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Re: [Paparazzi-devel] Finish setting up Lisa/L

From: Felix Ruess
Subject: Re: [Paparazzi-devel] Finish setting up Lisa/L
Date: Tue, 27 Mar 2012 16:13:37 +0200
Hi Jochen,

you are still using the outdated paparazzi-stm32 package which contains an old version of openocd (which is missing the stm32f1x script and hence fails).
Please remove the paparazzi-stm32 package and install paparazzi-arm-multilib and openocd from the paparazzi-uav ppa as per wiki installation instructions

If you have never flown before you might be better off using the master branch right now.... but no, it does not have the defaults. You will have to set them in your airframe file.

Cheers, Felix

On Tue, Mar 27, 2012 at 3:22 PM, Jochen Rieger <address@hidden> wrote:
Thanks, i have checked the board its v1.5.

I pulled the dev branch, but now i cant upload the files.
I have changed the sign of the gains to positiv.

Should i better fly with master branch? Works it with gyro default values?

Follow error appears:

Run 'make -C /home/amfis/paparazzi -f Makefile.ac AIRCRAFT=Maja ap.compile '
make: Gehe in Verzeichnis '/home/amfis/paparazzi'
Maja
BUILD Maja, TARGET ap
make[1]: Betrete Verzeichnis '/home/amfis/paparazzi'
BUILD /home/amfis/paparazzi/var/Maja/generated/airframe.h
##################################################
 AIRFRAME MODEL: Maja
##################################################
BUILD /home/amfis/paparazzi/var/Maja/generated/modules.h
BUILD /home/amfis/paparazzi/var/Maja/generated/periodic_telemetry.h
BUILD /home/amfis/paparazzi/var/Maja/generated/settings.h
BUILD /home/amfis/paparazzi/var/Maja/generated/tuning.h
make[1]: Verlasse Verzeichnis '/home/amfis/paparazzi'
make[1]: Betrete Verzeichnis '/home/amfis/paparazzi'
BUILD /home/amfis/paparazzi/var/Maja/generated/radio.h
##################################################
 RADIO MODEL: Futaba_PPM_encoder
##################################################
make[1]: Verlasse Verzeichnis '/home/amfis/paparazzi'
make[1]: Betrete Verzeichnis '/home/amfis/paparazzi'
BUILD /home/amfis/paparazzi/var/Maja/generated/flight_plan.h
##################################################
 FLIGHT PLAN: test
##################################################
BUILD /home/amfis/paparazzi/var/Maja/flight_plan.xml
make[1]: Verlasse Verzeichnis '/home/amfis/paparazzi'
cd sw/airborne; make PAPARAZZI_SRC=/home/amfis/paparazzi PAPARAZZI_HOME=/home/amfis/paparazzi TARGET=ap all
make[1]: Betrete Verzeichnis '/home/amfis/paparazzi/sw/airborne'
DEPEND /home/amfis/paparazzi/var/Maja/ap/.depend
make[1]: Verlasse Verzeichnis '/home/amfis/paparazzi/sw/airborne'
make[1]: Betrete Verzeichnis '/home/amfis/paparazzi/sw/airborne'
Using CC   = /opt/paparazzi/stm32/bin/arm-none-eabi-gcc
Using LD   = /opt/paparazzi/stm32/bin/arm-none-eabi-gcc
Using CP   = /opt/paparazzi/stm32/bin/arm-none-eabi-objcopy
Using DMP  = /opt/paparazzi/stm32/bin/arm-none-eabi-objdump
Using NM   = /opt/paparazzi/stm32/bin/arm-none-eabi-nm
Using SIZE = /opt/paparazzi/stm32/bin/arm-none-eabi-size
GCC version:
arm-none-eabi-gcc (GCC) 4.4.3
*** NOT using multilib ***
--------------------------------------
CC /home/amfis/paparazzi/var/Maja/ap/mcu.o
CC /home/amfis/paparazzi/var/Maja/ap/actuators.o
CC /home/amfis/paparazzi/var/Maja/ap/arch/stm32/mcu_arch.o
arch/stm32/mcu_arch.c: In function 'mcu_arch_init':
arch/stm32/mcu_arch.c:50: note: #pragma message: Using external clock.
CC /home/amfis/paparazzi/var/Maja/ap/arch/stm32/led_hw.o
CC /home/amfis/paparazzi/var/Maja/ap/mcu_periph/sys_time.o
CC /home/amfis/paparazzi/var/Maja/ap/arch/stm32/mcu_periph/sys_time_arch.o
CC /home/amfis/paparazzi/var/Maja/ap/./inter_mcu.o
CC /home/amfis/paparazzi/var/Maja/ap/math/pprz_geodetic_int.o
