Skip to content

Commit

Permalink
[fixedwing][feature] AP and FBW on different boards connected via Uart
Browse files Browse the repository at this point in the history 
* with example airframe and updated outdated airframes
* renamed spi version and make it a separate subsystem (e.g. 2 twogs)
closes #297
  • Loading branch information
@dewagter @flixr
dewagter authored and flixr committed Oct 9, 2012
1 parent e9f1a94 commit 37f1cce
Show file tree
Hide file tree
Showing 13 changed files with 785 additions and 15 deletions.
317 changes: 317 additions & 0 deletions conf/airframes/examples/separate_fbw_ap.xml
View file
@@ -0,0 +1,317 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">

<!--
Lisa + Aspirin v2 using SPI only
-->

<airframe name="LisaAspirin2">

<servos>
<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILEVON_LEFT" no="1" min="1200" neutral="1500" max="1800"/>
<servo name="ELEVATOR" no="2" min="2000" neutral="1500" max="1000"/>
<servo name="RUDDER" no="3" min="1100" neutral="1500" max="1900"/>
<servo name="AILEVON_RIGHT" no="4" min="1800" neutral="1500" max="1200"/>
</servos>

<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="FORCECRASH" failsafe_value="0"/>
</commands>

<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="YAW" value="@YAW"/>
<!-- <set command="FORCECRASH" value="@FLAPS"/> -->
</rc_commands>

<command_laws>
<set servo="AILEVON_LEFT" value="@ROLL"/>
<set servo="AILEVON_RIGHT" value="-@ROLL"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="ELEVATOR" value="@PITCH"/>
<set servo="RUDDER" value="@YAW"/>
</command_laws>

<!-- Local magnetic field -->
<section name="AHRS" prefix="AHRS_">
<define name="H_X" value="0.51562740288882"/>
<define name="H_Y" value="-0.05707735220832"/>
<define name="H_Z" value="0.85490967783446"/>
</section>

<section name="IMU" prefix="IMU_">
<!-- Calibration Neutral -->
<define name="GYRO_P_NEUTRAL" value="0"/>
<define name="GYRO_Q_NEUTRAL" value="0"/>
<define name="GYRO_R_NEUTRAL" value="0"/>

<!-- SENS = 16.4 LSB/(deg/sec) * 57.6 deg/rad = 939.650 LSB/rad/sec / 12bit FRAC: 4096 / 939.65 -->
<define name="GYRO_P_SENS" value="4.359" integer="16"/>
<define name="GYRO_Q_SENS" value="4.359" integer="16"/>
<define name="GYRO_R_SENS" value="4.359" integer="16"/>

<define name="ACCEL_X_NEUTRAL" value="0"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="0"/>

<!-- SENS = 2048 LSB/g / 9.81 ms2/g = 208.766564729 LSB/ms2 / 10bit FRAC: 1024 / 208.7665 -->
<define name="ACCEL_X_SENS" value="9.81" integer="16"/>
<define name="ACCEL_Y_SENS" value="9.81" integer="16"/>
<define name="ACCEL_Z_SENS" value="9.81" integer="16"/>

<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>

<define name="MAG_X_SENS" value="1" integer="16"/>
<define name="MAG_Y_SENS" value="1" integer="16"/>
<define name="MAG_Z_SENS" value="1" integer="16"/>

<define name="BODY_TO_IMU_PHI" value="0"/>
<define name="BODY_TO_IMU_THETA" value="0"/>
<define name="BODY_TO_IMU_PSI" value="0"/>
</section>

<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="-0.0" unit="rad"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0.103000000119" unit="rad"/>
</section>

<section name="TRIM" prefix="COMMAND_">
<define name="ROLL_TRIM" value="0"/>
<define name="PITCH_TRIM" value="788."/>
</section>



<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.8"/>
<define name="MAX_PITCH" value="0.8"/>
</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="ALT_KALMAN_ENABLED" value="TRUE"/>

<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>

<define name="NAV_GLIDE_PITCH_TRIM" value="0."/>
</section>

<section name="CATAPULT" prefix="NAV_CATAPULT_" >
<define name="MOTOR_DELAY" value="45" />
<define name="HEADING_DELAY" value="(60*3)" />
<define name="ACCELERATION_THRESHOLD" value="1.75" />
<define name="INITIAL_PITCH" value="(15.0/57.0)" />
<define name="INITIAL_THROTTLE" value="1.0" />
</section>

