[Paparazzi-devel] Reply to: "Re: Strange gcs simulation problem #2 (Felix Ruess)"

[Chris]

Hi Felix
Here is the main setup:

<!DOCTYPE airframe SYSTEM "airframe.dtd">

<!--
     THUNDER TIGER CESSNA 177 CARDINAL
     Twog v1  board     (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
     PPZUAV IMU
     XBee modem 
(http://paparazzi.enac.fr/wiki/index.php/Modems#Maxstream_XBee_Pro) in 
transparent mode.
     Attopilot (SparkFun) curent sensor 
(http://paparazzi.enac.fr/wiki/Current_sensor)
     PTZ camera 
(http://www.foxtechfpv.com/fh10z-10x-optical-zoom-rc-controlled-camworld-smallest-75g-p-166.htm)
-->

<airframe name="Cessna_Ppzuavimu.xml">

<firmware name="fixedwing">

<!-- ###################   I USE DIFFERENT CONFIGURATIONS FOR "ap" AND 
"sim" because PPZUAVIMU is not simulated yet ####### -->
<target name="ap"             board="twog_1.0"/>
<target name="sim"             board="pc"/>

<define name="GPS_LED" value="2"/>
<define name="AGR_CLIMB"/>
<!-- <define name="LOITER_TRIM"/> --> <!-- without this everything works 
fine -->
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<define name="STRONG_WIND"/>
<define name="ALT_KALMAN"/>
<define name="USE_GROUNDSPEED_CONTROL"/>
<define name="USE_ADC_3"/>
<define name="USE_I2C0"/>
<!-- <define name="USE_MAGNETOMETER" />  -->
<!--
<configure name="PERIODIC_FREQUENCY" value="120"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
-->
<configure name="AHRS_ALIGNER_LED" value="3"/>
<configure name="CPU_LED" value="3"/>

<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry"     type="transparent"> <configure 
name="MODEM_BAUD" value="B9600"/> </subsystem>
<subsystem name="control" />
<subsystem name="gps"           type="ublox"> <configure name="GPS_BAUD" 
value="B38400"/> </subsystem>
<subsystem name="i2c"/>
<subsystem name="navigation" />
<subsystem name="imu" type="ppzuav"/>
<subsystem name="ahrs" type="dcm"/>

</firmware>

<firmware name="setup">
<target name="tunnel"         board="twog_1.0" />
<target name="setup_actuators"     board="twog_1.0" />
</firmware>

<modules>
<!-- <load name="imu_ppzuav.xml" />  --> <!-- Only used for testing   -->
<load name="my_cam.xml"/>
<!-- <load name="parachute.xml"/>  -->
<!-- <load name="maxsonar.xml"/>   -->
</modules>

<!-- commands section -->
<servos>
<servo name="AILERON"        no="0" min="2000"    neutral="1500" 
max="1000"/>
<servo name="ELEVATOR"        no="1" min="2000"    neutral="1500" 
max="1000"/>
<servo name="MOTOR"        no="2" min="1100"    neutral="1100"  max="2000"/>
<servo name="RUDDER"        no="3" min="1000"    neutral="1500" max="2000"/>
<servo name="PARACHUTE"        no="4" min="920"    neutral="920"  
max="2000"/>
<servo name="CAMERA_PAN"    no="6" min="943"    neutral="1520" max="2056"/>
<servo name="CAMERA_TILT"    no="7" min="996"    neutral="1221" max="2004"/>
<servo name="CAMERA_ZOOM"    no="8" min="950"    neutral="1500" 
max="2050"/>
</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"/>
<axis name="PARACHUTE"        failsafe_value="9600"/>
<axis name="CAM_TILT"        failsafe_value="0"/>
<axis name="CAM_PAN"        failsafe_value="0"/>
<axis name="CAM_ZOOM"        failsafe_value="0"/>
<axis name="CAM_LOCK"        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"/>
<set command="PARACHUTE"          value="@PARACHUTE"/>
</rc_commands>

<section name="MIXER">
<define name="COMBI_SWITCH" value="0.3"/>
</section>

<command_laws>
<set servo="AILERON"        value="@ROLL"/>
<set servo="ELEVATOR"        value="@PITCH"/>
<set servo="MOTOR"        value="@THROTTLE"/>
<set servo="RUDDER"        value="@YAW + @ROLL*COMBI_SWITCH"/>
<set servo="PARACHUTE"        value="@PARACHUTE"/>
<set servo="CAMERA_TILT"    value="@CAM_TILT"/>
<set servo="CAMERA_PAN"        value="@CAM_PAN"/>
<set servo="CAMERA_ZOOM"    value="@CAM_ZOOM"/>
</command_laws>

