmware name="lisa_l_test_progs">
+ <target name="tunnel" board="lisa_l_1.0"/>
+ <target name="test_led" board="lisa_l_1.0"/>
+ <target name="test_uart" board="lisa_l_1.0"/>
+ <target name="test_servos" board="lisa_l_1.0"/>
+ <target name="test_telemetry" board="lisa_l_1.0"/>
+ <target name="test_baro" board="lisa_l_1.0"/>
+ <target name="test_imu_b2" board="lisa_l_1.0"/>
+ <target name="test_imu_b2_2" board="lisa_l_1.0"/>
+ <target name="test_imu_aspirin" board="lisa_l_1.0"/>
+ <target name="test_rc_spektrum" board="lisa_l_1.0"/>
+ <target name="test_rc_ppm" board="lisa_l_1.0"/>
+ <target name="test_adc" board="lisa_l_1.0"/>
+ <target name="test_hmc5843" board="lisa_l_1.0"/>
+ <target name="test_itg3200" board="lisa_l_1.0"/>
+ <target name="test_adxl345" board="lisa_l_1.0"/>
+ <target name="test_esc_mkk_simple" board="lisa_l_1.0"/>
+ <target name="test_esc_asctecv1_simple" board="lisa_l_1.0"/>
+ <target name="test_actuators_mkk" board="lisa_l_1.0"/>
+ <target name="test_actuators_asctecv1" board="lisa_l_1.0"/>
+ </firmware>
+
+
+
+ <servos>
+ <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
+ <servo name="AILEVON_LEFT" no="1" min="1900" neutral="1521" max="1100"/>
+ <servo name="AILEVON_RIGHT" no="2" min="1100" neutral="1510" max="1900"/>
+ </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="0.45"/>
+ <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
+ </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="RadOfDeg(50)"/>
+ <define name="MAX_PITCH" value="RadOfDeg(35)"/>
+ </section>
+
+ <section name="INS" prefix="INS_">
+ <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+ <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+ </section>
+
+ <section name="INFRARED" prefix="IR_">
+ <define name="ADC_IR1_NEUTRAL" value="2048"/>
+ <define name="ADC_IR2_NEUTRAL" value="2048"/>
+ <define name="ADC_TOP_NEUTRAL" value="2048"/>
+
+ <define name="LATERAL_CORRECTION" value="-1"/>
+ <define name="LONGITUDINAL_CORRECTION" value="1"/>
+ <define name="VERTICAL_CORRECTION" value="1.5"/>
+
+ <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="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="DEFAULT_CIRCLE_RADIUS" value="120."/>
+ </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="2."/>
+
+ <!-- auto throttle inner loop -->
+ <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
+ <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
+ <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
+ <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2"
unit="%/(m/s)"/>
+ <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
+ <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
+ <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
+ <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
+ <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
+
+ <!-- auto pitch inner loop -->
+ <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+ <define name="AUTO_PITCH_IGAIN" value="0.0"/>
+ <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="-0.9"/>
+ <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
+ <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="6600."/>
+ <define name="AILERON_OF_THROTTLE" value="0.0"/>
+ <define name="PITCH_PGAIN" value="-5500."/>
+ <define name="PITCH_DGAIN" value="0.4"/>
+
+ <define name="ELEVATOR_OF_ROLL" value="2400"/>
+ </section>
+
+ <section name="NAV">
+ <define name="NAV_PITCH" value="0."/>
+ <define name="NAV_GLIDE_PITCH_TRIM" value="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="YAW_RESPONSE_FACTOR" value="0.5"/>
+ </section>
+
+</airframe>
Modified: paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjetdcc.xml
===================================================================
--- paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjetdcc.xml
2010-11-17 21:14:36 UTC (rev 6408)