CC /home/amfis/paparazzi/var/Maja/ap/math/pprz_geodetic_float.o
CC /home/amfis/paparazzi/var/Maja/ap/math/pprz_geodetic_double.o
CC /home/amfis/paparazzi/var/Maja/ap/math/pprz_trig_int.o
CC /home/amfis/paparazzi/var/Maja/ap/mcu_periph/i2c.o
CC /home/amfis/paparazzi/var/Maja/ap/arch/stm32/mcu_periph/i2c_arch.o
CC /home/amfis/paparazzi/var/Maja/ap/firmwares/fixedwing/main_fbw.o
CC /home/amfis/paparazzi/var/Maja/ap/subsystems/electrical.o
CC /home/amfis/paparazzi/var/Maja/ap/./commands.o
CC /home/amfis/paparazzi/var/Maja/ap/firmwares/fixedwing/fbw_downlink.o
CC /home/amfis/paparazzi/var/Maja/ap/firmwares/fixedwing/main_ap.o
firmwares/fixedwing/main_ap.c:85: note: #pragma message: CAUTION! radio control roll channel input has been changed to follow aerospace sign conventions.
 You will have to change your radio control xml file to get a positive value when banking right!
CC /home/amfis/paparazzi/var/Maja/ap/./estimator.o
CC /home/amfis/paparazzi/var/Maja/ap/firmwares/fixedwing/ap_downlink.o
CC /home/amfis/paparazzi/var/Maja/ap/arch/stm32/stm32_exceptions.o
CC /home/amfis/paparazzi/var/Maja/ap/arch/stm32/stm32_vector_table.o
CC /home/amfis/paparazzi/var/Maja/ap/lisa/plug_sys.o
CC /home/amfis/paparazzi/var/Maja/ap/firmwares/fixedwing/main.o
CC /home/amfis/paparazzi/var/Maja/ap/mcu_periph/uart.o
CC /home/amfis/paparazzi/var/Maja/ap/arch/stm32/mcu_periph/uart_arch.o
CC /home/amfis/paparazzi/var/Maja/ap/subsystems/settings.o
CC /home/amfis/paparazzi/var/Maja/ap/arch/stm32/subsystems/settings_arch.o
CC /home/amfis/paparazzi/var/Maja/ap/arch/stm32/mcu_periph/adc_arch.o
CC /home/amfis/paparazzi/var/Maja/ap/arch/stm32/servos_direct_hw.o
CC /home/amfis/paparazzi/var/Maja/ap/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.o
CC /home/amfis/paparazzi/var/Maja/ap/subsystems/imu.o
CC /home/amfis/paparazzi/var/Maja/ap/subsystems/imu/imu_aspirin.o
CC /home/amfis/paparazzi/var/Maja/ap/arch/stm32/subsystems/imu/imu_aspirin_arch.o
CC /home/amfis/paparazzi/var/Maja/ap/peripherals/hmc5843.o
CC /home/amfis/paparazzi/var/Maja/ap/arch/stm32/peripherals/hmc5843_arch.o
CC /home/amfis/paparazzi/var/Maja/ap/subsystems/ahrs.o
CC /home/amfis/paparazzi/var/Maja/ap/subsystems/ahrs/ahrs_aligner.o
CC /home/amfis/paparazzi/var/Maja/ap/subsystems/ahrs/ahrs_float_dcm.o
CC /home/amfis/paparazzi/var/Maja/ap/subsystems/radio_control.o
CC /home/amfis/paparazzi/var/Maja/ap/subsystems/radio_control/ppm.o
CC /home/amfis/paparazzi/var/Maja/ap/arch/stm32/subsystems/radio_control/ppm_arch.o
CC /home/amfis/paparazzi/var/Maja/ap/subsystems/datalink/downlink.o
CC /home/amfis/paparazzi/var/Maja/ap/subsystems/datalink/pprz_transport.o
CC /home/amfis/paparazzi/var/Maja/ap/firmwares/fixedwing/datalink.o
CC /home/amfis/paparazzi/var/Maja/ap/firmwares/fixedwing/stabilization/stabilization_attitude.o
firmwares/fixedwing/stabilization/stabilization_attitude.c:40: note: #pragma message: CAUTION! ALL control gains have to be positive now!
CC /home/amfis/paparazzi/var/Maja/ap/firmwares/fixedwing/guidance/guidance_v.o
firmwares/fixedwing/guidance/guidance_v.c:115: note: #pragma message: CAUTION! ALL control gains have to be positive now!
CC /home/amfis/paparazzi/var/Maja/ap/subsystems/nav.o
CC /home/amfis/paparazzi/var/Maja/ap/subsystems/navigation/common_flight_plan.o
CC /home/amfis/paparazzi/var/Maja/ap/subsystems/navigation/traffic_info.o
CC /home/amfis/paparazzi/var/Maja/ap/subsystems/navigation/nav_survey_rectangle.o
CC /home/amfis/paparazzi/var/Maja/ap/subsystems/navigation/nav_line.o
CC /home/amfis/paparazzi/var/Maja/ap/subsystems/gps/gps_mtk.o
CC /home/amfis/paparazzi/var/Maja/ap/subsystems/gps.o
LD /home/amfis/paparazzi/var/Maja/ap/ap.elf
OBJCB /home/amfis/paparazzi/var/Maja/ap/ap.bin
OBJCH /home/amfis/paparazzi/var/Maja/ap/ap.hex

