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Re: [Paparazzi-devel] No throttle, any mode
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From: |
Martin P |
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Subject: |
Re: [Paparazzi-devel] No throttle, any mode |
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Date: |
Fri, 17 Jul 2009 19:31:21 +0200 |
I was in the house, near the window. This explains the poor performance of the
GPS, I think.
Thanks for he hint, anyway. Martin
-------- Original-Nachricht --------
> Datum: Fri, 17 Jul 2009 09:37:43 -0600
> Von: Haiyang Chao <address@hidden>
> An: address@hidden
> Betreff: Re: [Paparazzi-devel] No throttle, any mode
> I didn't notice your GPS lock time. Looks like it has some problem. Our
> GPS
> just takes several minutes to get in the status that Pacc<10m. Normally,
> the
> Pacc is around 6 or 7 meters on the ground. Of coz, I am talking about
> putting the gps outdoor in a relatively open area and the weather is not
> bad.
>
> Regards
> Haiyang
>
> On Fri, Jul 17, 2009 at 1:14 AM, Martin P <address@hidden> wrote:
>
> > Thank you! I will try.
> > The thing with 10m is a good hint, last night I had the airframe next to
> > the window in the city (tall houses around)and didn't get any better
> than
> > 15m. Temproarily bypassing the Geo Init and Holding Point for ground
> test
> > would speed up things, as it took 15min to get a fix.
> > Greetings, Martin
> >
> > -------- Original-Nachricht --------
> > > Datum: Thu, 16 Jul 2009 21:09:14 -0600
> > > Von: Haiyang Chao <address@hidden>
> > > An: address@hidden
> > > Betreff: Re: [Paparazzi-devel] No throttle, any mode
> >
> > > "your throttle symbol is red" means "kill_throttle" is on "1".
> > >
> > > I don't know if it will work if u connect a servo to the throttle
> > channel.
> > > Why not go to a throttle motor directly? It is not that easy to burn
> the
> > > motor controller and throttle motor if u make sure the power cable is
> > > correct. I would try to remove the Wait GPS, Geo Init and Holding
> Point
> > > block first just to see if the throttle still has that problem.
> > >
> > > As long as your GPS Pacc is less than 10 meters, the GPS should be
> good.
> > >
> > > Haiyang
> > >
> > > On Thu, Jul 16, 2009 at 3:53 PM, Martin P <address@hidden>
> > wrote:
> > >
> > > > Hi all,
> > > >
> > > > I have been searching the list archive about mayday, throttle, etc
> and
> > > > found postings describing problems getting the trhottle in AUTO2. I
> am
> > > not
> > > > yet as far as this.
> > > >
> > > > I did all the entries in the radio and airframe files and I am able
> to
> > > move
> > > > ailerons, elevator and rudder in manual mode.
> > > > For test, I attached a little servo to the throttle channel and
> hoped
> > to
> > > be
> > > > able to move it with the throttle stick on my RX. It does not work.
> > > >
> > > > When I look at the "commands" in the message tool, I see a change
> when
> > I
> > > > move the stick.
> > > > When I look at the "actuators" in the message tool, I do not see a
> > > change
> > > > when I move the stick.
> > > > In the GCS, the throttle is 0% and the symbol is red,
> > > >
> > > > I also get a "mayday kill mode" in the GCS even though the voltage
> is
> > > above
> > > > critical and low voltages. Sometimes I get to the "holding point"
> but
> > in
> > > the
> > > > moment I am not even able to go beyond "geo init" block (using a
> flight
> > > plan
> > > > that is derived from funjet1) although the GPS has a fix and the
> > > aircraft
> > > > symbol is shown in the map.