+++ paparazzi-software/trunk/conf/airframes/mm/fixed-wing/funjetdcc.xml
2010-11-18 07:27:21 UTC (rev 6409)
@@ -34,7 +34,7 @@
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
- <subsystem name="gps" type="ublox_lea5h"/>
+ <subsystem name="gps" type="ublox_lea4p"/>
<!-- Nav -->
<subsystem name="navigation"/>
<!-- Interfaces -->
@@ -57,7 +57,7 @@
<!-- commands section -->
<servos>
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
- <servo name="AILEVON_LEFT" no="2" min="1900" neutral="1500" max="1100"/>
+ <servo name="AILEVON_LEFT" no="2" min="1900" neutral="1529" max="1100"/>
<servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1500" max="1900"/>
</servos>
Modified:
paparazzi-software/trunk/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
===================================================================
--- paparazzi-software/trunk/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
2010-11-17 21:14:36 UTC (rev 6408)
+++ paparazzi-software/trunk/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
2010-11-18 07:27:21 UTC (rev 6409)
@@ -6,7 +6,7 @@
LEA 5H
-->
-<airframe name="Funjet mm 1">
+<airframe name="Funjet mm 1 arduimu">
<firmware name="fixedwing">
<target name="sim" board="pc">
@@ -40,7 +40,9 @@
<subsystem name="gps" type="ublox_lea5h">
<param name="GPS_BAUD" value="B38400"/>
</subsystem>
+ <!-- Nav -->
<subsystem name="navigation"/>
+ <!-- Interfaces -->
<subsystem name="i2c"/>
</firmware>
@@ -60,8 +62,8 @@
<!-- commands section -->
<servos>
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
- <servo name="AILEVON_LEFT" no="2" min="1900" neutral="1442" max="1100"/>
- <servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1549" max="1900"/>
+ <servo name="AILEVON_LEFT" no="2" min="1900" neutral="1479" max="1100"/>
+ <servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1496" max="1900"/>
<servo name="HATCH" no="7" min="1070" neutral="1070" max="2200"/>
</servos>
Modified: paparazzi-software/trunk/conf/airframes/mm/fixed-wing/slowfast.xml
===================================================================
--- paparazzi-software/trunk/conf/airframes/mm/fixed-wing/slowfast.xml
2010-11-17 21:14:36 UTC (rev 6408)
+++ paparazzi-software/trunk/conf/airframes/mm/fixed-wing/slowfast.xml
2010-11-18 07:27:21 UTC (rev 6409)
@@ -9,6 +9,28 @@
<airframe name="SlowFast">
+ <firmware name="fixedwing">
+ <target name="sim" board="pc"/>
+ <target name="ap" board="tiny_2.1">
+ <define name="AGR_CLIMB"/>
+ <define name="LOITER_TRIM"/>
+ <define name="ALT_KALMAN"/>
+ <define name="WIND_INFO"/>
+ <define name="WIND_INFO_RET"/>
+ </target>
+
+ <subsystem name="radio_control" type="ppm"/>
+ <subsystem name="telemetry" type="xbee_api"/>
+ <subsystem name="control"/>
+ <subsystem name="attitude" type="infrared"/>
+ <subsystem name="gps" type="ublox_lea5h"/>
+ <subsystem name="navigation"/>
+
+ <subsystem name="gyro" type="roll">
+ <param name="ADC_GYRO_ROLL" value="ADC_3"/>
+ </subsystem>
+ </firmware>
+
<!-- commands section -->
<servos>
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
@@ -255,16 +277,4 @@
</makefile>
-->
- <firmware name="fixedwing">
- <target name="sim" board="pc"/>
- <target name="ap" board="tiny_2.1"/>
-
- <subsystem name="radio_control" type="ppm"/>
- <subsystem name="telemetry" type="xbee_api"/>
- <subsystem name="control"/>
- <subsystem name="attitude" type="infrared"/>
- <subsystem name="gps" type="ublox_lea5h"/>
- <subsystem name="navigation"/>
- </firmware>
-
</airframe>
Modified: paparazzi-software/trunk/conf/airframes/mm/fixed-wing/slowfast2.xml
===================================================================
--- paparazzi-software/trunk/conf/airframes/mm/fixed-wing/slowfast2.xml
2010-11-17 21:14:36 UTC (rev 6408)
+++ paparazzi-software/trunk/conf/airframes/mm/fixed-wing/slowfast2.xml