<section name="GLS_APPROACH" prefix="APP_" >
<define name="ANGLE" value="5" />
<define name="INTERCEPT_AF_TOD" value="10" />
<define name="TARGET_SPEED" value="13" />
</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="0.104999996722"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
<define name="ALTITUDE_PRE_CLIMB_CORRECTION" value="0.0960000008345"/>
<!--
<define name="AUTO_PITCH_PGAIN" value="-0.00"/>
<define name="AUTO_PITCH_IGAIN" value="-0.00"/>
-->

<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.36700001359"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.626999974251"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.518000006676" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.00"/>
<define name="AUTO_THROTTLE_IGAIN" value="0."/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.307000011206"/>

<define name="THROTTLE_SLEW_LIMITER" value="1" unit="s"/>
</section>

<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="1.16600000858"/>
<define name="COURSE_DGAIN" value="0.324999988079"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="0.889999985695"/>

<define name="ROLL_MAX_SETPOINT" value="0.586000025272" 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="12587.4130859"/>
<define name="PITCH_DGAIN" value="1.5"/>

<define name="ELEVATOR_OF_ROLL" value="1273.88500977"/>

<define name="ROLL_SLEW" value="1."/>

<define name="ROLL_ATTITUDE_GAIN" value="7972.02783203"/>
<define name="ROLL_RATE_GAIN" value="500."/>
</section>


<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="70"/>
<define name="BLEND_END" value="60"/>
<define name="CLIMB_THROTTLE" value="0.949999988079"/>
<define name="CLIMB_PITCH" value="0.352999985218"/>
<define name="DESCENT_THROTTLE" value="0."/>
<define name="DESCENT_PITCH" value="-0.252000004053"/>
<define name="CLIMB_NAV_RATIO" value="0.8"/>
<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="gps_ubx_ucenter.xml"/>
<!--
<load name="adc_generic.xml">
<configure name="ADC_CHANNEL_GENERIC1" value="0" />
<configure name="ADC_CHANNEL_GENERIC2" value="1" />
</load>
-->
<load name="light.xml">
<define name="LIGHT_LED_STROBE" value="2"/>
<define name="LIGHT_LED_NAV" value="3"/>
<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.xml">
<define name="DC_SHUTTER_LED" value="3"/>
</load>

<load name="nav_catapult.xml"/>

</modules>

<firmware name="fixedwing">

<target name="fbw" board="lisa_m_2.0">
<configure name="SYS_TIME_LED" value="2" />
<define name="RADIO_CONTROL_LED" value="4"/>

<configure name="FLASH_MODE" value="JTAG" />
<configure name="NO_LUFTBOOT" value="1" />
<!-- <configure name="BMP_PORT" value="/dev/ttyACM0" /> -->

<define name="OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP" value="1" />
<define name="OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_AP_CAN_FORCE_FAILSAFE" value="1" />

</target>

<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="direct"/>
<subsystem name="intermcu" type="uart">
<configure name="INTERMCU_PORT_NR" value="2" />
</subsystem>


</firmware>

<firmware name="fixedwing">

<target name="ap" board="lisa_m_2.0">
<define name="LISA_M_LONGITUDINAL_X"/>

<configure name="SEPARATE_FBW" value="1"/>

<configure name="PERIODIC_FREQUENCY" value="120"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>

<configure name="FLASH_MODE" value="JTAG" />
<configure name="NO_LUFTBOOT" value="1" />
<!-- <configure name="BMP_PORT" value="/dev/ttyACM0" /> -->


<configure name="AHRS_ALIGNER_LED" value="1"/>
<configure name="CPU_LED" value="1"/>
</target>
<target name="sim" board="pc"/>

<define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="TUNE_AGRESSIVE_CLIMB"/>
<define name="STRONG_WIND"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<define name="RADIO_CONTROL_AUTO1"/>


<subsystem name="imu" type="aspirin_v2.1"/>
<subsystem name="ahrs" type="float_dcm" />

<!-- Communication -->
<!-- <subsystem name="telemetry" type="xbee_api"> -->
<subsystem name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="B9600"/>
<configure name="MODEM_PORT" value="UART2"/>
</subsystem>

