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[airframes] RW25kg
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@dewagter
dewagter committed Oct 6, 2023
1 parent 5af84a4 commit 26e15e0
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Showing 6 changed files with 612 additions and 2 deletions.
427 changes: 427 additions & 0 deletions conf/airframes/tudelft/rot_wing_25kg.xml
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168 changes: 168 additions & 0 deletions conf/flight_plans/tudelft/rotating_wing25kg_EHVB.xml
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<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">

<flight_plan alt="60" ground_alt="0" lat0="52.168595" lon0="4.412444" max_dist_from_home="1100" name="Rotating wing Valkenburg" security_height="2">
<header>
#include "autopilot.h"
#include "modules/datalink/datalink.h"
</header>
<waypoints>
<waypoint name="HOME" x="12.6" y="-48.7"/>
<waypoint name="CLIMB" x="62.6" y="-80.4"/>
<waypoint name="trans" x="100." y="100."/>
<waypoint name="decel" x="100." y="100."/>
<waypoint name="end_trans" x="100." y="100."/>
<waypoint name="STDBY" lat="52.1682655" lon="4.4135103"/>
<!--<waypoint name="p1" lat="52.1674262" lon="4.4141448"/>-->
<waypoint name="p1" lat="52.1684116" lon="4.4149282"/>
<waypoint name="p2" lat="52.1675165" lon="4.4147158"/>
<waypoint name="p3" lat="52.1688983" lon="4.4139655"/>
<waypoint name="p4" lat="52.1687661" lon="4.4133220"/>
<waypoint name="circ" lat="52.1684116" lon="4.4149282"/>
<waypoint name="TD" lat="52.1681602" lon="4.4127708"/>
<waypoint name="APP" lat="52.1679567" lon="4.4136344"/>
<waypoint name="FOLLOW" lat="52.16850964562752" lon="4.413635008734417"/>
<waypoint lat="52.169189" lon="4.410820" name="C1"/>
<waypoint lat="52.168049" lon="4.406923" name="C2"/>
<waypoint lat="52.166515" lon="4.408235" name="C3"/>
<waypoint lat="52.163255" lon="4.407668" name="C4"/>
<waypoint lat="52.161908" lon="4.410082" name="C5"/>
<waypoint lat="52.162641" lon="4.416992" name="C6"/>
<waypoint lat="52.164861" lon="4.427268" name="C7"/>
<waypoint lat="52.170422" lon="4.427511" name="C8"/>
<waypoint lat="52.172276" lon="4.424011" name="C9"/>
</waypoints>
<sectors>
<sector color="red" name="Flyzone">
<corner name="C1"/>
<corner name="C2"/>
<corner name="C3"/>
<corner name="C4"/>
<corner name="C5"/>
<corner name="C6"/>
<corner name="C7"/>
<corner name="C8"/>
<corner name="C9"/>
</sector>
</sectors>
<modules>
<!--<module name="follow_me"/>-->
</modules>
<exceptions>
<exception cond="Or(!InsideFlyzone(GetPosX(), GetPosY()), GetPosAlt() @GT GetAltRef() + 1500) @AND !(nav_block == IndexOfBlock('Wait GPS')) @AND !(nav_block == IndexOfBlock('Geo init')) @AND !(nav_block == IndexOfBlock('Holding point'))" deroute="Holding point"/>
<exception cond="datalink_time @GT 25 @AND !(nav_block == IndexOfBlock('Wait GPS')) @AND !(nav_block == IndexOfBlock('Geo init')) @AND !(nav_block == IndexOfBlock('Holding point')) @AND !(nav_block == IndexOfBlock('Standby'))" deroute="Standby"/>
</exceptions>
<blocks>
<block name="Wait GPS">
<set value="false" var="force_forward"/>
<call_once fun="NavKillThrottle()"/>
<while cond="!GpsFixValid() || !state.ned_initialized_i"/>
</block>
<block name="Geo init">
<set value="false" var="force_forward"/>
<while cond="LessThan(NavBlockTime(), 10)"/>
<call_once fun="NavSetAltitudeReferenceHere()"/>
</block>
<block name="Holding point">
<set value="false" var="force_forward"/>
<call_once fun="NavKillThrottle()"/>
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
</block>
<block name="Start Engine">
<set value="false" var="force_forward"/>
<call_once fun="NavResurrect()"/>
<attitude pitch="0" roll="0" throttle="0" until="stage_time>10" vmode="throttle"/>
</block>
<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
<set value="false" var="force_forward"/>
<exception cond="stateGetPositionEnu_f()->z > 4.0" deroute="Standby"/>
<call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
<attitude pitch="0" roll="0" throttle="0.75" until="stage_time>2" vmode="throttle"/>
</block>
<block name="Standby" strip_button="Standby" strip_icon="home.png">
<set value="false" var="force_forward"/>
<stay wp="STDBY"/>
</block>
<block name="stay_p1">
<set value="false" var="force_forward"/>
<stay wp="p1"/>
</block>
<block name="go_p2">
<set value="false" var="force_forward"/>
<call_once fun="nav_set_heading_deg(90)"/>