2010-11-18 07:27:21 UTC (rev 6409)
@@ -9,6 +9,38 @@
<airframe name="SlowFast">
+ <firmware name="fixedwing">
+ <target name="sim" board="pc"/>
+ <target name="ap" board="tiny_2.1">
+ <define name="AGR_CLIMB"/>
+ <define name="LOITER_TRIM"/>
+ <define name="ALT_KALMAN"/>
+ <define name="WIND_INFO"/>
+ <define name="WIND_INFO_RET"/>
+ <define name="USE_I2C0"/>
+ </target>
+
+ <subsystem name="radio_control" type="ppm"/>
+ <subsystem name="telemetry" type="xbee_api"/>
+ <subsystem name="control"/>
+ <subsystem name="attitude" type="infrared"/>
+ <subsystem name="gps" type="ublox_lea5h"/>
+ <subsystem name="navigation"/>
+
+ <subsystem name="i2c"/>
+ <subsystem name="gyro" type="roll">
+ <param name="ADC_GYRO_ROLL" value="ADC_3"/>
+ </subsystem>
+ </firmware>
+
+ <!-- modules -->
+ <modules>
+ <load name="airspeed_ets.xml">
+ <!--param name="USE_AIRSPEED" value="1"/-->
+ <param name="SENSOR_SYNC_SEND" value="1"/>
+ </load>
+ </modules>
+
<!-- commands section -->
<servos>
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
@@ -138,6 +170,16 @@
<define name="THROTTLE_SLEW" value="0.1"/>
+ <!-- airspeed control -->
+ <define name="AUTO_AIRSPEED_SETPOINT" value="15."/>
+ <define name="AUTO_AIRSPEED_PGAIN" value="0.05"/>
+ <define name="AUTO_AIRSPEED_IGAIN" value="0.01"/>
+ <define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
+ <define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
+ <define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
+ <define name="AIRSPEED_MAX" value="45"/>
+ <define name="AIRSPEED_MIN" value="14"/>
+
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
@@ -191,11 +233,6 @@
<define name="ROLL_RATE_DGAIN" value="0.0"/>
</section>
- <section name="DATALINK" prefix="DATALINK_">
- <define name="DEVICE_TYPE" value="XBEE"/>
- <define name="DEVICE_ADDRESS" value="...."/>
- </section>
-
<!--
<makefile>
CONFIG = \"tiny_2_1.h\"
@@ -253,17 +290,6 @@
</makefile>
-->
- <firmware name="fixedwing">
- <target name="sim" board="pc"/>
- <target name="ap" board="tiny_2.1"/>
- <subsystem name="radio_control" type="ppm"/>
- <subsystem name="telemetry" type="xbee_api"/>
- <subsystem name="control"/>
- <subsystem name="attitude" type="infrared"/>
- <subsystem name="gps" type="ublox_lea5h"/>
- <subsystem name="navigation"/>
- </firmware>
+</airframe>
-
-</airframe>
Added: paparazzi-software/trunk/conf/airframes/mm/rotor/qmk1.xml
===================================================================
--- paparazzi-software/trunk/conf/airframes/mm/rotor/qmk1.xml
(rev 0)
+++ paparazzi-software/trunk/conf/airframes/mm/rotor/qmk1.xml 2010-11-18
07:27:21 UTC (rev 6409)
@@ -0,0 +1,242 @@
+<!-- this is a mikrokopter frame equiped with Lisa/L and mikrokopter
controllers -->
+
+<airframe name="qmk1">
+
+ <servos min="0" neutral="0" max="0xff">
+ <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
+ <servo name="BACK" no="1" min="0" neutral="0" max="255"/>
+ <servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
+ <servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
+ </servos>
+
+ <commands>
+ <axis name="PITCH" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="YAW" failsafe_value="0"/>
+ <axis name="THRUST" failsafe_value="0"/>
+ </commands>
+
+ <!-- for the sim -->
+ <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+ <define name="NB" value="4"/>
+ <define name="ADDR" value="{ 0x52, 0x54, 0x58, 0x56 }"/>
+ </section>
+
+
+ <section name="SUPERVISION" prefix="SUPERVISION_">
+ <define name="MIN_MOTOR" value="3"/>
+ <define name="MAX_MOTOR" value="200"/>
+ <define name="TRIM_A" value="0"/>
+ <define name="TRIM_E" value="0"/>
+ <define name="TRIM_R" value="0"/>
+ <define name="NB_MOTOR" value="4"/>
+ <define name="SCALE" value="256"/>
+ <define name="ROLL_COEF" value="{ 0 , 0, 256, -256 }"/>
+ <define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/>