> > > >
> > > > Greetings, Martin
> > > >
> > > >
> > > > PS: I attach the GCS output, radio, airframe and flightplan
> > > > --------
> > > >
> > > > 23:05:26 MJ5, UNK
> > > > 23:05:26 MJ5, mayday, kill mode
> > > > 23:05:28 MJ5, AUTO2
> > > > 23:05:29 MJ5, Wait GPS
> > > > 23:21:06 MJ5, NOGPS
> > > > 23:25:14 MJ5, Geo init
> > > > 23:25:14 MJ5, AUTO2
> > > > 23:25:15 MJ5, MANUAL
> > > > 23:25:15 GPS acc: 56 m
> > > > 23:25:17 GPS acc: 27 m
> > > > 23:25:19 GPS acc: 21 m
> > > > 23:25:21 MJ5, HOME
> > > > 23:25:21 GPS acc: 19 m
> > > > 23:25:23 GPS acc: 18 m
> > > > 23:25:25 GPS acc: 17 m
> > > > 23:25:27 GPS acc: 16 m
> > > > 23:25:37 GPS acc: 15 m
> > > > 23:31:21 GPS acc: 16 m
> > > > 23:31:27 GPS acc: 15 m
> > > > 23:42:39 GPS acc: 16 m
> > > > 23:42:41 GPS acc: 18 m
> > > > 23:42:45 GPS acc: 17 m
> > > > 23:42:47 GPS acc: 15 m
> > > >
> > > > <!DOCTYPE radio SYSTEM "radio.dtd">
> > > > <radio name="futaba-fx18" data_min="900" data_max="2100" sync_min
> > > ="5000"
> > > > sync_max ="15000">
> > > > <channel ctl="A" function="ROLL" min="1000" neutral="1498"
> > > max="2000"
> > > > average="0"/>
> > > > <channel ctl="B" function="PITCH" min="1000" neutral="1498"
> > > max="2000"
> > > > average="0"/>
> > > > <channel ctl="C" function="THROTTLE" min="1120" neutral="1120"
> > > max="2000"
> > > > average="0"/>
> > > > <channel ctl="D" function="YAW" min="1000" neutral="1498"
> > > max="2000"
> > > > average="0"/>
> > > > <channel ctl="E" function="MODE" min="2000" neutral="1500"
> > > max="1000"
> > > > average="1"/> <!-- Top right switch -->
> > > > <channel ctl="F" function="CALIB" min="2000" neutral="1500"
> > > max="1000"
> > > > average="1"/> <!-- left bottom slider -->
> > > > <!--channel ctl="G" function="GAIN1" min="2000" neutral="1498"
> > > > max="1000" average="1"/--> <!-- center slider -->
> > > > </radio>
> > > >
> > > >
> > > > --------------------------airframe---------------------
> > > > <!DOCTYPE airframe SYSTEM "airframe.dtd">
> > > >
> > > > <!-- Funjet Multiplex (http://www.multiplex-rc.de/)
> > > > Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
> > > > Tilted infrared sensor (
> > > > http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
> > > > Radiotronix modem
> > > > -->
> > > >
> > > > <airframe name="Funjet 1 Tiny 2.1">
> > > >
> > > > <!-- commands section -->
> > > > <servos>
> > > > <servo name="AILERON" no="0" min="1980" neutral="1515"
> max="1170"/>
> > > > <servo name="ELEVATOR" no="2" min="1130" neutral="1500"
> > max="1880"/>
> > > > <servo name="MOTOR" no="3" min="2000" neutral="1000"
> > > > max="1000"/>
> > > > <servo name="RUDDER" no="4" min="1980" neutral="1515"
> max="1170"/>
> > > > </servos>
> > > >
> > > > <commands>
> > > > <axis name="ROLL" failsafe_value="0"/>
> > > > <axis name="PITCH" failsafe_value="0"/>
> > > > <axis name="THROTTLE" failsafe_value="0"/>
> > > > <axis name="YAW" failsafe_value="0"/>
> > > > </commands>
> > > >
> > > > <rc_commands>
> > > > <set command="ROLL" value="@ROLL"/>
> > > > <set command="PITCH" value="@PITCH"/>
> > > > <set command="THROTTLE" value="@THROTTLE"/>
> > > > <set command="YAW" value="@YAW"/>
> > > > </rc_commands>
> > > >
> > > > <command_laws>
> > > > <set servo="AILERON" value="@ROLL"/>
> > > > <set servo="ELEVATOR" value="@PITCH"/>
> > > > <set servo="MOTOR" value="@THROTTLE"/>
> > > > <set servo="RUDDER" value="@YAW"/>
> > > > </command_laws>
> > > >
> > > > <section name="AUTO1" prefix="AUTO1_">
> > > > <define name="MAX_ROLL" value="0.85"/>
> > > > <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="513"/>
> > > > <define name="ADC_TOP_NEUTRAL" value="509"/>
> > > >
> > > > <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="IR2_SIGN" value="1"/>
> > > > <define name="TOP_SIGN" value="-1"/>
> > > >
> > > > <define name="ROLL_NEUTRAL_DEFAULT" value="-3.6" unit="deg"/>