<!-- Actuators -->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="navigation" type="extra"/>
<subsystem name="gps" type="ublox">
<configure name="GPS_PORT" value="UART1"/>
</subsystem>

<subsystem name="actuators" type="dummy"/>

<subsystem name="intermcu" type="uart">
<configure name="INTERMCU_PORT_NR" value="5" />
</subsystem>

</firmware>

<makefile>


</makefile>

</airframe>
4 changes: 2 additions & 2 deletions conf/airframes/obsolete/twinjet1.xml
View file
Expand Up @@ -186,7 +186,7 @@ fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLI
fbw.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c $(SRC_ARCH)/mcu_periph/uart_arch.c

fbw.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_SLAVE
fbw.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c
fbw.srcs += inter_mcu.c link_mcu_spi.c spi.c $(SRC_ARCH)/spi_hw.c

fbw.CFLAGS += -DADC -DUSE_AD0
fbw.srcs += $(SRC_ARCH)/adc_hw.c
Expand All @@ -202,7 +202,7 @@ ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLIN
ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c

ap.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0
ap.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c
ap.srcs += inter_mcu.c link_mcu_spi.c spi.c $(SRC_ARCH)/spi_hw.c

ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
ap.srcs += gps_ubx.c gps.c latlong.c
Expand Down
4 changes: 2 additions & 2 deletions conf/airframes/obsolete/twinstar6.xml
View file
Expand Up @@ -195,7 +195,7 @@ fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLI
fbw.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c $(SRC_ARCH)/mcu_periph/uart_arch.c

fbw.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_SLAVE
fbw.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c
fbw.srcs += inter_mcu.c link_mcu_spi.c spi.c $(SRC_ARCH)/spi_hw.c

fbw.CFLAGS += -DADC -DUSE_AD0
fbw.srcs += $(SRC_ARCH)/adc_hw.c
Expand All @@ -208,7 +208,7 @@ ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLIN
ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/navigation/traffic_info.c subsystems/datalink/pprz_transport.c

ap.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_MASTER
ap.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c
ap.srcs += inter_mcu.c link_mcu_spi.c spi.c $(SRC_ARCH)/spi_hw.c

ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
ap.srcs += gps_ubx.c gps.c latlong.c
Expand Down
15 changes: 8 additions & 7 deletions conf/firmwares/subsystems/fixedwing/autopilot.makefile
View file
Expand Up @@ -231,15 +231,16 @@ jsbsim.srcs += $(SRC_ARCH)/subsystems/settings_arch.c
#

ifeq ($(BOARD),classix)
fbw.CFLAGS += -DMCU_SPI_LINK -DUSE_SPI -DSPI_SLAVE
fbw.srcs += $(SRC_FIXEDWING)/link_mcu.c mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
ap_srcs += $(SRC_FIRMWARE)/fbw_downlink.c
ap.CFLAGS += -DMCU_SPI_LINK -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0
ap.srcs += $(SRC_FIXEDWING)/link_mcu.c mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
include $(CFG_FIXEDWING)/intermcu_spi.makefile
else
# Single MCU's run both
ap.CFLAGS += $(fbw_CFLAGS)
ap.srcs += $(fbw_srcs)
ifeq ($(SEPARATE_FBW),)
ap.CFLAGS += $(fbw_CFLAGS)
ap.srcs += $(fbw_srcs)
else
# avoid fbw_telemetry_mode error
ap_srcs += $(SRC_FIRMWARE)/fbw_downlink.c
endif
endif

#
Expand Down
11 changes: 11 additions & 0 deletions conf/firmwares/subsystems/fixedwing/intermcu_spi.makefile
View file
@@ -0,0 +1,11 @@
# Hey Emacs, this is a -*- makefile -*-

# InterMCU type SPI


fbw.CFLAGS += -DMCU_SPI_LINK -DUSE_SPI -DSPI_SLAVE
fbw.srcs += $(SRC_FIXEDWING)/link_mcu_spi.c mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
ap_srcs += $(SRC_FIRMWARE)/fbw_downlink.c
ap.CFLAGS += -DMCU_SPI_LINK -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0
ap.srcs += $(SRC_FIXEDWING)/link_mcu_spi.c mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
SEPARATE_FBW = 1

0 comments on commit 37f1cce

Please sign in to comment.