+ <define name="YAW_COEF" value="{ -256, -256, 256, 256 }"/>
+ <define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
+ </section>
+
+ <section name="IMU" prefix="IMU_">
+
+ <define name="GYRO_P_NEUTRAL" value="32858"/>
+ <define name="GYRO_Q_NEUTRAL" value="33152"/>
+ <define name="GYRO_R_NEUTRAL" value="31779"/>
+ <define name="GYRO_P_SENS" value=" 1.101357422" integer="16"/>
+ <define name="GYRO_Q_SENS" value=" 1.122670898" integer="16"/>
+ <define name="GYRO_R_SENS" value=" 1.104890137" integer="16"/>
+
+ <define name="ACCEL_X_NEUTRAL" value="32907"/>
+ <define name="ACCEL_Y_NEUTRAL" value="33046"/>
+ <define name="ACCEL_Z_NEUTRAL" value="32830"/>
+ <define name="ACCEL_X_SENS" value="2.57332012257" integer="16"/>
+ <define name="ACCEL_Y_SENS" value="2.56968772349" integer="16"/>
+ <define name="ACCEL_Z_SENS" value="2.56894625325" integer="16"/>
+
+ <define name="MAG_X_NEUTRAL" value="58"/>
+ <define name="MAG_Y_NEUTRAL" value="92"/>
+ <define name="MAG_Z_NEUTRAL" value="-3"/>
+ <define name="MAG_X_SENS" value="4.70018395734" integer="16"/>
+ <define name="MAG_Y_SENS" value="4.884119848" integer="16"/>
+ <define name="MAG_Z_SENS" value="2.59926404993" integer="16"/>
+
+<!-- old calibration
+ <define name="MAG_X_NEUTRAL" value="30"/>
+ <define name="MAG_Y_NEUTRAL" value="80"/>
+ <define name="MAG_Z_NEUTRAL" value="19"/>
+ <define name="MAG_X_SENS" value="4.73590916868" integer="16"/>
+ <define name="MAG_Y_SENS" value="4.86013203775" integer="16"/>
+ <define name="MAG_Z_SENS" value="2.5947951512" integer="16"/>
+-->
+ <define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0. )"/>
+ <define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0. )"/>
+ <define name="BODY_TO_IMU_PSI" value="RadOfDeg( 45.)"/>
+
+ </section>
+
+ <section name="AUTOPILOT">
+ <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
+ <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
+ <define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
+ </section>
+
+ <section name="BAT">
+ <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ <define name="BATTERY_SENS" value="0.48" integer="16"/>
+ </section>
+
+
+ <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
+
+ <define name="SP_MAX_P" value="10000"/>
+ <define name="SP_MAX_Q" value="10000"/>
+ <define name="SP_MAX_R" value="10000"/>
+
+ <define name="GAIN_P" value="-400"/>
+ <define name="GAIN_Q" value="-400"/>
+ <define name="GAIN_R" value="-350"/>
+
+ </section>
+
+ <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
+
+ <!-- setpoints -->
+ <define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
+ <define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
+ <define name="SP_MAX_R" value="RadOfDeg(90.)"/>
+ <define name="DEADBAND_R" value="250"/>
+
+ <!-- reference -->
+ <define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
+ <define name="REF_ZETA_P" value="0.85"/>
+ <define name="REF_MAX_P" value="RadOfDeg(300.)"/>
+ <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
+
+ <define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
+ <define name="REF_ZETA_Q" value="0.85"/>
+ <define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
+ <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
+
+ <define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
+ <define name="REF_ZETA_R" value="0.85"/>
+ <define name="REF_MAX_R" value="RadOfDeg(180.)"/>
+ <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
+
+ <!-- feedback -->
+ <define name="PHI_PGAIN" value="-2000"/>
+ <define name="PHI_DGAIN" value="-400"/>
+ <define name="PHI_IGAIN" value="-200"/>
+
+ <define name="THETA_PGAIN" value="-2000"/>
+ <define name="THETA_DGAIN" value="-400"/>
+ <define name="THETA_IGAIN" value="-400"/>
+
+ <define name="PSI_PGAIN" value="-1000"/>
+ <define name="PSI_DGAIN" value="-350"/>