> > > > <define name="PITCH_NEUTRAL_DEFAULT" value="6" 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."/>
> > > > </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="28000" unit="mA"
> > > > /><!--MP-->
> > > > <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
> > > >
> > > > <define name="CATASTROPHIC_BAT_LEVEL" value="10.5" unit="V"/>
> > > > <define name="CRITIC_BAT_LEVEL" value="10.8" unit="V"/><!--MP-->
> > > > <define name="LOW_BAT_LEVEL" value="11.0" unit="V"/><!--MP-->
> > > > <define name="MAX_BAT_LEVEL" value="12.5" unit="V"/><!--MP-->
> > > > </section>
> > > >
> > > > <section name="MISC">
> > > > <define name="NOMINAL_AIRSPEED" value="17." 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="TRUE"/>
> > > >
> > > > <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="-0.04"/>
> > > > <!-- outer loop saturation -->
> > > > <define name="ALTITUDE_MAX_CLIMB" value="2."/>
> > > >
> > > > <!-- auto throttle inner loop -->
> > > > <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE"
> value="0.35"/>
> > > > <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.3"/>
> > > > <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
> > > > <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
> > > > <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="-0.02"/>
> > > > <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
> > > > <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
> > > >
> > > > <!-- auto pitch inner loop -->
> > > > <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
> > > > <define name="AUTO_PITCH_IGAIN" value="0.075"/>
> > > > <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
> > > > <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
> > > >
> > > > <define name="THROTTLE_SLEW" value="0.5"/>
> > > >
> > > > </section>
> > > >
> > > > <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
> > > > <define name="COURSE_PGAIN" value="-1.2"/>
> > > >
> > > > <define name="ROLL_MAX_SETPOINT" value="0.7" 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="-10000."/>
> > > > <define name="PITCH_DGAIN" value="1.5"/>
> > > >
> > > > <define name="ELEVATOR_OF_ROLL" value="2500"/>
> > > >
> > > > <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
> > > > <define name="ROLL_RATE_GAIN" value="-1500"/>
> > > > </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="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_THROTTLE" value="0.7"/><!-- Gaz for
> Aggressive
> > > Climb
> > > > -->
> > > > <define name="CLIMB_PITCH" value="0.25"/><!-- Pitch for
> Aggressive
> > > Climb
> > > > -->
> > > > <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for
> Aggressive
> > > > Decent -->
> > > > <define name="DESCENT_PITCH" value="-0.15"/><!-- 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="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="%"/>
> > > > <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="Digital camera telecommand">
> > > > <!-- IOs are seen as LEDs -->
> > > >
> > > > <define name="LED_6_BANK" value="0"/>
> > > > <define name="LED_6_PIN" value="2"/> <!-- I2C SCL -->
> > > >
> > > > <!-- ADC 5 -->
> > > > <define name="LED_7_BANK" value="0"/>
> > > > <define name="LED_7_PIN" value="3"/> <!-- I2C SDA -->
> > > >
> > > > <define name="DC_SHUTTER_LED" value="6"/> <!-- Grey wire -->
> > > > <define name="DC_ZOOM_LED" value="7"/>
> > > > </section>
> > > >
> > > > <makefile>
> > > > CONFIG = \"tiny_2_1_1.h\"
> > > >
> > > > include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
> > > >
> > > > FLASH_MODE=IAP
> > > >
> > > > ap.CFLAGS += -DFBW -DAP -DCONFIG=$(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_4017_hw.h\" -DSERVOS_4017
> > > > ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
> > > >
> > > > ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
> > > > ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
> > > >
> > > > #XBEE ap.CFLAGS += -DDOWNLINK -DUSE_UART1
