Merged CDW into dev

paparazzi · May 4, 2011 · 2bf0367 · 2bf0367
2 parents 2222350 + d9f78fa
commit 2bf0367
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diff --git a/conf/airframes/CDW/PPZIMUTinyFw.xml b/conf/airframes/CDW/PPZIMUTinyFw.xml
@@ -0,0 +1,197 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<!--
+	YAPA + XSens + XBee
+-->
+
+<airframe name="Yapa v1">
+
+  <servos>
+    <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>
+    <axis name="THROTTLE" failsafe_value="0"/>
+    <axis name="ROLL" failsafe_value="0"/>
+    <axis name="PITCH" failsafe_value="0"/>
+    <axis name="BRAKE" failsafe_value="0"/>	<!-- both elerons up as butterfly brake ? -->
+  </commands>
+
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL" value="@ROLL"/>
+    <set command="PITCH" value="@PITCH"/>
+    <set command="BRAKE" value="@YAW"/>
+  </rc_commands>
+
+  <section name="SERVO_MIXER_GAINS">
+    <define name="AILERON_RATE_UP" value="0.50f"/>
+    <define name="AILERON_RATE_DOWN" value="0.25f"/>
+
+    <define name="AILERON_RATE_UP_BRAKE" value="0.5f"/>
+    <define name="AILERON_RATE_DOWN_BRAKE" value="0.9f"/>
+
+    <define name="PITCH_GAIN" value="0.9f"/>
+
+    <define name="YAW_THRUST" value="0.0f"/>
+    <define name="BRAKE_AILEVON" value="-0.68f"/>
+    <define name="BRAKE_PITCH" value="0.0f"/>
+    <define name="MAX_BRAKE_RATE" value="150"/>
+
+    <define name="LIMIT(X,XL,XH)" value="(    ((X)>(XH))   ?    (XH)    :    ( ((X)>(XL)) ? (X) : (XL) )    )"/>
+  </section>
+
+  <command_laws>
+    <!-- Differential Aileron Depending on Brake Value -->
+    <set servo="AILERON_LEFT" value="@ROLL"/>
+    <set servo="AILERON_RIGHT" value="@ROLL"/>
+
+    <!-- Differential Thurst -->
+    <set servo="THROTTLE" value="@THROTTLE"/>
+
+    <!-- Pitch with Brake-Trim Function -->
+    <set servo="ELEVATOR" value="@PITCH"/>
+  </command_laws>
+
+  <section name="INS" prefix="INS_">
+    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+  </section>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="0.7"/>
+    <define name="MAX_PITCH" value="0.7"/>
+  </section>
+
+  <section name="BAT">
+    <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/>
+
+    <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
+  </section>
+
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
+    <define name="CARROT" value="5." unit="s"/>
+    <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="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="-0.03"/>
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+    <!-- 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"/>
+
+    <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="-1.20000004768"/>
+    <define name="COURSE_DGAIN" value="0.3"/>
+    <define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
+
+    <define name="ROLL_MAX_SETPOINT" value="0.9" unit="radians"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+
+    <define name="PITCH_PGAIN" value="-12000."/>
+    <define name="PITCH_DGAIN" value="0"/>
+
+    <define name="ELEVATOR_OF_ROLL" value="1000."/>
+
+    <define name="ROLL_ATTITUDE_GAIN" value="-11500"/>
+    <define name="ROLL_RATE_GAIN" value="-600."/>
+  </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="DEFAULT_THROTTLE" value="0.35" unit="%"/>
+    <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
+    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
+
+    <define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
+    <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
+    <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
+  </section>
+
+  <section name="DIGITAL_CAMERA" prefix="DC_">
+    <define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
+    <define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
+  </section>
+
+
+  <modules>
+    <load name="baro_bmp.xml" >
+      <define name="SENSOR_SYNC_SEND" />
+      <define name="BMP_I2C_DEV" value="i2c0" />
+    </load>
+
+  </modules>
+
+  <firmware name="fixedwing">
+    <target name="ap" board="tiny_2.11">
+      <define name="STRONG_WIND"/>
+      <define name="WIND_INFO"/>
+      <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"/>
+
+    <subsystem name="radio_control" type="ppm"/>
+    <subsystem name="gps" type="ublox_lea5h" />
+
+    <!-- Communication -->
+    <subsystem name="telemetry" type="xbee_api">
+      <configure name="MODEM_BAUD" value="B57600"/>
+    </subsystem>
+
+    <!-- Actuators -->
+    <subsystem name="control"/>
+    <!-- Sensors -->
+    <subsystem name="navigation"/>
+<!--    <subsystem name="gps"    type="ublox_lea5h"/> -->
+
+    <subsystem name="i2c"/>
+    <subsystem name="imu" type="aspirin" />
+
+  </firmware>
+
+</airframe>
diff --git a/conf/airframes/TU_Delft/yapa_xsens.xml b/conf/airframes/TU_Delft/yapa_xsens.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
-<!-- 
+<!--
 	YAPA + XSens + XBee
 -->
 