+ <define name="PSI_IGAIN" value="-10"/>
+
+ <!-- feedforward -->
+ <define name="PHI_DDGAIN" value=" 300"/>
+ <define name="THETA_DDGAIN" value=" 300"/>
+ <define name="PSI_DDGAIN" value=" 300"/>
+
+ </section>
+
+ <section name="INS" prefix="INS_">
+<!-- <define name="BARO_SENS" value="15." integer="16"/> -->
+ <define name="BARO_SENS" value="10." integer="16"/>
+ </section>
+
+ <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
+ <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
+ <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
+ <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
+ <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
+ <define name="MAX_SUM_ERR" value="2000000"/>
+ <define name="HOVER_KP" value="-500"/>
+ <define name="HOVER_KD" value="-200"/>
+ <define name="HOVER_KI" value="0"/>
+ <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
+ <define name="RC_CLIMB_COEF" value ="163"/>
+ <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
+ <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+ <!--define name="INV_M" value ="0.2"/-->
+ </section>
+
+
+ <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+ <define name="PGAIN" value="-100"/>
+ <define name="DGAIN" value="-100"/>
+ <define name="IGAIN" value="-0"/>
+ </section>
+
+ <section name="MISC">
+ <define name="FACE_REINJ_1" value="1024"/>
+ </section>
+
+ <section name="SIMULATOR" prefix="NPS_">
+ <define name="ACTUATOR_NAMES" value="{"front_motor",
"back_motor", "right_motor", "left_motor"}"/>
+ <define name="INITIAL_CONDITITONS" value=""reset00""/>
+ <define name="SENSORS_PARAMS"
value=""nps_sensors_params_booz2_a1.h""/>
+ </section>
+
+<!-- -->
+ <modules main_freq="512">
+ <load name="vehicle_interface_overo_link.xml"/>
+ </modules>
+<!-- -->
+
+ <firmware name="rotorcraft">
+ <target name="ap" board="lisa_l_1.0">
+<!-- <define name="BOOZ_START_DELAY" value="1"/> -->
+ <subsystem name="radio_control" type="spektrum"/>
+ <subsystem name="actuators" type="mkk"/>
+ </target>
+ <target name="sim" board="pc">
+ <subsystem name="fdm" type="nps"/>
+ <subsystem name="radio_control" type="ppm"/>
+ <subsystem name="actuators" type="mkk"/>
+ </target>
+
+ <subsystem name="imu" type="b2_v1.1"/>
+ <subsystem name="gps" type="ublox"/>
+ <subsystem name="ahrs" type="cmpl"/>
+ </firmware>
+
+ <firmware name="lisa_l_test_progs">
+ <target name="test_led" board="lisa_l_1.0"/>
+ <target name="test_uart" board="lisa_l_1.0"/>
+ <target name="test_servos" board="lisa_l_1.0"/>
+ <target name="test_telemetry" board="lisa_l_1.0"/>
+ <target name="test_baro" board="lisa_l_1.0"/>
+ <target name="test_imu_b2" board="lisa_l_1.0"/>
+ <target name="test_imu_b2_2" board="lisa_l_1.0"/>
+ <target name="test_imu_aspirin" board="lisa_l_1.0"/>
+ <target name="test_rc_spektrum" board="lisa_l_1.0"/>
+ <target name="test_rc_ppm" board="lisa_l_1.0"/>
+ <target name="test_adc" board="lisa_l_1.0"/>
+ <target name="test_hmc5843" board="lisa_l_1.0"/>
+ <target name="test_itg3200" board="lisa_l_1.0"/>
+ <target name="test_adxl345" board="lisa_l_1.0"/>
+ <target name="test_esc_mkk_simple" board="lisa_l_1.0"/>
+ <target name="test_esc_asctecv1_simple" board="lisa_l_1.0"/>
+ <target name="test_actuators_mkk" board="lisa_l_1.0"/>
+ <target name="test_actuators_asctecv1" board="lisa_l_1.0"/>
+ </firmware>
+
+ <firmware name="lisa_passthrough">
+ <target name="overo_test_passthrough" board="lisa_l_1.0" >
+ <param name="HOST" value="A7"/>
+ <param name="USER" value=""/>
+ <param name="TARGET_DIR" value="~"/>
+ <param name="PERIODIC_FREQ" value="512"/>
+ </target>
+ <target name="stm_passthrough" board="lisa_l_1.0">
+ <subsystem name="radio_control" type="spektrum"/>
+ <subsystem name="imu" type="b2_v1.1"/>
+ </target>
+ </firmware>
+
+
+</airframe>
Property changes on: paparazzi-software/trunk/conf/airframes/mm/rotor/qmk1.xml
