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FBW compiles
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@dewagter
dewagter committed Nov 21, 2014
1 parent 1afcb27 commit 00c628a
Showing 1 changed file with 46 additions and 98 deletions.
144 changes: 46 additions & 98 deletions conf/airframes/OpenUAS/openuas_vivify_mk1.xml
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Expand Up @@ -8,53 +8,29 @@
+ XBee XSC 900Mhz or XBP868 depending on location flown
+ uBlox LEA5H and Sarantel helix GPS antenna
+ Spektrum RX DSMX clone - optional mission demanding a R16Scan40MHZ RX
+ Eagletree Airspeed sensor via I2C
+ Analog Airspeed sensor
+ MK2 Second LisaM as FTD, plus additional power measurement for this board
NOTES:
+ Using Total Energy control as control loop
+ LisaM with servo pins to the front of plane !
+ AP battery voltage measurement via pin o I2C1CAN V_BAT
(Will maybe be change measuring the Main Power Battery)
+ LisaM with servo pins to the back of plane !
+ Engine battery voltage level separate sensor
+ FTD voltage level separate sensor
+ Flat yawing possible via Elevon UP Flapperon DOWN Mixing
+ Make sure v5.1x master or higher of PPRZ sourcecode is used
+ Used mac06a.xml airframe as starting point for payload release settings
+ OBC2014: Make sure that in link.ml
link.ml - Paparazzi/sw/ground_segment/tmtc
let ping_msg_period = 750 (** ms CHANGED FOR OUTBACK CHALLENGE *)
+ OBC2014 TELEMETRY
Add to "Link" the param "-hfc" for hardware handshaking
Modules to activate:
+ Current sensor on battery wires going to motor
+ geo_mag module if fixed for fixedwing
+ Catapult launch
+ GLS landing
Near Future
+ MK2 Second LisaM as FTD, plus additional power measurement for this board
++ Lisa M v2.0 board ID: ? (http://paparazzi.enac.fr/wiki/index.php/)
++ Modified power routing by closing Jumper J1
++ No IMU response action
+ MBP085 baro on board the AP
+ Separate Baro(Height) sensor via I2C
+ MS4525DO Airspeed sensor via I2C to replace ETS airspeed
+ Engine battery voltage level separate sensor
+ FTD voltage level separate sensor
+ RPM sensor for brushless
+ ACL lights
+ A new scanline command, on straight scanning line no roll and direction ony by yawing (maybe via thrustvector)
+ APPD Accidental Power-on Prevention Device
-->

<airframe name="Vivify">
<!-- ************************* FIRMWARE ************************* -->
<firmware name="fixedwing">
<define name="RADIO_CONTROL_NB_CHANNEL" value="8" />
<target name="ap" board="lisa_m_2.0">
<define name="LINK_MCU_LED" value="5"/>
<configure name="AHRS_ALIGNER_LED" value="2"/>
Expand All @@ -64,93 +40,65 @@
<define name="RADIO_BRAKE" value="RADIO_AUX1"/>
<define name="RADIO_HATCH" value="RADIO_AUX2"/>
<configure name="SEPARATE_FBW" value="1"/>
<!-- <define name="ADC_CHANNEL_VSUPPLY" value="4"/> -->
<define name="autopilot_motors_on" value="FALSE"/> <!-- temp fix for geomag, normally only used for rotorcraft -->
<define name="SENSOR_SYNC_SEND"/>
<!-- PERIODIC_FREQUENCY should be least equal or greater than AHRS_PROPAGATE_FREQUENCY -->
<configure name="PERIODIC_FREQUENCY" value="120"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
<!--
<define name="ASPIRIN_2_LOWPASS_FILTER"/>
define name="ASPIRIN_2_SMPLRT_DIV"/>-->
<!--
<configure name="AHRS_PROPAGATE_FREQUENCY" value="256"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="256"/>
-->
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
<!--define name="USE_I2C2"/-->
<define name="USE_AHRS_GPS_ACCELERATIONS"/>
<!--<define name="USE_BARO_ETS"/>-->
<!-- obsolete with ABI ?-->
<configure name="USE_BARO_BOARD" value="FALSE"/>
<define name="BAT_CHECKER_DELAY" value="80"/><!-- amount of time it take for the bat to check --><!-- to avoid bat low spike detection when strong pullup withch draws short sudden power-->
<!-- <define name="LOW_BATTERY_KILL_DELAY" value="80"/>-->
<define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="80"/><!-- in seconds-->
<!-- <subsystem name="current_sensor">-->
<!-- <define name="USE_ADC_1"/>??-->
<!-- <configure name="ADC_CURRENT_SENSOR" value="ADC_1"/>-->
<!--</subsystem>-->