> > > > -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE
> > > > -DUART1_BAUD=B9600
> > > > #XBEE ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
> > > >
> > > > #TRANSPARENT
> > > > ap.CFLAGS += -DDOWNLINK -DUSE_UART1
> -DDOWNLINK_TRANSPORT=PprzTransport
> > > > -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1
> > -DPPRZ_UART=Uart1
> > > > -DDATALINK=PPRZ -DUART1_BAUD=B9600
> > > > ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c
> pprz_transport.c
> > > >
> > > >
> > > > ap.CFLAGS += -DINTER_MCU
> > > > ap.srcs += inter_mcu.c
> > > >
> > > > ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
> > > > ap.srcs += $(SRC_ARCH)/adc_hw.c
> > > >
> > > > ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0
> > > -DUART0_BAUD=B38400
> > > > -DGPS_USE_LATLONG
> > > > # -DGPS_LED=2
> > > > 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
> > > >
> > > >
> > > > ap.CFLAGS += -DGYRO -DADXRS150
> > > > ap.srcs += gyro.c nav_line.c
> > > > ap.srcs += nav_survey_rectangle.c
> > > > # chemotaxis.c anemotaxis.c discsurvey.c
> > > >
> > > > ########## Barometer (SPI)
> > > > #ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0
> > -DUSE_BARO_MS5534A
> > > > #ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
> > > >
> > > > ########## Chemo sensor (I2C)
> > > > #ap.srcs += i2c.c arm7/i2c_hw.c enose.c chemo_detect.c
> > > > #ap.CFLAGS += -DUSE_I2C -DENOSE
> > > >
> > > > # Digital camera
> > > > # Shutter: I2C SCL
> > > > # Zoom: I2C SDA
> > > > ap.CFLAGS += -DDIGITAL_CAM
> > > > ap.srcs += dc.c
> > > >
> > > >
> > > > # Config for SITL simulation
> > > > include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
> > > > sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM
> > -DALT_KALMAN
> > > >
> > > > sim.srcs += nav_line.c nav_survey_rectangle.c
> > > > # -DENOSE
> > > > # chemotaxis.c anemotaxis.c discsurvey.c $(SRC_ARCH)/sim_enose.c
> > > > chemo_detect.c
> > > >
> > > > sim.CFLAGS += -DDIGITAL_CAM -DPOWER_SWITCH_LED=4
> > > > sim.srcs += dc.c
> > > >
> > > >
> > > >
> > > >
> > > > # a test program to setup actuators
> > > > setup_actuators.ARCHDIR = $(ARCHI)
> > > > setup_actuators.ARCH = arm7tdmi
> > > > setup_actuators.TARGET = setup_actuators
> > > > setup_actuators.TARGETDIR = setup_actuators
> > > >
> > > > setup_actuators.CFLAGS += -DFBW -DCONFIG=\"tiny.h\" -DLED
> -DTIME_LED=1
> > > > -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART1
> > > > -DUART1_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart1
> > > > setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
> > > > $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c
> > > > $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4015_hw.c main.c
> > > >
> > > > </makefile>
> > > > </airframe>
> > > >
> > > > -----------------------------------
> > > > <!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
> > > >
> > > >
> > > >
> > > > <flight_plan alt="75" ground_alt="0" lat0="48.206111111"
> > > > lon0="16.377222222" max_dist_from_home="1500" name="Frauenkirchen"
> > > > security_height="25">
> > > > <header>
> > > > #include "nav_line.h"
> > > > #include "datalink.h"
> > > > </header>
> > > > <waypoints>
> > > > <waypoint name="HOME" x="0" y="0"/>
> > > > <waypoint name="STDBY" x="49.5" y="100.1"/>
> > > > <waypoint name="1" x="-108.0" y="129.4"/>
> > > > <waypoint name="2" x="64.6" y="-23.6"/>
> > > > <waypoint name="MOB" x="137.0" y="-11.6"/>
> > > > <waypoint name="S1" x="-119.2" y="69.6"/>
> > > > <waypoint name="S2" x="274.4" y="209.5"/>
> > > > <waypoint alt="30.0" name="AF" x="25.5" y="-17.7"/>
> > > > <waypoint alt="0.0" name="TD" x="-100.9" y="82.6"/>
> > > > <waypoint name="_BASELEG" x="168.8" y="-13.8"/>
> > > > <waypoint name="CLIMB" x="-114.5" y="162.3"/>
> > > > </waypoints>
> > > > <exceptions/>
> > > > <blocks>
> > > > <block name="Wait GPS">
> > > > <set value="1" var="kill_throttle"/>