Current size:
/home/amfis/paparazzi/var/Maja/ap/ap.elf  :
section             size        addr
.isr_vector          304   134217728
.text             125792   134218032
.data              13456   536870912
.bss                5212   536884368
._usrstack          2048   536889580
.comment            2556           0
.debug_aranges      8232           0
.debug_pubnames    19754           0
.debug_info       225953           0
.debug_abbrev      43814           0
.debug_line        70782           0
.debug_frame       17484           0
.debug_str         36008           0
.debug_loc         77148           0
.debug_ranges      20368           0
.ARM.attributes       49           0
Total             668960


make[1]: Verlasse Verzeichnis '/home/amfis/paparazzi/sw/airborne'
make: Verlasse Verzeichnis '/home/amfis/paparazzi'

DONE (exec make -C /home/amfis/paparazzi -f Makefile.ac AIRCRAFT=Maja ap.compile  2>&1)

Run 'make -C /home/amfis/paparazzi -f Makefile.ac AIRCRAFT=Maja ap.upload '
make: Gehe in Verzeichnis '/home/amfis/paparazzi'
Maja
BUILD Maja, TARGET ap
make[1]: Betrete Verzeichnis '/home/amfis/paparazzi'
make[1]: Verlasse Verzeichnis '/home/amfis/paparazzi'
make[1]: Betrete Verzeichnis '/home/amfis/paparazzi'
make[1]: Für das Ziel »radio_ac_h« ist nichts zu tun.
make[1]: Verlasse Verzeichnis '/home/amfis/paparazzi'
make[1]: Betrete Verzeichnis '/home/amfis/paparazzi'
make[1]: Für das Ziel »flight_plan_ac_h« ist nichts zu tun.
make[1]: Verlasse Verzeichnis '/home/amfis/paparazzi'
cd sw/airborne; make PAPARAZZI_SRC=/home/amfis/paparazzi PAPARAZZI_HOME=/home/amfis/paparazzi TARGET=ap all
make[1]: Betrete Verzeichnis '/home/amfis/paparazzi/sw/airborne'
Using CC   = /opt/paparazzi/stm32/bin/arm-none-eabi-gcc
Using LD   = /opt/paparazzi/stm32/bin/arm-none-eabi-gcc
Using CP   = /opt/paparazzi/stm32/bin/arm-none-eabi-objcopy
Using DMP  = /opt/paparazzi/stm32/bin/arm-none-eabi-objdump
Using NM   = /opt/paparazzi/stm32/bin/arm-none-eabi-nm
Using SIZE = /opt/paparazzi/stm32/bin/arm-none-eabi-size
GCC version:
arm-none-eabi-gcc (GCC) 4.4.3
*** NOT using multilib ***
--------------------------------------

Previous size:
/home/amfis/paparazzi/var/Maja/ap/ap.elf  :
section             size        addr
.isr_vector          304   134217728
.text             125792   134218032
.data              13456   536870912
.bss                5212   536884368
._usrstack          2048   536889580
.comment            2556           0
.debug_aranges      8232           0
.debug_pubnames    19754           0
.debug_info       225953           0
.debug_abbrev      43814           0
.debug_line        70782           0
.debug_frame       17484           0
.debug_str         36008           0
.debug_loc         77148           0
.debug_ranges      20368           0
.ARM.attributes       49           0
Total             668960



