From 596ed48c7fdadd4a5d41b740722e36fe36750f25 Mon Sep 17 00:00:00 2001
From: Christophe De Wagter <dewagter@gmail.com>
Date: Wed, 20 Apr 2011 14:34:14 +0200
Subject: [PATCH] Chimu also in Lisa

---
 conf/airframes/CDW/ChimuLisaFw.xml       | 238 +++++++++++++----------
 sw/airborne/modules/ins/ins_chimu_uart.c |   4 +-
 2 files changed, 141 insertions(+), 101 deletions(-)

diff --git a/conf/airframes/CDW/ChimuLisaFw.xml b/conf/airframes/CDW/ChimuLisaFw.xml
index 8a6337cb4f6..0e2fef40aaa 100644
--- a/conf/airframes/CDW/ChimuLisaFw.xml
+++ b/conf/airframes/CDW/ChimuLisaFw.xml
@@ -1,68 +1,17 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
-<!-- TwinStart Multiplex
-     Lisa/L board (http://paparazzi.enac.fr/wiki/Lisa)
-     XBee modem
-     LEA 5H GPS
-     robbe R617
+<!-- Microjet Multiplex (http://www.multiplex-rc.de/)
+     Tiny 1.1 board (http://paparazzi.enac.fr/wiki/Tiny)
+     Tilted infrared sensor
+     Xbee modem in API mode
 -->
 
-<airframe name="TwinStar CHIMU Lisa/L">
-
-  <firmware name="fixedwing">
-    <target name="sim" 			board="pc"/>
-    <target name="ap" 			board="lisa_l_1.0"/>
-
-    <subsystem name="radio_control"     type="ppm"/>
-    <subsystem name="telemetry" 	type="transparent"/>
-    <subsystem name="control"/>
-    <subsystem name="gps" 		type="ublox_lea5h">
-      <configure name="GPS_PORT"         value="UART3"/>
-    </subsystem>
-    <subsystem name="navigation"/>
-  </firmware>
-
-  <firmware name="lisa_l_test_progs">
-    <target name="tunnel"           board="lisa_l_1.0"/>
-    <target name="test_led"         board="lisa_l_1.0"/>
-    <target name="test_uart"        board="lisa_l_1.0"/>
-    <target name="test_servos"      board="lisa_l_1.0"/>
-    <target name="test_telemetry"   board="lisa_l_1.0"/>
-    <target name="test_baro"        board="lisa_l_1.0"/>
-    <target name="test_imu_b2"      board="lisa_l_1.0"/>
-    <target name="test_imu_b2_2"    board="lisa_l_1.0"/>
-    <target name="test_imu_aspirin" board="lisa_l_1.0"/>
-    <target name="test_rc_spektrum" board="lisa_l_1.0"/>
-    <target name="test_rc_ppm"      board="lisa_l_1.0"/>
-    <target name="test_adc"         board="lisa_l_1.0"/>
-    <target name="test_hmc5843"     board="lisa_l_1.0"/>
-    <target name="test_itg3200"     board="lisa_l_1.0"/>
-    <target name="test_adxl345"             board="lisa_l_1.0"/>
-    <target name="test_esc_mkk_simple"      board="lisa_l_1.0"/>
-    <target name="test_esc_asctecv1_simple" board="lisa_l_1.0"/>
-    <target name="test_actuators_mkk"       board="lisa_l_1.0"/>
-    <target name="test_actuators_asctecv1"  board="lisa_l_1.0"/>
-  </firmware>
-
-
-  <modules>
-    <load name="ins_chimu_uart.xml">
-      <configure name="CHIMU_UART_NR" value="1"/>
-    </load>
-
-    <load name="light.xml">
-      <define name="LIGHT_LED_STROBE" value="3"/>
-      <define name="LIGHT_LED_NAV" value="4"/>
-      <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
-      <define name="NAV_LIGHT_MODE_DEFAULT" value="0"/>
-    </load>
-  </modules>
-
+<airframe name="Microjet Tiny 1.1">
 
   <servos>
-    <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILEVON_LEFT"  no="1" min="1900" neutral="1534" max="1100"/>
-    <servo name="AILEVON_RIGHT" no="2" min="1100" neutral="1468" max="1900"/>
+    <servo name="MOTOR"         no="0" min="1290" neutral="1290" max="1810"/>
+    <servo name="AILEVON_LEFT"  no="1" min="2000" neutral="1510" max="1000"/>
+    <servo name="AILEVON_RIGHT" no="2" min="1000" neutral="1535" max="2000"/>
   </servos>
 
   <commands>
@@ -78,95 +27,186 @@
   </rc_commands>
 
   <section name="MIXER">
-    <define name="AILEVON_AILERON_RATE" value="0.45"/>
-    <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
+    <define name="AILEVON_AILERON_RATE" value="0.75"/>
+    <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
   </section>
 
   <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="MOTOR"         value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
   </command_laws>
 
   <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="RadOfDeg(50)"/>
-    <define name="MAX_PITCH" value="RadOfDeg(35)"/>
+    <define name="MAX_ROLL" value="0.7"/>
+    <define name="MAX_PITCH" value="0.6"/>
   </section>
 
