F3 and X-Vert support (#2113)

* Make mpu9250 compatible with mpu6500, by providing option to disable mag * Upgrade QTC version, add more QTCreator compatibility with chibios * F3 support * Add priliminary support stm32f3 discovery board using chibios * Add support for the stm32f37 xvert board by means of chibios * Give INDI simple full control authority * Motor driver for the vertx * Create define out of required THD_WORKING_AREA space
paparazzi · Oct 6, 2017 · 2a6ad55 · kirkscheper · Oct 18, 2017 · 2a6ad55
1 parent 2581a97
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diff --git a/.gitignore b/.gitignore
@@ -42,7 +42,7 @@ paparazzi.sublime-workspace
 
 # QtCreator IDE
 *.creator
-*.creator.user
+*.creator.user*
 *.config
 *.files
 *.includes

diff --git a/Makefile.ac b/Makefile.ac
@@ -56,6 +56,7 @@ RADIO_H=$(AC_GENERATED)/radio.h
 FLIGHT_PLAN_H=$(AC_GENERATED)/flight_plan.h
 FLIGHT_PLAN_XML=$(AIRCRAFT_BUILD_DIR)/flight_plan.xml
 SRCS_LIST=$(AIRCRAFT_BUILD_DIR)/$(TARGET)_srcs.list
+TMP_LIST=$(AIRCRAFT_BUILD_DIR)/$(TARGET)_tmp.list
 SETTINGS_H=$(AC_GENERATED)/settings.h
 SETTINGS_XMLS=$(patsubst %,$(CONF)/%,$(SETTINGS))
 SETTINGS_XMLS_DEP=$(filter-out %~,$(SETTINGS_XMLS))
@@ -155,14 +156,20 @@ all_ac_h: $(SRCS_LIST) qt_project
 
 $(SRCS_LIST) : $(CONF_XML) $(AIRFRAME_H) $(MODULES_H) autopilot_h $(SETTINGS_H) $(MAKEFILE_AC) $(PERIODIC_H)
 	@echo "TARGET: " $(TARGET) > $(SRCS_LIST)
-	@echo "CFLAGS: " $(CFLAGS) >> $(SRCS_LIST)
+	@echo "CFLAGS: " $(CFLAGS) $(IINCDIR) $(TOPT) >> $(SRCS_LIST)
 	@echo "LDFLAGS: " $($(TARGET).LDFLAGS) >> $(SRCS_LIST)
 	@echo "srcs: " $($(TARGET).srcs) >> $(SRCS_LIST)
 	@echo -n "headers:  " >> $(SRCS_LIST)
+	@echo $(VPATH) > $(TMP_LIST)
+	@echo $($(TARGET).srcs) >> $(TMP_LIST)
+	@echo $(CFLAGS) >> $(TMP_LIST)
+	@echo $(IINCDIR) >> $(TMP_LIST)
+	@echo $(TOPT)>> $(TMP_LIST)	
+	@echo ../../sw/tools/find_vpaths.py $(CC)  $(TMP_LIST) $(PAPARAZZI_SRC)
 ifeq (,$(findstring cpp,$($(TARGET).srcs)))
-	$(Q)cd $(AIRBORNE) ; ../../sw/tools/find_vpaths.py $(CC) $(VPATH) + $($(TARGET).srcs) + $(CFLAGS) $(IINCDIR) $(TOPT) >> $(SRCS_LIST)
+	$(Q)cd $(PAPARAZZI_SRC) ; ./sw/tools/find_vpaths.py $(CC) $(TMP_LIST) $(PAPARAZZI_SRC) >> $(SRCS_LIST) 
 else
-	$(Q)cd $(AIRBORNE) ; ../../sw/tools/find_vpaths.py $(CXX) $(VPATH) + $($(TARGET).srcs) + $(CXXFLAGS) $(IINCDIR) $(TOPT) >> $(SRCS_LIST)
+	$(Q)cd $(PAPARAZZI_SRC) ; ./sw/tools/find_vpaths.py $(CXX) $(TMP_LIST) $(PAPARAZZI_SRC) >> $(SRCS_LIST)
 endif
 
 qt_project : $(SRCS_LIST)

diff --git a/conf/airframes/TUDELFT/tudelft_conf.xml b/conf/airframes/TUDELFT/tudelft_conf.xml
@@ -527,4 +527,15 @@
    settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="#b29eb22cffff"
   />
+  <aircraft
+   name="xvert"
+   ac_id="69"
+   airframe="airframes/TUDELFT/tudelft_xvert.xml"
+   radio="radios/dummy.xml"
+   telemetry="telemetry/default_rotorcraft_slow.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/gps.xml modules/ahrs_float_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/air_data.xml modules/gps_ubx_ucenter.xml modules/guidance_hybrid.xml"
+   gui_color="#ffffcccaccca"
+  />
 </conf>
diff --git a/conf/airframes/TUDELFT/tudelft_xvert.xml b/conf/airframes/TUDELFT/tudelft_xvert.xml
@@ -0,0 +1,226 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<?xml version="1.0" encoding="UTF-8"?>
+<!-- this is a quadrotor frame equiped with
+* Autopilot:   xvert
+* IMU:         MPU6500 + external HMC58XX
+* Actuators:   2 PWM servo's, 2 escs through some proprietary atmega uart protocol
+* GPS:         Ublox through I2C
+* RC:          Datalink
+-->
+<airframe name="xvert">
+  <firmware name="rotorcraft">
+    <target name="ap" board="xvert_1.0"/>
+    <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="CATASTROPHIC_BATTERY_KILL_DELAY" value="80" />