<go wp="p2"/>
<deroute block="stay_p1"/>
</block>
<block name="line_p1_p2">
<set value="false" var="force_forward"/>
<go from="p1" hmode="route" wp="p2"/>
<stay wp="p2"/>
</block>
<block name="line_trans_fwd">
<set value="false" var="force_forward"/>
<call_once fun="NavSetWaypointHere(WP_p1)"/>
<stay wp="end_trans"/>
</block>
<block name="line_trans_quad">
<set value="false" var="force_forward"/>
<call_once fun="NavSetWaypointHere(WP_p1)"/>
<stay wp="end_trans"/>
</block>
<block name="route">
<set value="false" var="force_forward"/>
<go from="p1" hmode="route" wp="p2"/>
<go from="p2" hmode="route" wp="p3"/>
<go from="p3" hmode="route" wp="p4"/>
<go from="p4" hmode="route" wp="p1"/>
<deroute block="route"/>
</block>
<block name="Oval">
<set value="false" var="force_forward"/>
<oval p1="p1" p2="p2" radius="100"/>
</block>
<block name="Circle_CW">
<set value="false" var="force_forward"/>
<circle radius="100" wp="circ"/>
</block>
<block name="Circle_CCW">
<set value="false" var="force_forward"/>
<circle radius="-100" wp="circ"/>
</block>
<block name="Circle_CW_fwd">
<set value="true" var="force_forward"/>
<circle radius="100" wp="circ"/>
</block>
<block name="Circle_CCW_fwd">
<set value="true" var="force_forward"/>
<circle radius="-100" wp="circ"/>
</block>
<block name="land here" strip_button="Land Here" strip_icon="land-right.png">
<set value="false" var="force_forward"/>
<call_once fun="NavSetWaypointHere(WP_TD)"/>
</block>
<block name="land">
<set value="false" var="force_forward"/>
<go wp="TD"/>
</block>
<block name="descend">
<set value="false" var="force_forward"/>
<exception cond="!(stateGetPositionEnu_f()->z > 12.0)" deroute="flare"/>
<stay climb="-1.0" vmode="climb" wp="TD"/>
</block>
<block name="flare">
<set value="false" var="force_forward"/>
<stay climb="-0.5" vmode="climb" wp="TD"/>
<exception cond="!(stateGetPositionEnu_f()->z > 2.0)" deroute="flare_low"/>
</block>
<block name="flare_low">
<set value="false" var="force_forward"/>
<!-- <exception cond="NavDetectGround()" deroute="Holding point"/> -->
<exception cond="!nav_is_in_flight()" deroute="landed"/>
<!-- <call_once fun="NavStartDetectGround()"/> -->
<!-- <stay climb="-0.5" vmode="climb" wp="TD"/> -->
</block>
<block name="landed">
<set value="false" var="force_forward"/>
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
</block>
</blocks>
</flight_plan>
2 changes: 1 addition & 1 deletion conf/simulator/jsbsim/aircraft/rotwing25.xml
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Expand Up @@ -41,7 +41,7 @@
<ixy unit="SLUG*FT2"> 0. </ixy>
<ixz unit="SLUG*FT2"> 0. </ixz>
<iyz unit="SLUG*FT2"> 0. </iyz>
<emptywt unit="LBS"> 28.67 </emptywt>
<emptywt unit="LBS"> 56 </emptywt>
<location name="CG" unit="M">
<x> 0 </x>
<y> 0 </y>
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11 changes: 11 additions & 0 deletions conf/userconf/tudelft/conf.xml
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Expand Up @@ -571,4 +571,15 @@
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml"
gui_color="red"
/>
<aircraft
name="rot_wing_25kg"
ac_id="29"
airframe="airframes/tudelft/rot_wing_25kg.xml"
radio="radios/crossfire_sbus.xml"
telemetry="telemetry/highspeed_rotorcraft.xml"
flight_plan="flight_plans/tudelft/rotating_wing25kg_EHVB.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/ctrl_eff_sched_rot_wing.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml"
gui_color="red"
/>
</conf>
2 changes: 1 addition & 1 deletion sw/airborne/filters/notch_filter_float.h
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Expand Up @@ -101,7 +101,7 @@ static inline void notch_filter_update(struct SecondOrderNotchFilter *filter, fl
*/


static inline float notch_filter_get_output(struct notch_filter_float *filter)
static inline float notch_filter_get_output(struct SecondOrderNotchFilter *filter)
{
return filter->yn1;
}
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4 changes: 4 additions & 0 deletions sw/airborne/modules/radio_control/rc_datalink.h
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Expand Up @@ -40,6 +40,10 @@
#define RADIO_YAW 2
#define RADIO_THROTTLE 3
#define RADIO_MODE 4
#define RADIO_AUX1 5
#define RADIO_AUX2 6
#define RADIO_AUX4 7
#define RADIO_AUX6 8

extern int8_t rc_dl_values[ RC_DL_NB_CHANNEL ];
extern volatile bool rc_dl_frame_available;
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