-  <section name="INS" prefix="INS_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+  <section name="INFRARED" prefix="IR_">
+    <define name="ADC_IR1_NEUTRAL" value="2048"/>
+    <define name="ADC_IR2_NEUTRAL" value="2048"/>
+    <define name="ADC_TOP_NEUTRAL" value="2048"/>
+
+    <define name="LATERAL_CORRECTION" value="1."/>
+    <define name="LONGITUDINAL_CORRECTION" value="1."/>
+    <define name="VERTICAL_CORRECTION" value="1.5"/>
+
+    <define name="HORIZ_SENSOR_TILTED" value="1"/>
+    <define name="IR2_SIGN" value="-1"/>
+    <define name="TOP_SIGN" value="-1"/>
+
+    <define name="ROLL_NEUTRAL_DEFAULT" value="-3.6" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="5" unit="deg"/>
+
+    <define name="CORRECTION_UP" value="1."/>
+    <define name="CORRECTION_DOWN" value="1."/>
+    <define name="CORRECTION_LEFT" value="1."/>
+    <define name="CORRECTION_RIGHT" value="1."/>
+  </section>
+
+  <section name="GYRO" prefix="GYRO_">
+    <define name="ADC_ROLL_NEUTRAL" value="500"/>
+    <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
+    <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
+    <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
+    <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
+    <define name="ROLL_DIRECTION" value="1."/>
   </section>
 
   <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="2000"/>
+
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
 
   <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
+    <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
     <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
     <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="DEFAULT_CIRCLE_RADIUS" value="120."/>
+    <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="-0.06"/> <!-- -0.024 -->
+    <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="0.45"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
-    <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
+    <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"/>
 
-    <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
-    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
-    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
-    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
-
-    <define name="THROTTLE_SLEW" value="0.1"/>
+    <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
   </section>
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="-0.9"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
+    <define name="COURSE_PGAIN" value="-1.4"/>
+
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
     <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
     <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
 
-    <define name="ROLL_PGAIN" value="6600."/>
-    <define name="AILERON_OF_THROTTLE" value="0.0"/>
-    <define name="PITCH_PGAIN" value="-5500."/>
-    <define name="PITCH_DGAIN" value="0.4"/>
+    <define name="PITCH_PGAIN" value="-12000."/>
+    <define name="PITCH_DGAIN" value="1.5"/>
 
-    <define name="ELEVATOR_OF_ROLL" value="2400"/>
-  </section>
+    <define name="ELEVATOR_OF_ROLL" value="1250"/>
 
-  <section name="NAV">
-    <define name="NAV_PITCH" value="0."/>
-    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+    <define name="ROLL_SLEW" value="0.1"/>
+
+    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_RATE_GAIN" value="-1500"/>
   </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="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"/>
+    <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"/>
   </section>
 
+  <section name="DATALINK" prefix="DATALINK_">
+    <define name="DEVICE_TYPE" value="XBEE"/>
+    <define name="DEVICE_ADDRESS" value="...."/>
+  </section>
+  
+  
   <section name="SIMU">
-    <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
+    <define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
+    <define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
+    <define name="JSBSIM_IR_PITCH_NEUTRAL" value="RadOfDeg(0.)"/>
   </section>
 
+  <section name="INS" prefix="INS_">
+    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+  </section>
+
+  <modules>
+    <load name="ins_chimu_uart.xml">
+      <configure name="CHIMU_UART_NR" value="3"/>
+    </load>
+  </modules>
+
+  <firmware name="fixedwing">
+    <target name="ap" 			board="lisa_l_1.0"/>
+    <target name="sim" 			board="pc" />
+    <target name="jsbsim"       board="pc"/>
+
+    <define name="AGR_CLIMB" />
+    <define name="LOITER_TRIM" />
+    <define name="ALT_KALMAN" />
+
+    <subsystem name="radio_control" type="ppm"/>
+
+    <!-- Communication -->
+    <subsystem name="telemetry" 	type="transparent">
+      <configure name="MODEM_BAUD" 		value="B9600"/>
+    </subsystem>
+
+    <subsystem name="control"/>
+    <!-- Sensors 
+    <subsystem name="gyro"          type="roll"/> -->
+    <subsystem name="gps" 		    type="ublox_lea4p"/>
+    <subsystem name="navigation"/>
+
+  </firmware>
+
+
+  <firmware name="setup">
+    <target name="tunnel"           board="tiny_1.1" />
+    <target name="usb_tunnel_0"     board="tiny_1.1" />
+    <target name="usb_tunnel_1"     board="tiny_1.1" />
+    <target name="setup_actuators"  board="tiny_1.1" />
+  </firmware>
+
 </airframe>
diff --git a/sw/airborne/modules/ins/ins_chimu_uart.c b/sw/airborne/modules/ins/ins_chimu_uart.c
index 1805c2ff93a..2304d2f880e 100644
--- a/sw/airborne/modules/ins/ins_chimu_uart.c
+++ b/sw/airborne/modules/ins/ins_chimu_uart.c
@@ -33,8 +33,8 @@ volatile uint8_t new_ins_attitude;
 
 void ins_init( void ) 
 {
-//  uint8_t rate[12] = {0xae, 0xae, 0x06, 0xaa, 0x10, 0x05, 0xff, 0x79, 0x00, 0x00, 0xab, 0x76 };	// 50Hz attitude only + SPI
-  uint8_t rate[12] = {0xae, 0xae, 0x06, 0xaa, 0x10, 0x04, 0xff, 0x79, 0x00, 0x00, 0xab, 0xd3 }; // 25Hz attitude only + SPI
+  uint8_t rate[12] = {0xae, 0xae, 0x06, 0xaa, 0x10, 0x05, 0xff, 0x79, 0x00, 0x00, 0xab, 0x76 };	// 50Hz attitude only + SPI
+//  uint8_t rate[12] = {0xae, 0xae, 0x06, 0xaa, 0x10, 0x04, 0xff, 0x79, 0x00, 0x00, 0xab, 0xd3 }; // 25Hz attitude only + SPI
 //  uint8_t euler[7] = {0xae, 0xae, 0x01, 0xaa, 0x09, 0x00, 0xaf }; // 25Hz attitude only + SPI
   uint8_t quaternions[7] = {0xae, 0xae, 0x01, 0xaa, 0x09, 0x01, 0x39 }; // 25Hz attitude only + SPI