Current size:
/home/amfis/paparazzi/var/Maja/ap/ap.elf  :
section             size        addr
.isr_vector          304   134217728
.text             125792   134218032
.data              13456   536870912
.bss                5212   536884368
._usrstack          2048   536889580
.comment            2556           0
.debug_aranges      8232           0
.debug_pubnames    19754           0
.debug_info       225953           0
.debug_abbrev      43814           0
.debug_line        70782           0
.debug_frame       17484           0
.debug_str         36008           0
.debug_loc         77148           0
.debug_ranges      20368           0
.ARM.attributes       49           0
Total             668960


make[1]: Verlasse Verzeichnis '/home/amfis/paparazzi/sw/airborne'
cd sw/airborne; make PAPARAZZI_SRC=/home/amfis/paparazzi PAPARAZZI_HOME=/home/amfis/paparazzi TARGET=ap upload
make[1]: Betrete Verzeichnis '/home/amfis/paparazzi/sw/airborne'
Using OOCD = /opt/paparazzi/stm32/bin/openocd
  OOCD    /home/amfis/paparazzi/var/Maja/ap/ap.elf
Open On-Chip Debugger 0.5.0-dev-00789-g59a6380 (2011-03-15-11:50)
Licensed under GNU GPL v2
For bug reports, read
    http://openocd.berlios.de/doc/doxygen/bugs.html
Info : only one transport option; autoselect 'jtag'
1000 kHz
adapter_nsrst_delay: 100
jtag_ntrst_delay: 100
cortex_m3 reset_config sysresetreq
Info : max TCK change to: 30000 kHz
Info : clock speed 1000 kHz
Info : JTAG tap: stm32.cpu tap/device found: 0x3ba00477 (mfg: 0x23b, part: 0xba00, ver: 0x3)
Info : JTAG tap: stm32.bs tap/device found: 0x06414041 (mfg: 0x020, part: 0x6414, ver: 0x0)
Info : stm32.cpu: hardware has 6 breakpoints, 4 watchpoints
Info : JTAG tap: stm32.cpu tap/device found: 0x3ba00477 (mfg: 0x23b, part: 0xba00, ver: 0x3)
Info : JTAG tap: stm32.bs tap/device found: 0x06414041 (mfg: 0x020, part: 0x6414, ver: 0x0)
target state: halted
target halted due to debug-request, current mode: Thread
xPSR: 0x01000000 pc: 0x08013838 msp: 0x20010000
Info : JTAG tap: stm32.cpu tap/device found: 0x3ba00477 (mfg: 0x23b, part: 0xba00, ver: 0x3)
Info : JTAG tap: stm32.bs tap/device found: 0x06414041 (mfg: 0x020, part: 0x6414, ver: 0x0)
target state: halted
target halted due to debug-request, current mode: Thread
xPSR: 0x01000000 pc: 0x08013838 msp: 0x20010000
invalid command name "stm32f1x"
make[1]: *** [upload] Fehler 1
make[1]: Verlasse Verzeichnis '/home/amfis/paparazzi/sw/airborne'
make: *** [ap.upload] Fehler 2
make: Verlasse Verzeichnis '/home/amfis/paparazzi'

DONE (exec make -C /home/amfis/paparazzi -f Makefile.ac AIRCRAFT=Maja ap.upload  2>&1)




2012/3/14 Simon Wilks <address@hidden>
Hi Jochen,

If you got it from JobyRobotics a while ago then it is likely a 1.5 or maybe even a 1.0. The way to tell is to look at the labeling on the IMU PCB that says something like "Aspirin 1.5". If you look at this Lisa/M for example http://paparazzi.enac.fr/w/images/Lisa_M_V1_0_bottom.jpg you will see the label in the middle of the photo on the IMU.

Simon


On Wed, Mar 14, 2012 at 11:10 AM, Jochen Rieger <address@hidden> wrote:
Hi Felix, thank you for your answer.

On the carrier board for the Aspirin IMU is written "Quadrotor IMU v2.0". Its the Version of Aspirin? I bought them at JobyRobotics.
Currently it doesn t exist software compatibly with v2.0 or?
When i set type to v2.0, error while compiling, therefor i tried aspirin_v1.5.

Moreover, i dont get an datasheet from JobyRobotics for the Aspirin.
When i using the dev branch, for gyro values, it is not so much tested before? It is not a critical risk for the first fly, when i using the dev branch? Whats the main difference, between master and dev?


Thank you very much.

