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Merge remote-tracking branch 'paparazzi/master' into baro_abi
Conflicts: sw/airborne/boards/ardrone/baro_board.c sw/airborne/modules/sensors/baro_ms5611_spi.h
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<conf> | ||
<aircraft | ||
name="Asctec" | ||
ac_id="150" | ||
airframe="airframes/CDW/asctec_cdw.xml" | ||
radio="radios/R6107SP_7ch.xml" | ||
telemetry="telemetry/default_rotorcraft.xml" | ||
flight_plan="flight_plans/rotorcraft_basic.xml" | ||
settings=" settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/modules/imu_quality_assessment.xml" | ||
gui_color="white" | ||
/> | ||
<aircraft | ||
name="TriCopter" | ||
ac_id="1" | ||
airframe="airframes/CDW/tricopter_cdw.xml" | ||
radio="radios/R6107SP_7ch.xml" | ||
telemetry="telemetry/default_rotorcraft.xml" | ||
flight_plan="flight_plans/rotorcraft_basic.xml" | ||
settings=" settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_mkk_v2.xml settings/modules/imu_quality_assessment.xml" | ||
gui_color="blue" | ||
/> | ||
</conf> |
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<?xml version="1.0"?> | ||
<conf> | ||
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<aircraft | ||
name="MavRick_LisaS" | ||
ac_id="1" | ||
airframe="airframes/TUDelft/IMAV2013/mavrick_lisa_s.xml" | ||
radio="radios/cockpitSX.xml" | ||
telemetry="telemetry/default_fixedwing_imu.xml" | ||
flight_plan="flight_plans/basic.xml" | ||
settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/ins_neutrals.xml" | ||
gui_color="white" | ||
/> | ||
<aircraft | ||
name="Quadrotor_LisaS" | ||
ac_id="2" | ||
airframe="airframes/examples/quadrotor_lisa_s.xml" | ||
radio="radios/cockpitSX.xml" | ||
telemetry="telemetry/default_rotorcraft.xml" | ||
flight_plan="flight_plans/rotorcraft_basic.xml" | ||
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml" | ||
gui_color="blue" | ||
/> | ||
<aircraft | ||
name="Walkera_V120D02S" | ||
ac_id="3" | ||
airframe="airframes/TUDelft/IMAV2013/walkera_V120D02S.xml" | ||
radio="radios/cockpitSX.xml" | ||
telemetry="telemetry/default_rotorcraft.xml" | ||
flight_plan="flight_plans/rotorcraft_basic.xml" | ||
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml" | ||
gui_color="green" | ||
/> | ||
<aircraft | ||
name="Walkera_GeniusV1" | ||
ac_id="4" | ||
airframe="airframes/TUDelft/IMAV2013/walkera_genius_v1.xml" | ||
radio="radios/cockpitSX.xml" | ||
telemetry="telemetry/default_rotorcraft.xml" | ||
flight_plan="flight_plans/rotorcraft_basic.xml" | ||
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml" | ||
gui_color="orange" | ||
/> | ||
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</conf> |
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<!-- this is a tiny MavRick fixedwing frame equiped with Lisa/S 0.1 --> | ||
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<!-- | ||
Applicable configuration: | ||
airframe="airframes/TUDelft/IMAV2013/mavrick_lisa_s.xml" | ||
radio="radios/cockpitSX.xml" | ||
telemetry="telemetry/default_fixedwing.xml" | ||
flight_plan="flight_plans/fixedwing_basic.xml" | ||
settings="settings/fixedwing_basic.xml" | ||
--> | ||
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<airframe name="MavRick_LisaS"> | ||
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<firmware name="fixedwing"> | ||
<define name="AGR_CLIMB" /> | ||
<target name="ap" board="lisa_s_0.1"/> | ||
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<subsystem name="radio_control" type="superbitrf_rc"> | ||
<define name="RADIO_TRANSMITTER_ID" value="2008496626"/> <!-- TUDelft Dx6i: TX 4 --> | ||
<define name="RADIO_TRANSMITTER_CHAN" value="6"/> | ||
<define name="RADIO_TRANSMITTER_PROTOCOL" value="0x01"/> | ||
<define name="RADIO_KILL_SWITCH" value="RADIO_FLAP"/> | ||
</subsystem> | ||
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<!-- Communication --> | ||
<subsystem name="telemetry" type="transparent"/> | ||
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<!-- Actuators are automatically chosen according to board--> | ||
<subsystem name="imu" type="lisa_s_v0.1"/> | ||
<subsystem name="ahrs" type="float_dcm"/> | ||
<subsystem name="control"/> | ||
<subsystem name="navigation"/> | ||
<!-- Sensors --> | ||
<subsystem name="gps" type="ublox"/> | ||
<subsystem name="ins" type="alt_float"/> | ||
</firmware> | ||
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<modules> | ||
<load name="gps_ubx_ucenter.xml"/> | ||
</modules> | ||
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<!-- commands section --> | ||
<servos> | ||
<servo name="MOTOR" no="1" min="1040" neutral="1040" max="2000"/> | ||
<servo name="AILEVON_LEFT" no="0" min="1900" neutral="1543" max="1100"/> | ||
<servo name="AILEVON_RIGHT" no="2" min="1100" neutral="1561" max="1900"/> | ||
</servos> | ||
