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merlin.xml
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merlin.xml
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
<!-- Merlin
Tiny 2.11
Tilted infrared sensor
XBee modem
LEA 5H
-->
<airframe name="Merlin">
<firmware name="fixedwing">
<define name="PITCH_TRIM"/>
<target name="ap" board="tiny_2.11"/>
<target name="sim" board="pc"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="ins" type="alt_float"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
<!--subsystem name="spi">
<define name="USE_SPI_SLAVE0"/>
<define name="USE_SPI1"/>
</subsystem-->
</firmware>
<firmware name="setup">
<target name="tunnel" board="tiny_2.11" />
<target name="setup_actuators" board="tiny_2.11" />
</firmware>
<modules>
<load name="infrared_adc.xml"/>
<load name="ahrs_infrared.xml"/>
<!--load name="ins_vn100.xml"/-->
</modules>
<!-- commands section -->
<servos>
<servo name="AILERON_RIGHT" no="0" min="1900" neutral="1500" max="1100"/>
<servo name="AILERON_LEFT" no="2" min="1900" neutral="1500" max="1100"/>
<servo name="ELEVATOR" no="6" min="1100" neutral="1500" max="1900"/>
<servo name="RUDDER" no="7" min="1100" neutral="1500" max="1900"/>
<servo name="MOTOR" no="3" min="1000" neutral="1000" max="2000"/>
</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_DIFF" value="0.8"/>
</section>
<command_laws>
<set servo="MOTOR" value="@THROTTLE"/>
<set servo="ELEVATOR" value="@PITCH"/>
<set servo="RUDDER" value="@YAW"/>
<let var="roll" value="@ROLL"/>
<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.85"/>
<define name="MAX_PITCH" value="0.6"/>
</section>
<section name="INFRARED" prefix="IR_">
<define name="ADC_IR1_NEUTRAL" value="512"/>
<define name="ADC_IR2_NEUTRAL" value="512"/>
<define name="ADC_TOP_NEUTRAL" value="512"/>
<define name="LATERAL_CORRECTION" value="1"/>
<define name="LONGITUDINAL_CORRECTION" value="1"/>
<define name="VERTICAL_CORRECTION" value="1"/>
<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="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<!-- 0.0247311828 -->
<!-- 0.02432905 -->
<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
</section>
<section name="MISC">
<define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
<define name="MAXIMUM_AIRSPEED" value="18." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<!-- <define name="XBEE_INIT" value=""ATPL2\rATRN1\rATTT80\r""/> -->
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
<define name="TRIGGER_DELAY" value="1."/>
<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"/>
<!-- 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="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.023"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="0.06"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
<!-- pitch trim -->
<define name="PITCH_LOITER_TRIM" value="RadOfDeg(5.)"/>
<define name="PITCH_DASH_TRIM" value="RadOfDeg(-5.)"/>
<define name="THROTTLE_SLEW" value="0.1"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="1.0"/>
<define name="ROLL_MAX_SETPOINT" value="0.60" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
<define name="ROLL_ATTITUDE_GAIN" value="5900"/>
<define name="ROLL_RATE_GAIN" value="2900"/>
<define name="ROLL_IGAIN" value="500"/>
<define name="ROLL_KFFA" value="500"/>
<define name="ROLL_KFFD" value="500"/>
<define name="PITCH_PGAIN" value="9000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="PITCH_IGAIN" value="500"/>
<define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/>
<define name="PITCH_OF_ROLL" value="RadOfDeg(0.2)"/>
<define name="ELEVATOR_OF_ROLL" value="0"/>
</section>
<section name="NAV">
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.35"/><!-- 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="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="0.17" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
</airframe>