___________________________________________________________________
Added: svn:executable
+ *
Added: paparazzi-software/trunk/conf/settings/tuning_loiter.xml
===================================================================
--- paparazzi-software/trunk/conf/settings/tuning_loiter.xml
(rev 0)
+++ paparazzi-software/trunk/conf/settings/tuning_loiter.xml 2010-11-18
07:27:21 UTC (rev 6409)
@@ -0,0 +1,109 @@
+<!DOCTYPE settings SYSTEM "settings.dtd">
+
+<!-- A conf to use to tune a new A/C -->
+
+<settings>
+ <dl_settings>
+ <dl_settings NAME="flight params">
+ <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude"
shortname="altitude"/>
+ <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
+ <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
+ </dl_settings>
+
+ <dl_settings NAME="mode">
+ <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot"/>
+ <dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled"
shortname="alt_kalman" module="estimator"/>
+ <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time"
shortname="flight time"/>
+ <dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
+ <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
+ <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
+ <dl_setting MAX="2" MIN="0" STEP="1"
VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="downlink"/>
+ <dl_setting MAX="1" MIN="0" STEP="1"
VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="downlink"/>
+ <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps_reset" module="gps_ubx"
handler="Reset" shortname="GPS reset"/>
+
+ <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="nav"
handler="SetNavRadius">
+ <strip_button icon="circle-right.png" name="Circle right" value="1"/>
+ <strip_button icon="circle-left.png" name="Circle left" value="-1"/>
+ <key_press key="greater" value="1"/>
+ <key_press key="less" value="-1"/>
+ </dl_setting>
+ </dl_settings>
+
+ <dl_settings NAME="control">
+ <dl_settings NAME="ir">
+ <dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="ir_roll_neutral"
shortname="roll_neutral" param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad"/>
+ <dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ir_pitch_neutral"
shortname="pitch_neutral" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad"/>
+
+ <dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="ir_lateral_correction"
shortname="360_lat_corr" module="infrared" param="IR_LATERAL_CORRECTION"/>
+ <dl_setting MAX="1.5" MIN="0." STEP="0.1"
VAR="ir_longitudinal_correction" shortname="360_log_corr"
param="IR_LONGITUDINAL_CORRECTION"/>
+ <dl_setting MAX="1.5" MIN="0.5" STEP="0.1"
VAR="ir_vertical_correction" shortname="360_vert_corr"
param="IR_VERTICAL_CORRECTION"/>
+
+ <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_left"
shortname="corr_left" param="IR_CORRECTION_LEFT"/>
+ <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_right"
shortname="corr_right" param="IR_CORRECTION_RIGHT"/>
+ <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_up"
shortname="corr_up" param="IR_CORRECTION_UP"/>
+ <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_down"
shortname="corr_down" param="IR_CORRECTION_DOWN"/>
+
+ </dl_settings>
+
+
+ <dl_settings NAME="attitude">
+ <dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain"
shortname="roll_pgain" module="stabilization/stabilization_attitude"/>
+ <dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint"
shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT"/>
+ <dl_setting MAX="000" MIN="-25000" STEP="250" VAR="h_ctl_pitch_pgain"
shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
+ <dl_setting MAX="0" MIN="-50000" STEP="10" VAR="h_ctl_pitch_dgain"
shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
+ <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll"