<!-- <define name="DC_IMAGE_BUFFER" value="65000"/> -->
<!-- set USE_AIRSPEED to use ets_airspeed in control loop -->
<define name="USE_AIRSPEED"/>
<!-- To get raw data for calibration of sensor -->
<!-- define name="AIRSPEED_ETS_SYNC_SEND"/-->
<define name="AGR_CLIMB"/>
<!-- <define name="ALT_KALMAN"/>-->
<define name="TUNE_AGRESSIVE_CLIMB"/>
<define name="STRONG_WIND"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<!-- * For MK2 with FTD, risk during if need a switch form auto0 to auto2, auto1 not allowed THIS -->
<subsystem name="imu" type="aspirin_v2.2"/>
<subsystem name="ahrs" type="int_cmpl_quat">
<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN"/>
<!-- * no need? since already set by default * -->
<define name="USE_MAGNETOMETER" value="FALSE"/>
<!-- TRUE by default but better set it to be sure if you want to use it -->
<!-- * Apply a low pass filter on rotational velocity * -->
<!-- <define name="AHRS_PROPAGATE_LOW_PASS_RATES"/> -->
<!-- * not used, determin benefit and test *-->
<!-- * Use mag to also update roll/pitch and not only yaw (not recommended in most cases?) * -->
<!-- <define name="AHRS_MAG_UPDATE_ALL_AXES"/>-->
<!-- not used, determin benefit and test -->
</subsystem>

<subsystem name="actuators" type="dummy"/>
<subsystem name="intermcu" type="can"/>

<!-- * Communication * -->
<subsystem name="telemetry" type="transparent">
<!-- or use type="xbee_api"> -->
<configure name="MODEM_BAUD" value="B9600"/>
<!-- <configure name="MODEM_BAUD" value="B57600"/>--> <!-- Good to switch on high baud while raw sensor calibaration and testing -->
<configure name="MODEM_PORT" value="UART2"/>
</subsystem>

<!-- If an Digi Xtend is connected and we also want to use it than enable this
<subsystem name="telemetry" type="xbee_api">
<configure name="MODEM_PORT" value="UART0"/>
<configure name="MODEM_BAUD" value="B9600"/>
</subsystem>
-->
<define name="USE_AIRSPEED"/>
<define name="AGR_CLIMB"/>
<!-- <define name="ALT_KALMAN"/>-->
<define name="TUNE_AGRESSIVE_CLIMB"/>
<define name="STRONG_WIND"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<subsystem name="imu" type="aspirin_v2.2"/>
<subsystem name="ahrs" type="int_cmpl_quat">
<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN"/>
<!-- * no need? since already set by default * -->
<define name="USE_MAGNETOMETER" value="FALSE"/>
<!-- TRUE by default but better set it to be sure if you want to use it -->
</subsystem>

<subsystem name="actuators" type="dummy"/>
<subsystem name="intermcu" type="can"/>

<!-- * Communication * -->
<subsystem name="telemetry" type="transparent">
<!-- or use type="xbee_api"> -->
<configure name="MODEM_BAUD" value="B9600"/>
<!-- <configure name="MODEM_BAUD" value="B57600"/>--> <!-- Good to switch on high baud while raw sensor calibaration and testing -->
<configure name="MODEM_PORT" value="UART2"/>
</subsystem>

<subsystem name="control" type="energy"/>
<subsystem name="control" type="energy"/>

<!-- * Sensors * -->
<subsystem name="gps" type="ublox">
<configure name="GPS_PORT" value="UART3"/>
<configure name="GPS_BAUD" value="B38400"/>
</subsystem>
<!-- * Sensors * -->
<subsystem name="gps" type="ublox">
<configure name="GPS_PORT" value="UART3"/>
<configure name="GPS_BAUD" value="B38400"/>
</subsystem>

<!-- * Add Navigation routines -->
<subsystem name="navigation"/>
<subsystem name="ins" type="alt_float"/>
<!-- * Add Navigation routines -->
<subsystem name="navigation"/>
<subsystem name="ins" type="alt_float"/>

</target>

<target name="fbw" board="lisa_m_2.0">
<configure name="SEPARATE_FBW" value="1"/>

<configure name="FLASH_MODE" value="SWD"/>

<configure name="SYS_TIME_LED" value="2"/>
Expand Down Expand Up @@ -256,8 +204,8 @@ I am as of yet not sure if the weird info byte is because of a failed bind proce
<define name="MS5611_SPI_DEV" value="spi2"/>
<define name="MS5611_SLAVE_IDX" value="SPI_SLAVE3"/>
</load>
<load name="qnh.xml"/>
<load name="obc2014.xml"/>
<!-- CDW: load name="qnh.xml"/-->
<!-- CDW: load name="obc2014.xml"/-->

<!-- Disable uCenter in the future, setup the hardware itself -->
<load name="gps_ubx_ucenter.xml"/><!-- TODO: add parameter to disable SBAS CAREFUL about SBAS, disable it for Australia -->
Expand Down Expand Up @@ -299,10 +247,10 @@ I am as of yet not sure if the weird info byte is because of a failed bind proce
<!-- <load name="nav_catapult.xml"/> -->
<!-- <load name="geo_mag.xml"/> --> <!-- simplify the setup of magneto in various part of the world TODO needs fixing now aircarft in flight (strange)rule-->

<load name="TICKET.xml">
<!-- CDW: load name="TICKET.xml">
<define name="DC_AUTOSHOOT_QUARTERSEC_PERIOD" value="22" unit="quarter_second"/>
<configure name="CAMERA_PORT" value="UART5"/>
</load>
</load -->

<load name="baro_sim.xml"/>
<!-- Navigation modules-->
Expand Down

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