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correct sign in cockpit SX usb
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@gautierhattenberger
gautierhattenberger committed May 16, 2011
1 parent 26a71ab commit 685a9e0
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217 changes: 217 additions & 0 deletions conf/airframes/ENAC/fixed-wing/funjet3.xml
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">

<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
Tiny 2.11 board (http://paparazzi.enac.fr/wiki/Tiny_v2)
ArduIMU
XBee modem
LEA 5H GPS
Airspeed sensor
Altitude sensor
-->

<airframe name="Funjet Tiny 2.11">

<modules target="jsbsim">
<load name="ins_arduimu_basic.xml"/>
<load name="airspeed_ets.xml">
<!--define name="SENSOR_SYNC_SEND"/-->
<define name="USE_AIRSPEED"/>
</load>
<load name="baro_ets.xml">
<define name="USE_BARO_ETS"/>
<!--define name="BARO_ETS_TELEMETRY"/-->
</load>
<load name="alt_filter.xml"/>
</modules>

<firmware name="fixedwing">
<define name="USE_I2C0"/>
<!--define name="AGR_CLIMB"/-->
<define name="ALT_KALMAN"/>
<!--define name="LOITER_TRIM"/-->
<!--define name="PITCH_TRIM"/-->

<target name="sim" board="pc"/>
<target name="jsbsim" board="pc"/>
<target name="ap" board="tiny_2.11">
<configure name="FLASH_MODE" value="IAP"/>
</target>

<subsystem name="radio_control" type="datalink"/>
<subsystem name="i2c">
<define name="I2C_TRANSACTION_QUEUE_LEN" value="16"/>
</subsystem>

<!-- Communication -->
<subsystem name="telemetry" type="transparent"/>

<!-- Actuators are automatically chosen according to board-->
<subsystem name="control" type="new"/>
<subsystem name="navigation"/>
<!-- Sensors -->
<subsystem name="gps" type="ublox_lea5h"/>
</firmware>


<firmware name="setup">
<target name="tunnel" board="tiny_2.11"/>
<target name="setup_actuators" board="tiny_2.11"/>
</firmware>

<!-- commands section -->
<servos>
<servo name="MOTOR" no="0" min="1040" neutral="1040" max="2000"/>
<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1500" max="1100"/>
<servo name="AILEVON_RIGHT" no="6" 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"/>
</commands>

<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
</rc_commands>

<section name="MIXER">
<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="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
</command_laws>

<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.85"/>
<define name="MAX_PITCH" value="0.6"/>
</section>

<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="rad"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="rad"/>
</section>

<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
</section>

<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="15." 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="ALT_KALMAN_ENABLED" value="TRUE"/>

<define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>

<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
</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="-0.159999996424"/> <!-- -0.024 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="5."/>

<!-- Cruise throttle + limits -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
<define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(20.)"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-RadOfDeg(20.)"/>

<!-- Climb loop (throttle) -->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.004"/> <!-- -0.005 -->
<define name="AUTO_THROTTLE_DGAIN" value="-0.01"/> <!-- 0.005 -->
<define name="AUTO_THROTTLE_IGAIN" value="-0.004"/> <!-- 0.005 -->

<!-- Climb loop (pitch) -->
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
<define name="AUTO_PITCH_PGAIN" value="-0.038"/> <!-- -0.03 -->
<define name="AUTO_PITCH_DGAIN" value="-0.036"/> <!-- -0.03 -->
<define name="AUTO_PITCH_IGAIN" value="-0.0"/>

<!-- airspeed control -->
<define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
<define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
<define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
<define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
<define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
<define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
<define name="AIRSPEED_MAX" value="30"/>
<define name="AIRSPEED_MIN" value="10"/>

<!-- groundspeed control -->
<define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
<define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>

<!-- pitch trim --> <!-- 5 deg -->
<define name="PITCH_LOITER_TRIM" value="RadOfDeg(0.)"/>
<define name="PITCH_DASH_TRIM" value="RadOfDeg(-0.)"/>

<define name="THROTTLE_SLEW" value="0.1"/>
</section>

<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.699999988079"/>
<define name="ROLL_MAX_SETPOINT" value="0.8" 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_ATTITUDE_GAIN" value="-6000."/>
<define name="ROLL_RATE_GAIN" value="-1000."/>
<define name="ROLL_IGAIN" value="-400."/>
<define name="ROLL_KFFA" value="0"/>
<define name="ROLL_KFFD" value="0"/>

<define name="PITCH_PGAIN" value="-20000."/>
<define name="PITCH_DGAIN" value="0."/>
<define name="PITCH_IGAIN" value="-460."/>
<define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/>

<define name="PITCH_OF_ROLL" value="RadOfDeg(0.0)"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<!--define name="ELEVATOR_OF_ROLL" value="1400"/-->
</section>

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

<section name="SIMU">
<!--define name="ROLL_RESPONSE_FACTOR" value="10"/>
<define name="MAX_ROLL_DOT" value="20" unit="rad/s"/-->
<define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
<define name="JSBSIM_INIT" value="&quot;Malolo1-IC&quot;"/>
<define name="JSBSIM_LAUNCHSPEED" value="15.0"/>
<define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
<define name="JSBSIM_IR_PITCH_NEUTRAL" value="RadOfDeg(0.)"/>
</section>

</airframe>
4 changes: 2 additions & 2 deletions conf/joystick/cockpit_sx.xml
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Expand Up @@ -8,12 +8,12 @@
<button index="3" name="mode"/>
</input>

<messages period="0.1">
<messages period="0.05">

<message class="datalink" name="RC_4CH" send_always="true">
<field name="mode" value="mode + 1"/> <!-- only AUTO1 and AUTO2 available -->
<field name="throttle" value="Fit(throttle,-100,100,0,127)"/>
<field name="roll" value="Fit(roll,-100,100,-127,127)"/>
<field name="roll" value="Fit(-roll,-100,100,-127,127)"/>
<field name="pitch" value="Fit(pitch,-100,100,-127,127)"/>
<field name="yaw" value="Fit(yaw,-100,100,-127,127)"/>
</message>
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