+
+    <!-- To fix the 32k ram limit issue:-->
+    <!--<define name="PPRZ_TRIG_INT_USE_FLOAT"/>-->
+    <define name="PPRZ_TRIG_CONST" value="const"/>
+    <define name="THD_WORKING_AREA_MAIN" value="1024"/>
+
+    <configure name="USE_MAGNETOMETER" value="FALSE"/>
+
+    <!-- in seconds-->
+    <module name="telemetry" type="transparent" >
+        <define name="MODEM_BAUD" value="57600"/>
+    </module>
+    <module name="guidance"      type="hybrid"/>
+    <module name="motor_mixing"/>
+    <module name="sys_mon"/>
+    <module name="gps" type="ubx_ucenter"/>
+    <module name="send_imu_mag_current"/>
+    <module name="air_data"/>
+    <module name="imu" type="mpu9250_i2c">
+        <configure name="IMU_MPU9250_I2C_DEV" value="i2c1"/>
+        <define name="IMU_MPU9250_READ_MAG" value="FALSE"/>
+        <define name="IMU_MPU9250_I2C_ADDR" value="MPU9250_ADDR"/>
+        <define name="AHRS_ICQ_MAG_ID" value="MAG_HMC58XX_SENDER_ID" />         <!-- Meaning the external hmc-->
+    </module>
+    <module name="stabilization" type="indi_simple" />
+    <module name="ahrs" type="float_cmpl_quat" >
+      <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
+    </module>
+    <module name="ins" type="float_invariant">
+      <define name="INS_PROPAGATE_FREQUENCY" value="500"/>
+      <define name="INS_FINV_MAG_ID" value="MAG_HMC58XX_SENDER_ID"/>
+    </module>
+    <module name="actuators" type="xvert">
+      <define name="SERVO_HZ" value="400" />
+    </module>
+    <module name="radio_control" type="datalink"/>
+    <module name="gps" type="ubx_i2c">
+       <configure name="GPS_UBX_I2C_DEV" value="i2c2"/>
+    </module>
+    <module name="mag" type="hmc58xx">
+      <configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
+      <define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
+      <define name="HMC58XX_CHAN_X" value="1"/>
+      <define name="HMC58XX_CHAN_Y" value="0"/>
+      <define name="HMC58XX_CHAN_Z" value="2"/>
+      <define name="HMC58XX_CHAN_X_SIGN" value="-"/>
+      <define name="HMC58XX_CHAN_Y_SIGN" value="+"/>
+      <define name="HMC58XX_CHAN_Z_SIGN" value="+"/>
+    </module>    
+  </firmware>
+
+  <section name="INS" prefix="INS_">
+    <define name="H_X" value="0.5138"/>
+    <define name="H_Y" value="0.00019"/>
+    <define name="H_Z" value="0.8578"/>
+  </section>
+
+  <section name="IMU" prefix="IMU_">
+    <!-- replace this with your own calibration -->
+    <define name="MAG_X_NEUTRAL" value="30"/>
+    <define name="MAG_Y_NEUTRAL" value="127"/>
+    <define name="MAG_Z_NEUTRAL" value="140"/>
+    <define name="MAG_X_SENS" value="7.11726808648" integer="16"/>
+    <define name="MAG_Y_SENS" value="7.09366475279" integer="16"/>
+    <define name="MAG_Z_SENS" value="6.84467824688" integer="16"/>
+
+    <define name="ACCEL_X_NEUTRAL" value="-52"/>
+    <define name="ACCEL_Y_NEUTRAL" value="-4"/>
+    <define name="ACCEL_Z_NEUTRAL" value="-7"/>
+    <define name="ACCEL_X_SENS" value="2.45056441681" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="2.44991708802" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="2.44199722843" integer="16"/>
+
+    <define name="BODY_TO_IMU_PHI"   value="90." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="90." unit="deg"/>
+  </section>
+  <commands>
+    <axis name="PITCH"  failsafe_value="0"/>
+    <axis name="ROLL"   failsafe_value="0"/>
+    <axis name="YAW"    failsafe_value="0"/>
+    <axis name="THRUST" failsafe_value="0"/>
+  </commands>
+  <servos driver="Xvert">
+    <servo name="RM" no="0" min="1160" neutral="1200" max="1880"/>
+    <servo name="LM" no="1" min="1160" neutral="1200" max="1880"/>
