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Merge branch 'dev' into new-state-interface
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@flixr
flixr committed May 18, 2011
2 parents 6adfb34 + ebba3fb commit 030005e
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Showing 119 changed files with 5,554 additions and 917 deletions.
9 changes: 7 additions & 2 deletions .gitignore
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Expand Up @@ -78,6 +78,10 @@
/sw/ground_segment/tmtc/server
/sw/ground_segment/tmtc/diadec

# /sw/ground_segment/joystick
/sw/ground_segment/joystick/input2ivy
/sw/ground_segment/joystick/test_stick

# /sw/lib/ocaml/
/sw/lib/ocaml/gtk_papget_editor.ml
/sw/lib/ocaml/gtk_papget_text_editor.ml
Expand Down Expand Up @@ -109,8 +113,9 @@
/sw/tools/fp_parser.ml
/sw/tools/wiki_gen/wiki_gen

# /sw/ground_segment/joystick
/sw/ground_segment/joystick/test_stick
# /sw/ground_segment/misc
/sw/ground_segment/misc/davis2ivy


# /sw/airborne/arch/lpc21/test/bootloader
/sw/airborne/arch/lpc21/test/bootloader/bl.dmp
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6 changes: 5 additions & 1 deletion Makefile
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Expand Up @@ -43,6 +43,7 @@ AIRBORNE=sw/airborne
COCKPIT=sw/ground_segment/cockpit
TMTC=sw/ground_segment/tmtc
MULTIMON=sw/ground_segment/multimon
MISC=sw/ground_segment/misc
LOGALIZER=sw/logalizer
SIMULATOR=sw/simulator
MAKE=make PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME)
Expand All @@ -69,7 +70,7 @@ OCAMLRUN=$(shell which ocamlrun)

all: commands static conf

static : lib center tools cockpit multimon tmtc logalizer lpc21iap sim_static static_h usb_lib
static : lib center tools cockpit multimon tmtc misc logalizer lpc21iap sim_static static_h usb_lib

conf: conf/conf.xml conf/control_panel.xml

Expand Down Expand Up @@ -98,6 +99,9 @@ cockpit: lib
tmtc: lib cockpit
cd $(TMTC); $(MAKE) all

misc:
cd $(MISC); $(MAKE) all

multimon:
cd $(MULTIMON); $(MAKE)

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238 changes: 139 additions & 99 deletions conf/airframes/CDW/ChimuLisaFw.xml
View file
@@ -1,68 +1,17 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">

<!-- TwinStart Multiplex
Lisa/L board (http://paparazzi.enac.fr/wiki/Lisa)
XBee modem
LEA 5H GPS
robbe R617
<!-- Microjet Multiplex (http://www.multiplex-rc.de/)
Tiny 1.1 board (http://paparazzi.enac.fr/wiki/Tiny)
Tilted infrared sensor
Xbee modem in API mode
-->

<airframe name="TwinStar CHIMU Lisa/L">

<firmware name="fixedwing">
<target name="sim" board="pc"/>
<target name="ap" board="lisa_l_1.0"/>

<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="gps" type="ublox_lea5h">
<configure name="GPS_PORT" value="UART3"/>
</subsystem>
<subsystem name="navigation"/>
</firmware>

<firmware name="lisa_l_test_progs">
<target name="tunnel" board="lisa_l_1.0"/>
<target name="test_led" board="lisa_l_1.0"/>
<target name="test_uart" board="lisa_l_1.0"/>
<target name="test_servos" board="lisa_l_1.0"/>
<target name="test_telemetry" board="lisa_l_1.0"/>
<target name="test_baro" board="lisa_l_1.0"/>
<target name="test_imu_b2" board="lisa_l_1.0"/>
<target name="test_imu_b2_2" board="lisa_l_1.0"/>
<target name="test_imu_aspirin" board="lisa_l_1.0"/>
<target name="test_rc_spektrum" board="lisa_l_1.0"/>
<target name="test_rc_ppm" board="lisa_l_1.0"/>
<target name="test_adc" board="lisa_l_1.0"/>
<target name="test_hmc5843" board="lisa_l_1.0"/>
<target name="test_itg3200" board="lisa_l_1.0"/>
<target name="test_adxl345" board="lisa_l_1.0"/>
<target name="test_esc_mkk_simple" board="lisa_l_1.0"/>
<target name="test_esc_asctecv1_simple" board="lisa_l_1.0"/>
<target name="test_actuators_mkk" board="lisa_l_1.0"/>
<target name="test_actuators_asctecv1" board="lisa_l_1.0"/>
</firmware>


<modules>
<load name="ins_chimu_uart.xml">
<configure name="CHIMU_UART_NR" value="1"/>
</load>

<load name="light.xml">
<define name="LIGHT_LED_STROBE" value="3"/>
<define name="LIGHT_LED_NAV" value="4"/>
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
<define name="NAV_LIGHT_MODE_DEFAULT" value="0"/>
</load>
</modules>

