Merge pull request #1452 from paparazzi/compressed_trig

[math] compressed sine table for flash and RAM, support for 20K RAM boards Needed for boards like CC3D and naze32 (STM32F103CBT6, 128K flash, 20K RAM). Also adds preliminary support for the naze32 rev4 and rev5, CC3D and CJMCU boards.
paparazzi · Dec 3, 2015 · 6c2cdab · 6c2cdab
2 parents 6a4e0fa + 6d6e59e
commit 6c2cdab
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Showing 27 changed files with 2,740 additions and 19 deletions.
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2.xml b/conf/airframes/ENAC/fixed-wing/funjet2.xml
@@ -10,6 +10,10 @@
 
 <airframe name="Funjet II">
 
+  <firmware name="test_progs">
+    <target name="test_math_trig_compressed" board="apogee_1.0"/>
+  </firmware>
+
   <modules>
     <load name="mag_hmc58xx.xml">
       <define name="MODULE_HMC58XX_UPDATE_AHRS"/>

diff --git a/conf/airframes/flixr/conf.xml b/conf/airframes/flixr/conf.xml
@@ -18,19 +18,19 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_float_mlkf.xml settings/control/stabilization_att_int_quat.xml"
-   settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/video_rtp_stream.xml"
    gui_color="blue"
+   settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/video_rtp_stream.xml"
   />
   <aircraft
-   name="cc3d"
-   ac_id="21"
+   name="demo_cc3d"
+   ac_id="2"
    airframe="airframes/untested/demo_cc3d.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/demo.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/estimation/ahrs_int_cmpl_quat.xml settings/estimation/body_to_imu.xml settings/test_actuators_pwm.xml"
-   gui_color="blue"
    settings_modules=""
+   gui_color="blue"
   />
   <aircraft
    name="discovery"
@@ -76,6 +76,28 @@
    settings_modules="modules/gps_ubx_ucenter.xml"
    gui_color="blue"
   />
+  <aircraft
+   name="quad_cc3d"
+   ac_id="3"
+   airframe="airframes/untested/quad_cc3d.xml"
+   radio="radios/dummy.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/estimation/body_to_imu.xml"
+   settings_modules=""
+   gui_color="blue"
+  />
+  <aircraft
+   name="quad_flip32"
+   ac_id="32"
+   airframe="airframes/untested/quad_flip32.xml"
+   radio="radios/TGY9x_jeti.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/estimation/body_to_imu.xml"
+   settings_modules="modules/air_data.xml modules/gps_ubx_ucenter.xml"
+   gui_color="blue"
+  />
   <aircraft
    name="test_bbb"
    ac_id="1"