+    <servo name="ELEVON_RIGHT"  no="2" min="1000" neutral="1500" max="2000"/>
+    <servo name="ELEVON_LEFT" no="3" min="1000" neutral="1500" max="2000"/>
+  </servos>
+
+  <command_laws>
+    <call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
+    <set servo="RM" value="motor_mixing.commands[0]"/>
+    <set servo="LM"  value="motor_mixing.commands[1]"/>
+
+    <!-- Mode dependent actuator laws for the elevons. The elevons act different in rc attitude flight mode-->
+    <!-- First the correct feedback is stored in variables -->
+    <let var="aileron_feedback_left"  value="@YAW"/>
+    <let var="aileron_feedback_right" value="@YAW"/>
+
+    <let var="elevator_feedback_left"  value="-@PITCH"/>
+    <let var="elevator_feedback_right" value="+@PITCH"/>
+
+    <!--     if using PID with gain scheduling -->
+    <let var="forward_left"  value="$aileron_feedback_left + $elevator_feedback_left"/>
+    <let var="forward_right" value="$aileron_feedback_right + $elevator_feedback_right"/>
+
+    <!-- This statement tells the autopilot to use the hover feedback if in mode attitude direct and to use the forward feedback in all other cases-->
+    <set servo="ELEVON_LEFT"    value="$forward_left" />
+    <set servo="ELEVON_RIGHT"   value="$forward_right" />
+  </command_laws>
+
+  <section name="AIR_DATA" prefix="AIR_DATA_">
+    <define name="CALC_AIRSPEED" value="FALSE" />
+    <define name="CALC_TAS_FACTOR" value="FALSE" />
+    <define name="CALC_AMSL_BARO" value="TRUE" />
+  </section>
+
+  <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
+    <!-- setpoint limits for attitude stabilization rc flight -->
+    <define name="SP_MAX_PHI" value="45" unit="deg" />
+    <define name="SP_MAX_THETA" value="45" unit="deg" />
+    <define name="SP_MAX_R" value="300" unit="deg/s" />
+    <define name="DEADBAND_A" value="0" />
+    <define name="DEADBAND_E" value="0" />
+    <define name="DEADBAND_R" value="50" />
+  </section>
+
+  <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
+    <!-- control effectiveness -->
+    <define name="G1_P" value="0.01292" />
+    <define name="G1_Q" value="0.014867" />
+    <define name="G1_R" value="0.012055" />
+    <define name="G2_R" value="0.0" />    
+    <!-- For the bebop2 we need to filter the roll rate due to the dampers -->
+    <define name="FILTER_ROLL_RATE" value="FALSE" />
+    <define name="FILTER_PITCH_RATE" value="FALSE" />
+    <define name="FILTER_YAW_RATE" value="FALSE" />
+    <!-- reference acceleration for attitude control -->
+    <define name="REF_ERR_P" value="100.0" />
+    <define name="REF_ERR_Q" value="100.0" />
+    <define name="REF_ERR_R" value="100.0" />
+    <define name="REF_RATE_P" value="14.0" />
+    <define name="REF_RATE_Q" value="14.0" />
+    <define name="REF_RATE_R" value="14.0" />
+    <!-- second order filter parameters -->
+    <define name="FILT_CUTOFF" value="3.2"/>
+    <define name="FILT_CUTOFF_R" value="3.2"/>
+    <!-- first order actuator dynamics -->
+    <define name="ACT_DYN_P" value="0.04" />
+    <define name="ACT_DYN_Q" value="0.04" />
+    <define name="ACT_DYN_R" value="0.04" />
+    <!-- Adaptive Learning Rate -->
+    <define name="USE_ADAPTIVE" value="FALSE" />
+    <define name="ADAPTIVE_MU" value="0.0001" />
+    <!-- max rates (conservative) -->
+    <define name="STABILIZATION_INDI_MAX_RATE" value="343.77" unit="deg/s"/>
+    <define name="STABILIZATION_INDI_MAX_R" value="200" unit="deg/s"/> <!--Does not seem to be applied-->
+    <define name="FULL_AUTHORITY" value="TRUE"/>
+  </section>
+  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
+    <define name="HOVER_KP" value="350" />
+    <define name="HOVER_KD" value="85" />
+    <define name="HOVER_KI" value="20" />