> > > > <while cond="!GpsFixValid()"/>
> > > > </block>
> > > > <block name="Geo init">
> > > > <while cond="LessThan(NavBlockTime(), 10)"/>
> > > > <call fun="NavSetGroundReferenceHere()"/>
> > > > </block>
> > > > <block name="Holding point">
> > > > <set value="1" var="kill_throttle"/>
> > > > <attitude roll="0" throttle="0" vmode="throttle"/>
> > > > </block>
> > > > <block name="Takeoff" strip_button="Takeoff (wp CLIMB)"
> > > > strip_icon="takeoff.png">
> > > > <exception cond="estimator_z > ground_alt+25"
> > > > deroute="Flugprogramm1"/>
> > > > <set value="0" var="kill_throttle"/>
> > > > <set value="0" var="estimator_flight_time"/>
> > > > <go from="HOME" pitch="15" throttle="1.0" vmode="throttle"
> > > > wp="CLIMB"/>
> > > > </block>
> > > > <block name="Standby" strip_button="Standby"
> strip_icon="home.png">
> > > > <circle radius="nav_radius" wp="STDBY"/>
> > > > </block>
> > > > <block name="Flugprogramm1" strip_button="Figure 8 (wp 1-2)"
> > > > strip_icon="eight.png">
> > > > <go wp="1" approaching_time="0"/>
> > > > <go wp="2" approaching_time="0"/>
> > > > <go wp="1" approaching_time="0"/>
> > > > <go wp="2" approaching_time="0"/>
> > > > <deroute block="Land Right AF-TD"/>
> > > > </block>
> > > > <block name="Oval 1-2" strip_button="Oval (wp 1-2)"
> > > > strip_icon="oval.png">
> > > > <oval p1="1" p2="2" radius="nav_radius"/>
> > > > </block>
> > > > <block name="MOB" strip_button="Turn around here"
> > > strip_icon="mob.png">
> > > > <call fun="NavSetWaypointHere(WP_MOB)"/>
> > > > <set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
> > > > <circle radius="nav_radius" wp="MOB"/>
> > > > </block>
> > > > <block name="Line 1-2" strip_button="Line (wp 1-2)"
> > > > strip_icon="line.png">
> > > > <exception cond="datalink_time > 22" deroute="Standby"/>
> > > > <call fun="nav_line_init()"/>
> > > > <call fun="nav_line(WP_1, WP_2, nav_radius)"/>
> > > > </block>
> > > > <block name="Survey S1-S2" strip_button="Survey (wp S1-S2)"
> > > > strip_icon="survey.png">
> > > > <survey_rectangle grid="150" wp1="S1" wp2="S2"/>
> > > > </block>
> > > > <block name="Land Right AF-TD" strip_button="Land right (wp
> AF-TD)"
> > > > strip_icon="land-right.png">
> > > > <set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
> > > > <deroute block="land"/>
> > > > </block>
> > > > <block name="Land Left AF-TD" strip_button="Land left (wp AF-TD)"
> > > > strip_icon="land-left.png">
> > > > <set value="-DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
> > > > <deroute block="land"/>
> > > > </block>
> > > > <block name="land">
> > > > <call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG,
> > > > nav_radius)"/>
> > > > <circle radius="nav_radius" until="NavCircleCount() > 0.5"
> > > > wp="_BASELEG"/>
> > > > <circle radius="nav_radius"
> > > > until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10), 10 >
> > > > fabs(estimator_z - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
> > > > </block>
> > > > <block name="final">
> > > > <exception cond="ground_alt + 10 > estimator_z"
> deroute="flare"/>
> > > > <go from="AF" hmode="route" vmode="glide" wp="TD"/>
> > > > </block>
> > > > <block name="flare">
> > > > <go approaching_time="0" from="AF" hmode="route" throttle="0.0"
> > > > vmode="throttle" wp="TD"/>
> > > > <attitude roll="0.0" throttle="0.0" until="FALSE"
> > > vmode="throttle"/>
> > > > </block>
> > > > </blocks>
> > > > </flight_plan>
> > > >
> > > >
> > > > _______________________________________________
> > > > Paparazzi-devel mailing list
> > > > address@hidden
> > > > http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
> > > >
> >
> >
> > _______________________________________________
> > Paparazzi-devel mailing list
> > address@hidden
> > http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
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