<!-- EMPTY "auto_rc_commands" block means NO RC RUDDER CONTROL IN AUTO2 
AND AUTO1 -->
<auto_rc_commands>
<set command="YAW" value="@YAW"/>
</auto_rc_commands>


<!--
<ap_only_commands>
<copy command="CAM_PAN"/>
<copy command="CAM_TILT"/>
</ap_only_commands>
-->

<!-- Local magnetic field -->
<section name="AHRS" prefix="AHRS_" >
<define name="H_X" value="0.51562740288882" />
<define name="H_Y" value="-0.05707735220832" />
<define name="H_Z" value="0.85490967783446" />
</section>

<section name="IMU" prefix="IMU_">
<!-- Calibration Neutral -->
<define name="GYRO_P_NEUTRAL" value="0"/>
<define name="GYRO_Q_NEUTRAL" value="0"/>
<define name="GYRO_R_NEUTRAL" value="0"/>

<!-- SENS = 14.375 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec / 
12bit FRAC: 4096 / 828 -->
<define name="GYRO_P_SENS" value="4.947" integer="16"/>
<define name="GYRO_Q_SENS" value="4.947" integer="16"/>
<define name="GYRO_R_SENS" value="4.947" integer="16"/>

<define name="GYRO_P_Q" value="0."/>
<define name="GYRO_P_R" value="0"/>
<define name="GYRO_Q_P" value="0."/>
<define name="GYRO_Q_R" value="0."/>
<define name="GYRO_R_P" value="0."/>
<define name="GYRO_R_Q" value="0."/>

<define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_Q_SIGN" value="1"/>
<define name="GYRO_R_SIGN" value="1"/>

<define name="ACCEL_X_NEUTRAL" value="0"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="0"/>

<!-- SENS = 256 LSB/g @ 2.5V [X&Y: 265 LSB/g @ 3.3V] / 9.81 ms2/g = 
26.095 LSB/ms2 / 10bit FRAC: 1024 / 26.095 for z and 1024 / 27.01 for 
X&Y -->
<define name="ACCEL_X_SENS" value="37.9" integer="16"/>
<define name="ACCEL_Y_SENS" value="37.9" integer="16"/>
<define name="ACCEL_Z_SENS" value="39.24" integer="16"/>

<define name="ACCEL_X_SIGN" value="1"/>
<define name="ACCEL_Y_SIGN" value="1"/>
<define name="ACCEL_Z_SIGN" value="1"/>

<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>

<define name="MAG_X_SENS" value="1" integer="16"/>
<define name="MAG_Y_SENS" value="1" integer="16"/>
<define name="MAG_Z_SENS" value="1" integer="16"/>

<define name="MAG_X_SIGN" value="1"/>
<define name="MAG_Y_SIGN" value="1"/>
<define name="MAG_Z_SIGN" value="1"/>

<define name="BODY_TO_IMU_PHI" value="0"/>
<define name="BODY_TO_IMU_THETA" value="0"/>
<define name="BODY_TO_IMU_PSI" value="0"/>
</section>

<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-4)" unit="radians"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="radians"/>
</section>

<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="RadOfDeg(40)"/>
<define name="MAX_PITCH" value="RadOfDeg(30)"/>
</section>


<section name="BAT">
<!-- "MilliAmpereOfAdc(adc)" default is 88 but i have changed the 
sensor's resistors with 3 turn, 1,6 mm thick copper wire -->
<!--
<define name="ADC_CHANNEL_CURRENT"            value="ADC_3" />
<define name="MilliAmpereOfAdc(adc)"            value="(90*adc)"/>
-->
<define name="MILLIAMP_AT_FULL_THROTTLE"        value="20000"/>
<define name="BAT_CAPACITY"                value="8800."/>
<define name="FUEL_RESERVE_SECONDS"            value="300" unit="s"/>
<!--
<define name="VOLTAGE_ADC_A" value="0.035449219"/>
<define name="VOLTAGE_ADC_B" value="0.0"/>
<define name="VoltageOfAdc(adc)" value ="(VOLTAGE_ADC_A * adc + 
VOLTAGE_ADC_B)"/>
-->

<define name="CATASTROPHIC_BAT_LEVEL"            value="10.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL"                value="10.5" unit="V"/>
<define name="LOW_BAT_LEVEL"                value="11.0" unit="V"/>
<define name="MAX_BAT_LEVEL"                value="12.0" unit="V"/>
</section>

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