Best regards.
Jochen



2012/3/13 Felix Ruess <address@hidden>
Hi Jochen,

you already have an aspirin2? In your airframe file you specified the the aspirin_v1.5..

Regarding the gyro calibration, you can use the default values from the datasheet.
If you are on the dev branch, you can just omit the gyro calibration in your airframe file and it will use the default datasheet values.

Cheers, Felix

On Thu, Mar 8, 2012 at 11:22 AM, Jochen Rieger <address@hidden> wrote:
Hello community, the weather is fine here and in the next time i want to fly my maiden fixedwing with the Lisa/L.
After hours of reading the wiki and forum, i have last few questions about my airframe file and configuration.
I hope i find an answer for the questions, because they are significant to fly the wing first time, especially in AUTO1/2.

My hardware:

-Lisa/L 1.1
-Aspirin 2.0
-Mediatek_GPS
-Xbee 2.4 GHz
-Futaba T6J
-PPM Encoder
-Airframe Maja

I tried to calibrate the IMU, acceleration script works fine. I have copied the values in the airframe file. Are they realistic and useable?
But i dont no how i calibrate the gyro and magnetometer. I have read that the magnetometer is currently not useable with ahrs_DCM,
because ferromagnetic issues. And for gyro, i need really an turntable? Is there perhaps another way to calibrate it?

Airspeed measurement and using for controlling is not implemented at the moment for the Lisa/L, with onboard baros, i that true?

I have attached my airframe file, can please anyone read it, to confirm it? It based on the airframe file ppzuav/fixedwing/ppzimu_tiny

I didn t fly a autopilot in the past. That is why i am a little unsure with setting up.

Thank you very much for each help.

Best Regards.
Jochen

AIRFRAME FILE:

!DOCTYPE airframe SYSTEM "../../airframe.dtd">

<!--
    Lisa/L 1.1 + Aspirin 2.0 + 2.4GHz 38400bps +
    MediaTek_Diy GPS 38400bps
-->

<airframe name="Maja">

<!--*************Modules*******************************************************-->

  <modules>

<!--<load name="airspeed_adc.xml">
     <define name="AIRSPEED_SCALE" value="1.8"/>
     <define name="AIRSPEED_BIAS"  value="0"/>
     <define name="AIRSPEED_ADC_I2C_DEV" value="i2c2"/>
    </load> -->

    <load name="baro_board.xml"/>
  </modules>

<firmware name="fixedwing">

    <target name="ap" board="lisa_l_1.1">

      <define name="STRONG_WIND"/>
      <define name="WIND_INFO"/>
      <define name="WIND_INFO_RET"/>
      <define name="USE_I2C2"/>

<!--<define name="MEASURE_AIRSPEED"/>
      <define name="USE_AIRSPEED"/>
      <define name="SENSOR_SYNC_SEND"/>-->

      <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"/>

    </target>

    <target name="sim" board="pc"/>

    <define name="AGR_CLIMB"/>
    <define name="LOITER_TRIM"/>
    <define name="ALT_KALMAN"/>

    <subsystem name="control"/>
    <subsystem name="navigation"/>

    <!--*************IMU****************************************************************-->
  
    <subsystem name="imu" type="aspirin_v1.5"/>

    <subsystem name="ahrs" type="float_dcm"/>

<!--<define name="USE_MAGNETOMETER" />

    </subsystem> -->

    <!--*************RC-Transmitter*******************************************************-->

    <subsystem name="radio_control" type="ppm"/>

    <!--*************Down-/Uplink*********************************************************-->

    <subsystem name="telemetry"           type="transparent">
      <configure name="MODEM_PORT"          value="UART3" />
      <configure name="MODEM_BAUD"          value="B38400" />
    </subsystem>

    <!--*************GPS*********************************************************-->

    <subsystem name="gps"         type="mediatek_diy">
      <configure name="GPS_PORT"          value="UART2"/>
      <configure name="GPS_BAUD"          value="B38400"/>
    </subsystem>

</firmware>

    <!--*************Servos*********************************************************-->

  <servos>
    <servo name="THROTTLE"      no="2" min="1200" neutral="1200" max="1900"/>
    <servo name="AILERON_LEFT"  no="0" min="1930" neutral="1500" max="1110"/>
    <servo name="AILERON_RIGHT" no="5" min="1930" neutral="1525" max="1110"/>
    <servo name="ELEVATOR"      no="1" min="1930" neutral="1527" max="1110"/>
    <servo name="RUDDER"        no="3" min="1100" neutral="1593" max="1930"/>
  </servos>