+    <define name="NOMINAL_HOVER_THROTTLE" value="0.6" />
+    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE" />
+  </section>
+  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+    <!-- Good weather -->
+    <define name="MAX_BANK" value="20" unit="deg" />
+    <define name="REF_MAX_SPEED" value="2" unit="m/s" />
+    <!-- Bad weather -->
+    <!-- define name="MAX_BANK" value="32" unit="deg"/ -->
+    <define name="PGAIN" value="50" />
+    <define name="DGAIN" value="100" />
+    <define name="IGAIN" value="30" />
+  </section>
+  <section name="NAVIGATION" prefix="NAV_">
+    <define name="CLIMB_VSPEED" value="4.5" />
+    <define name="DESCEND_VSPEED" value="-1.0" />
+  </section>
+  <section name="AUTOPILOT">
+    <define name="MODE_STARTUP" value="AP_MODE_ATTITUDE_DIRECT" />
+    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT" />
+    <define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD" />
+    <define name="MODE_AUTO2" value="AP_MODE_RC_DIRECT" />
+    <define name="NO_RC_THRUST_LIMIT" value="TRUE" />
+  </section>
+
+  <section name="BAT">
+    <!-- 2S LiPo with 950mAh -->
+    <define name="LOW_BAT_LEVEL" value="7.5" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="7.3" unit="V"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="7.0" unit="V"/>
+    <define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
+  </section>
+
+  <section name="MIXING" prefix="MOTOR_MIXING_">
+    <define name="TRIM_ROLL" value="0"/>
+    <define name="TRIM_PITCH" value="0"/>
+    <define name="TRIM_YAW" value="0"/>
+    <define name="NB_MOTOR" value="2"/>
+    <define name="SCALE" value="256"/>
+    <define name="PITCH_COEF"  value="{ 0, 0}"/>
+    <define name="ROLL_COEF"   value="{  -256, 256 }"/>
+    <define name="YAW_COEF"    value="{ 0,  0 }"/>
+    <define name="THRUST_COEF" value="{  256,  256 }"/>
+  </section>
+</airframe>
diff --git a/conf/boards/stm32f3_discovery_1.0_chibios.makefile b/conf/boards/stm32f3_discovery_1.0_chibios.makefile
@@ -0,0 +1,76 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# stm32f3_discovery_chibios.makefile
+#
+#
+
+BOARD=stm32f3_discovery
+BOARD_VERSION=1.0
+BOARD_DIR=$(BOARD)/chibios/v$(BOARD_VERSION)
+BOARD_CFG=\"boards/$(BOARD_DIR)/board.h\"
+
+ARCH=chibios
+$(TARGET).ARCHDIR = $(ARCH)
+
+RTOS=chibios
+
+## FPU on F3
+USE_FPU=hard
+
+$(TARGET).CFLAGS += -DSTM32F3 -DPPRZLINK_ENABLE_FD
+
+##############################################################################
+# Architecture or project specific options
+#
+# Define project name here (target)
+PROJECT = $(TARGET)
+
+# Project specific files and paths (see Makefile.chibios for details)
+CHIBIOS_BOARD_PLATFORM = STM32F3xx/platform.mk
+CHIBIOS_BOARD_LINKER = STM32F303xC.ld
+CHIBIOS_BOARD_STARTUP = startup_stm32f3xx.mk
+
+##############################################################################
+# Compiler settings
+#
+MCU  = cortex-m4
+
+
+# default flash mode is via DFU-UTIL
+# possibilities: DFU-UTIL, SWD, STLINK
+FLASH_MODE ?= DFU-UTIL
+
+HAS_LUFTBOOT = FALSE
+
+#
+# default LED configuration
+#
+RADIO_CONTROL_LED  ?= 4
+BARO_LED           ?= none
+AHRS_ALIGNER_LED   ?= 5
+GPS_LED            ?= 6
+SYS_TIME_LED       ?= 3
+
+#
+# default UART configuration (modem, gps, spektrum)
+#
+
+MODEM_PORT ?= UART1
+MODEM_BAUD ?= B57600
+
+GPS_PORT ?= UART2
+GPS_BAUD ?= B38400
+
+RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART3
+SBUS_PORT ?= UART3
+
+
+#
+# default actuator configuration
+#
+# you can use different actuators by adding a configure option to your firmware section
+# e.g. <configure name="ACTUATORS" value="actuators_ppm/>
+# and by setting the correct "driver" attribute in servo section
+# e.g. <servo driver="Ppm">
+#
+ACTUATORS ?= actuators_pwm