shortname="elevator_of_roll" param="H_CTL_ELEVATOR_OF_ROLL"/>
+ <dl_setting MAX="5000" MIN="0" STEP="100"
VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
+
+
+ <dl_setting MAX="0" MIN="-15000" STEP="250"
VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain"
param="H_CTL_ROLL_ATTITUDE_GAIN"/>
+ <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_rate_gain"
shortname="roll rate gain" param="H_CTL_ROLL_RATE_GAIN"/>
+
+ </dl_settings>
+
+ <dl_settings name="alt">
+ <dl_setting MAX="0" MIN="-0.2" STEP="0.01" VAR="v_ctl_altitude_pgain"
shortname="alt_pgain" param="V_CTL_ALTITUDE_PGAIN"/>
+ </dl_settings>
+
+ <dl_settings name="auto_throttle">
+ <dl_setting MAX="1" MIN="0.0" STEP="0.05"
VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle"
module="guidance/guidance_v" handler="SetCruiseThrottle"
param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE">
+ <strip_button name="Loiter" value="0.1"/>
+ <strip_button name="Cruise" value="0"/>
+ <strip_button name="Dash" value="1"/>
+ </dl_setting>
+
+
+ <dl_setting MAX="0.00" MIN="-0.05" STEP="0.005"
VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain"
param="V_CTL_AUTO_THROTTLE_PGAIN"/>
+ <dl_setting MAX="1" MIN="0.0" STEP="0.05"
VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain"
param="V_CTL_AUTO_THROTTLE_IGAIN"/>
+ <dl_setting MAX="2" MIN="0.0" STEP="0.1"
VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
+<!-- commented by poine - does anybody use that ?at all ? -->
+ <dl_setting MAX="0" MIN="-4000" STEP="100"
VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/>
+ <dl_setting MIN="0" MAX="3000" STEP="100"
VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim"
param="V_CTL_AUTO_THROTTLE_LOITER_TRIM"/>
+ <dl_setting MAX="1" MIN="0" STEP="0.01"
VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr"
param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
+ <dl_setting MAX="1" MIN="0" STEP="0.01"
VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz"
param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
+ <dl_setting MAX="10" MIN="-10" STEP="0.1"
VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
+ </dl_settings>
+
+ <dl_settings name="auto_pitch">
+ <dl_setting MAX="-0.01" MIN="-0.1" STEP="0.01"
VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
+ <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_igain"
shortname="igain" param="V_CTL_AUTO_PITCH_IGAIN"/>
+ </dl_settings>
+
+ <dl_settings name="nav">
+ <dl_setting MAX="-0.1" MIN="-3" STEP="0.05" VAR="h_ctl_course_pgain"
shortname="course pgain" param="H_CTL_COURSE_PGAIN"/>
+ <dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain"
shortname="course dgain" param="H_CTL_COURSE_DGAIN"/>
+ <dl_setting MAX="2" MIN="0.1" STEP="0.05"
VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor"
param="H_CTL_COURSE_PRE_BANK_CORRECTION"/>
+ <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="nav_glide_pitch_trim"
shortname="glide pitch trim" param="NAV_GLIDE_PITCH_TRIM"/>
+ <dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew"
shortname="roll slew"/>
+ <dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
+ <dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
+ <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
+ <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
+ <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
+ <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="nav"
handler="IncreaseShift" shortname="inc. shift"/>
+ <dl_setting MAX="50" MIN="5" STEP="0.5"
VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
+ <dl_setting MAX="0." MIN="-0.2" STEP="0.01"
VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
+ <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
+ </dl_settings>
+ </dl_settings>
+ </dl_settings>
+</settings>
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