  <commands>
    <axis name="THROTTLE" failsafe_value="0"/>
    <axis name="ROLL" failsafe_value="0"/>
    <axis name="PITCH" failsafe_value="0"/>
    <axis name="YAW"      failsafe_value="0"/>
  </commands>

  <rc_commands>
    <set command="THROTTLE" value="@THROTTLE"/>
    <set command="ROLL"  value="@ROLL"/>
    <set command="PITCH" value="@PITCH"/>
    <set command="YAW"   value="@YAW"/>
  </rc_commands>

<!--<section name="MIXER">
     <define name="AILERON_YAW_MIX" value="0.5"/>
  </section> NO MIX at the moment  -->

  <command_laws>
    <set servo="AILERON_LEFT" value="@ROLL"/>
    <set servo="AILERON_RIGHT" value="@ROLL"/>
    <set servo="THROTTLE" value="@THROTTLE"/>
    <set servo="ELEVATOR" value="@PITCH"/>
    <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>

  <auto_rc_commands>
    <set command="YAW" value="@YAW"/>
  </auto_rc_commands>

  <!--*************Local magnetic field*****in******Stuttgart/Germany*******************-->

  <section name="AHRS" prefix="AHRS_" >
    <define name="H_X" value="0.4289796" />
    <define name="H_Y" value="0.0127580" />
    <define name="H_Z" value="0.9032241" />
  </section>
  
  <!--*************IMU calibration***********************************************-->

  <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="4"/>
    <define name="ACCEL_Y_NEUTRAL" value="8"/>
    <define name="ACCEL_Z_NEUTRAL" value="-28"/>
<!--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="47.4921849975" integer="16"/>
    <define name="ACCEL_Y_SENS" value="38.0678723599" integer="16"/>
    <define name="ACCEL_Z_SENS" value="38.8382723049" 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"/>

    <!--*************IMU orientation***********************************************-->

    <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="0" unit="deg"/>
    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
  </section>

  <section name="AUTO1" prefix="AUTO1_">
    <define name="MAX_ROLL" value="0.7"/>
    <define name="MAX_PITCH" value="0.7"/>
  </section>
 
  <!--*************Batterie warnings***********************************************-->

  <section name="BAT">
<!--<define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/>-->
    <define name="MILLIAMP_AT_FULL_THROTTLE" value="12000" unit="mA" />
    <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
    <define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
  </section>

  <section name="MISC">
    <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
    <define name="CARROT" value="5." unit="s"/>
    <define name="CONTROL_RATE" value="60" unit="Hz"/>
    <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
<!--<define name="NO_XBEE_API_INIT" value="TRUE"/> -->
    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>

    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
    <define name="MIN_CIRCLE_RADIUS" value="50."/>

    <define name="GLIDE_AIRSPEED" value="10"/>
    <define name="GLIDE_VSPEED" value="3."/>
    <define name="GLIDE_PITCH" value="45" unit="deg"/>
  </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="0.25"/>
    <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"/>

    <!--<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>-->

   <!--*************Airspeed********************************************************

    <define name="AUTO_AIRSPEED_SETPOINT" value="13.0" unit="m/s"/>
    <define name="AUTO_AIRSPEED_PGAIN" value="0.060"/>
    <define name="AUTO_AIRSPEED_IGAIN" value="0.050"/>
 
    <define name="AUTO_GROUNDSPEED_SETPOINT" value="7.0" unit="m/s"/>
    <define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
    <define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>

    <define name="AUTO_PITCH_PGAIN" value="-0.125"/>
    <define name="AUTO_PITCH_IGAIN" value="0.025"/>
    <define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
    <define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-25)"/>-->

  </section>

  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
    <define name="COURSE_PGAIN" value="-1.20000004768"/>
    <define name="COURSE_DGAIN" value="0.3"/>
    <define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>

    <define name="ROLL_MAX_SETPOINT" value="0.75" 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="-12000."/>
    <define name="PITCH_DGAIN" value="1.5"/>

    <define name="ELEVATOR_OF_ROLL" value="1000."/>

    <define name="ROLL_SLEW" value="1."/>

    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
    <define name="ROLL_RATE_GAIN" 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="0.6"/><!-- Gaz for Aggressive Climb -->
    <define name="CLIMB_PITCH" value="0.2"/><!-- 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>

  <!--*************Failsafe*******************************************************-->

  <section name="FAILSAFE" prefix="FAILSAFE_">
    <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="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>-->
    <define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
    <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
    <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
  </section>

</airframe>





                     

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