@@ -51,7 +51,7 @@
     <!-- Brake Rate Limiter -->
     <let var="brake_value" value="Chop(-@BRAKE, 0, MAX_PPRZ)"/>
     <!--<let var="brake_value" value="RATELIMIT(  $brake_value , MAX_BRAKE_RATE )"/>
-    
+
     <let var="test; \
   	      static int16_t _var_brake_value = 0; \
               _var_brake_value += LIMIT(_var_brake_value_nofilt - _var_brake_value,-MAX_BRAKE_RATE,MAX_BRAKE_RATE); \
@@ -180,14 +180,16 @@
     <load name="ins_xsens_MTiG_fixedwing.xml">
       <configure name="XSENS_UART_NR" value="0"/>
     </load>
-
+<!--
     <load name="light.xml">
       <define name="LIGHT_LED_STROBE" value="3"/>
       <define name="LIGHT_LED_NAV" value="2"/>
       <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
       <define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
     </load>
-<!--    <load name="digital_cam_i2c.xml"/>  -->
+    -->
+    <!--    <load name="digital_cam_i2c.xml"/>  -->
+    <load name="mag_hmc5843.xml" />
     <load name="digital_cam.xml" >
       <define name="DC_SHUTTER_LED" value="3"/>
     </load>
@@ -218,6 +220,8 @@
     <subsystem name="navigation"/>
     <subsystem name="gps" type="xsens"/>
 
-  </firmware>
+    <subsystem name="i2c"/>
+
+</firmware>
 
 </airframe>
diff --git a/conf/autopilot/subsystems/fixedwing/imu_booz.makefile b/conf/autopilot/subsystems/fixedwing/imu_booz.makefile
@@ -52,7 +52,6 @@ imu_srcs += $(SRC_ARCH)/peripherals/max1168_arch.c
 #ifeq ($(ARCH), lpc21)
 imu_CFLAGS += -DSSP_VIC_SLOT=9
 imu_CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
-#FIXME ms2100 not used on this imu
 #else ifeq ($(ARCH), stm32)
 #imu_CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
 #imu_CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)

diff --git a/conf/modules/ins_xsens_MTiG_fixedwing.xml b/conf/modules/ins_xsens_MTiG_fixedwing.xml
@@ -13,10 +13,13 @@
     <define name="AHRS_TYPE_H" value="\\\"modules/ins/ins_xsens.h\\\"" />
     <define name="USE_UART$(XSENS_UART_NR)"/>
     <define name="INS_LINK" value="Uart$(XSENS_UART_NR)"/>
-    <define name="UART$(XSENS_UART_NR)_BAUD" value="B115200"/>
+    <define name="UART$(XSENS_UART_NR)_BAUD" value="B230400"/>
     <define name="USE_GPS_XSENS"/>
     <define name="USE_GPS_XSENS_RAW_DATA" />
+    <define name="GPS_NB_CHANNELS" value="16" />
+    <define name="XSENS_OUTPUT_MODE" value="0x1836" />
     <file name="ins_xsens.c"/>
+    <define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
   </makefile>
 </module>
 