<airframe name="Microjet Tiny 1.1">

<servos>
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILEVON_LEFT" no="1" min="1900" neutral="1534" max="1100"/>
<servo name="AILEVON_RIGHT" no="2" min="1100" neutral="1468" max="1900"/>
<servo name="MOTOR" no="0" min="1290" neutral="1290" max="1810"/>
<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1510" max="1000"/>
<servo name="AILEVON_RIGHT" no="2" min="1000" neutral="1535" max="2000"/>
</servos>

<commands>
Expand All @@ -78,95 +27,186 @@
</rc_commands>

<section name="MIXER">
<define name="AILEVON_AILERON_RATE" value="0.45"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
<define name="AILEVON_AILERON_RATE" value="0.75"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
</section>

<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="MOTOR" value="@THROTTLE"/>
<set servo="MOTOR" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
</command_laws>

<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="RadOfDeg(50)"/>
<define name="MAX_PITCH" value="RadOfDeg(35)"/>
<define name="MAX_ROLL" value="0.7"/>
<define name="MAX_PITCH" value="0.6"/>
</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 name="INFRARED" prefix="IR_">
<define name="ADC_IR1_NEUTRAL" value="2048"/>
<define name="ADC_IR2_NEUTRAL" value="2048"/>
<define name="ADC_TOP_NEUTRAL" value="2048"/>

<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="5" 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="500"/>
<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="2000"/>

<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>

<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="13." 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="&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="DEFAULT_CIRCLE_RADIUS" value="120."/>
<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="-0.06"/> <!-- -0.024 -->
<define name="ALTITUDE_PGAIN" value="-0.03"/>
<!-- 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="0.35"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<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"/> <!-- -0.03 -->
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>

<define name="THROTTLE_SLEW" value="0.1"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
</section>

<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.9"/>
<define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
<define name="COURSE_PGAIN" value="-1.4"/>

<define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>

<define name="ROLL_PGAIN" value="6600."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-5500."/>
<define name="PITCH_DGAIN" value="0.4"/>
<define name="PITCH_PGAIN" value="-12000."/>
<define name="PITCH_DGAIN" value="1.5"/>

<define name="ELEVATOR_OF_ROLL" value="2400"/>
</section>
<define name="ELEVATOR_OF_ROLL" value="1250"/>

<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
<define name="ROLL_SLEW" value="0.1"/>

<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/>
</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="1.00"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.25"/><!-- 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="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
<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"/>
</section>

<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>


<section name="SIMU">
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
<define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
<define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
<define name="JSBSIM_IR_PITCH_NEUTRAL" value="RadOfDeg(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>

<modules>
<load name="ins_chimu_uart.xml">
<configure name="CHIMU_UART_NR" value="3"/>
</load>
</modules>

<firmware name="fixedwing">
<target name="ap" board="lisa_l_1.0"/>
<target name="sim" board="pc" />
<target name="jsbsim" board="pc"/>

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

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

<!-- Communication -->
<subsystem name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="B9600"/>
</subsystem>

<subsystem name="control"/>
<!-- Sensors
<subsystem name="gyro" type="roll"/> -->
<subsystem name="gps" type="ublox_lea4p"/>
<subsystem name="navigation"/>

</firmware>


<firmware name="setup">
<target name="tunnel" board="tiny_1.1" />
<target name="usb_tunnel_0" board="tiny_1.1" />
<target name="usb_tunnel_1" board="tiny_1.1" />
<target name="setup_actuators" board="tiny_1.1" />
</firmware>

</airframe>
11 changes: 6 additions & 5 deletions conf/airframes/CDW/ChimuTinyFwSpi.xml
View file
Expand Up @@ -7,11 +7,11 @@
<airframe name="Yapa v1">

<servos>
<servo name="THROTTLE" no="8" min="1000" neutral="1000" max="2000"/>
<servo name="AILERON_LEFT" no="9" min="1000" neutral="1500" max="2000"/>
<servo name="AILERON_RIGHT" no="4" min="2000" neutral="1500" max="1000"/>
<servo name="ELEVATOR" no="5" min="2000" neutral="1500" max="1000"/>
<servo name="RUDDER" no="3" min="1100" neutral="1500" max="1900"/>
<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILERON_LEFT" no="1" min="1000" neutral="1500" max="2000"/>
<servo name="AILERON_RIGHT" no="2" min="2000" neutral="1500" max="1000"/>
<servo name="ELEVATOR" no="3" min="2000" neutral="1500" max="1000"/>
<servo name="RUDDER" no="4" min="1100" neutral="1500" max="1900"/>
</servos>

<commands>
Expand Down Expand Up @@ -168,6 +168,7 @@
<define name="WIND_INFO_RET"/>
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="NB_CHANNELS" value="5" />
</target>
<target name="sim" board="pc"/>

Expand Down

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