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<commands> | ||
<axis name="THROTTLE" failsafe_value="0"/> | ||
<axis name="ROLL" failsafe_value="0"/> | ||
<axis name="PITCH" failsafe_value="0"/> | ||
</commands> | ||
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<rc_commands> | ||
<set command="THROTTLE" value="@THROTTLE"/> | ||
<set command="ROLL" value="@ROLL"/> | ||
<set command="PITCH" value="@PITCH"/> | ||
</rc_commands> | ||
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<section name="MIXER"> | ||
<define name="AILEVON_AILERON_RATE" value="0.75"/> | ||
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/> | ||
</section> | ||
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<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="AILEVON_LEFT" value="$elevator + $aileron"/> | ||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/> | ||
</command_laws> | ||
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<section name="AUTO1" prefix="AUTO1_"> | ||
<define name="MAX_ROLL" value="0.85"/> | ||
<define name="MAX_PITCH" value="0.6"/> | ||
</section> | ||
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<section name="IMU" prefix="IMU_"> | ||
<define name="BODY_TO_IMU_PHI" value="190." unit="deg"/> | ||
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/> | ||
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/> | ||
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<define name="ACCEL_X_NEUTRAL" value="0"/> | ||
<define name="ACCEL_Y_NEUTRAL" value="0"/> | ||
<define name="ACCEL_Z_NEUTRAL" value="0"/> | ||
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<!-- From delft MAVLab --> | ||
<define name="MAG_X_NEUTRAL" value="396"/> | ||
<define name="MAG_Y_NEUTRAL" value="-260"/> | ||
<define name="MAG_Z_NEUTRAL" value="-91"/> | ||
<define name="MAG_X_SENS" value="3.71635905504" integer="16"/> | ||
<define name="MAG_Y_SENS" value="3.5526454063" integer="16"/> | ||
<define name="MAG_Z_SENS" value="3.52339566014" integer="16"/> | ||
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<!-- Current correction --> | ||
<define name="MAG_X_CURRENT_COEF" value="-0.390312445109"/> | ||
<define name="MAG_Y_CURRENT_COEF" value="-0.068976232866"/> | ||
<define name="MAG_Z_CURRENT_COEF" value="-0.181415585657"/> | ||
</section> | ||
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<section name="INS" prefix="INS_"> | ||
<define name="ROLL_NEUTRAL_DEFAULT" value="0.048" unit="rad"/> | ||
<define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="rad"/> | ||
</section> | ||
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<section name="BAT"> | ||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/> | ||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/> | ||
</section> | ||
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<section name="MISC"> | ||
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/> | ||
<define name="CARROT" value="5." unit="s"/> | ||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/> | ||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/> | ||
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> | ||
</section> | ||
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<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="0.03"/> | ||
<!-- outer loop saturation --> | ||
<define name="ALTITUDE_MAX_CLIMB" value="2."/> | ||
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<!-- auto throttle inner loop --> | ||
<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"/> | ||
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<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/> | ||
</section> | ||
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> | ||
<define name="COURSE_PGAIN" value="1.0"/> | ||
<define name="COURSE_DGAIN" value="0.3"/> | ||
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<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/> | ||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/> | ||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/> | ||
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<define name="PITCH_PGAIN" value="12000."/> | ||
<define name="PITCH_DGAIN" value="1.5"/> | ||
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<define name="ELEVATOR_OF_ROLL" value="1250"/> | ||
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<define name="ROLL_ATTITUDE_GAIN" value="7500"/> | ||
<define name="ROLL_RATE_GAIN" value="1500"/> | ||
</section> | ||
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<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> | ||
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<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"/> | ||
</section> | ||
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</airframe> |
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