diff --git a/conf/modules/mag_hmc5843.xml b/conf/modules/mag_hmc5843.xml
@@ -0,0 +1,19 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="sensors">
+  <!-- <depend conflict="ins" -->
+  <header>
+    <file name="mag_hmc5843.h"/>
+  </header>
+  <init fun="hmc5843_module_init()"/>
+  <periodic fun="hmc5843_module_periodic()" freq="60"/>
+  <event fun="hmc5843_module_event()"/>
+  <makefile>
+    <define name="USE_I2C" />
+    <file name="mag_hmc5843.c"/>
+    <file name="../../peripherals/hmc5843.c"/>
+    <define name="HMC5843_I2C_DEVICE" value="i2c0" />
+    <define name="USE_I2C0" />
+    <define name="HMC5843_NO_IRQ" />
+  </makefile>
+</module>
diff --git a/conf/xsens_MTi-G.xml b/conf/xsens_MTi-G.xml
@@ -40,6 +40,11 @@
   </message>
   <message name="SetBaudrateAck" ID="0x19" to="host"/>
 
+  <message name="SetSyncOutSettings" ID="0xD8" to="MT" length="3">
+    <field name="param" format="U1"/>
+    <field name="value" format="U2"/>
+  </message>
+
   <message name="RestoreFactoryDef" ID="0x0E" to="MT"/>
   <message name="RestoreFactoryDefAck" ID="0x0F" to="host"/>
 

diff --git a/sw/airborne/ap_downlink.h b/sw/airborne/ap_downlink.h
@@ -191,7 +191,7 @@
     int16_t climb = -gps.ned_vel.z;                                     \
     int16_t course = DegOfRad(gps.course / 10);                        \
     DOWNLINK_SEND_GPS(DefaultChannel, &gps.fix, &gps.utm_pos.east, &gps.utm_pos.north, &course, &gps.lla_pos.alt, &gps.gspeed, &climb, &gps.week, &gps.tow, &gps.utm_pos.zone, &i); \
-    if (i == gps.nb_channels) i = 0;                                    \
+    if (i >= gps.nb_channels) i = 0;                                    \
     if (i < gps.nb_channels && gps.svinfos[i].cno > 0 && gps.svinfos[i].cno != last_cnos[i]) { \
       DOWNLINK_SEND_SVINFO(DefaultChannel, &i, &gps.svinfos[i].svid, &gps.svinfos[i].flags, &gps.svinfos[i].qi, &gps.svinfos[i].cno, &gps.svinfos[i].elev, &gps.svinfos[i].azim); \
       last_cnos[i] = gps.svinfos[i].cno;                                \

diff --git a/sw/airborne/arch/lpc21/subsystems/imu/imu_aspirin_arch.c b/sw/airborne/arch/lpc21/subsystems/imu/imu_aspirin_arch.c
@@ -0,0 +1,78 @@
+#include "subsystems/imu.h"
+
+
+#include "mcu_periph/i2c.h"
+
+
+void imu_aspirin_arch_int_enable(void)
+{
+}
+
+void imu_aspirin_arch_int_disable(void)
+{
+}
+
+void imu_aspirin_arch_init(void)
+{
+}
+
+
+void adxl345_write_to_reg(uint8_t addr, uint8_t val) {
+
+//  Adxl345Select();
+//  SPI_I2S_SendData(SPI2, addr);
+//  while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
+//  SPI_I2S_SendData(SPI2, val);
+//  while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
+//  while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET);
+//  Adxl345Unselect();
+
+}
+
+void adxl345_clear_rx_buf(void) {
+}
+
+//void adxl345_start_reading_data(void) {
+//}
+
+/*
+ *
+ * Gyro data ready
+ *
+ */
+
+void exti15_10_irq_handler(void) {
+
+  /* clear EXTI */
+//  if(EXTI_GetITStatus(EXTI_Line14) != RESET)
+//    EXTI_ClearITPendingBit(EXTI_Line14);
+
+  imu_aspirin.gyro_eoc = TRUE;
+  imu_aspirin.status = AspirinStatusReadingGyro;
+
+}
+
+/*
+ *
+ * Accel data ready
+ *
+ */
+void exti2_irq_handler(void) {
+
+  /* clear EXTI */
+//  if(EXTI_GetITStatus(EXTI_Line2) != RESET)
+//    EXTI_ClearITPendingBit(EXTI_Line2);
+
+//  adxl345_start_reading_data();
+
+}
+
+/*
+ *
+ * Accel end of DMA transfert
+ *
+ */
+void dma1_c4_irq_handler(void) {
+
+  imu_aspirin.accel_available = TRUE;
+}