diff --git a/conf/airframes/untested/hex_naze32.xml b/conf/airframes/untested/hex_naze32.xml
@@ -0,0 +1,212 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<!-- this is a test file for the Abusemark Naze32 rev5 board:
+     * Autopilot:   Abusemark Naze32       https://code.google.com/p/afrodevices/wiki/AfroFlight32
+     * Actuators:   PWM motor controllers  http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
+     * RC:          PPM input              http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#PPM
+
+     hex copter configuration (USE_SERVOS_5AND6) moves the PPM input from "1" to "6" on RC input
+     pwm motor connectors are in "standard mode" M1-M6 on the servo headers
+-->
+
+<airframe name="Hexcopter Naze32">
+
+  <firmware name="rotorcraft">
+    <define name="USE_SERVOS_5AND6"/>
+    <define name="PPRZ_TRIG_INT_COMPR_FLASH"/>
+    <define name="PPRZ_TRIG_INT_COMPR_HIGHEST"/>
+    <target name="ap" board="naze32_rev5">
+    </target>
+
+    <subsystem name="radio_control" type="ppm"/>
+
+    <subsystem name="motor_mixing"/>
+    <subsystem name="actuators"     type="pwm">
+      <define name="SERVO_HZ" value="400"/>
+    </subsystem>
+
+    <subsystem name="telemetry"     type="transparent"/>
+    <subsystem name="imu"           type="mpu60x0_i2c">
+      <configure name="IMU_MPU60X0_I2C_DEV" value="i2c2"/>
+      <configure name="USE_MAGNETOMETER" value="FALSE"/>
+    </subsystem>
+    <subsystem name="stabilization" type="int_quat"/>
+    <subsystem name="ahrs"          type="int_cmpl_quat">
+      <define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
+    </subsystem>
+    <subsystem name="ins"/>
+    <subsystem name="gps"           type="ublox"/>
+  </firmware>
+
+  <firmware name="test_progs">
+    <target name="test_sys_time_timer" board="naze32_rev5"/>
+    <target name="test_sys_time_usleep" board="naze32_rev5"/>
+    <target name="test_telemetry" board="naze32_rev5"/>
+    <target name="test_math_trig_lut" board="naze32_rev5"/>
+    <target name="test_imu" board="naze32_rev5">
+      <subsystem name="imu" type="mpu6000"/>
+    </target>
+    <target name="test_ahrs" board="naze32_rev5">
+      <subsystem name="imu" type="mpu6000"/>
+      <subsystem name="ahrs" type="int_cmpl_quat"/>
+      <configure name="USE_MAGNETOMETER" value="FALSE"/>
+    </target>
+  </firmware>
+
+  <modules>
+    <load name="mag_hmc58xx.xml">
+      <define name="MODULE_HMC58XX_UPDATE_AHRS"/>
+      <configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
+    </load>
+    <load name="gps_ubx_ucenter.xml"/>
+  </modules>
+
+  <servos driver="Pwm">
+    <!-- Naze32 Hexa-X standard -->
+    <servo name="BACK_RIGHT"   no="0" min="1000" neutral="1100" max="1900"/>
+    <servo name="FRONT_RIGHT"  no="1" min="1000" neutral="1100" max="1900"/>
+    <servo name="BACK_LEFT"    no="2" min="1000" neutral="1100" max="1900"/>
+    <servo name="FRONT_LEFT"   no="3" min="1000" neutral="1100" max="1900"/>
+    <servo name="CENTER_RIGHT" no="4" min="1000" neutral="1100" max="1900"/>
+    <servo name="CENTER_LEFT"  no="5" min="1000" neutral="1100" max="1900"/>
+  </servos>
+
+  <commands>
+    <axis name="ROLL"   failsafe_value="0"/>
+    <axis name="PITCH"  failsafe_value="0"/>
+    <axis name="YAW"    failsafe_value="0"/>
+    <axis name="THRUST" failsafe_value="0"/>
+  </commands>
+
+  <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="6"/>
+    <define name="SCALE" value="256"/>
+    <!-- https://github.com/gearwolf-OP/Mini-Hexacopter >
+    <    Naze32 Hexa-X standard        BR_CC FR_CC  BL_C  FL_C  CR_C CL_CC  -->
+    <define name="ROLL_COEF"   value="{ 106,  150, -106, -150,  256, -256}"/>
+    <define name="PITCH_COEF"  value="{-256,  256, -256,  256,    0,    0}"/>
+    <define name="YAW_COEF"    value="{ 199,  192, -199, -192, -256,  256}"/>
+    <define name="THRUST_COEF" value="{ 256,  256,  256,  256,  256,  256}"/>
+  </section>
+
+  <command_laws>
+    <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
+    <set servo="BACK_RIGHT"   value="motor_mixing.commands[0]"/>
+    <set servo="FRONT_RIGHT"  value="motor_mixing.commands[1]"/>
+    <set servo="BACK_LEFT"    value="motor_mixing.commands[2]"/>
+    <set servo="FRONT_LEFT"   value="motor_mixing.commands[3]"/>
+    <set servo="CENTER_RIGHT" value="motor_mixing.commands[4]"/>
+    <set servo="CENTER_LEFT"  value="motor_mixing.commands[5]"/>
+  </command_laws>
+
+  <section name="IMU" prefix="IMU_">
+    <define name="BODY_TO_IMU_PHI"   value="180." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
+  </section>
+
+  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
+    <!-- setpoints -->
+    <define name="SP_MAX_P" value="10000"/>
+    <define name="SP_MAX_Q" value="10000"/>
+    <define name="SP_MAX_R" value="10000"/>
+    <define name="DEADBAND_P" value="20"/>
+    <define name="DEADBAND_Q" value="20"/>
+    <define name="DEADBAND_R" value="200"/>
+    <define name="REF_TAU" value="4"/>
+
+    <!-- feedback -->
+    <define name="GAIN_P" value="400"/>
+    <define name="GAIN_Q" value="400"/>
+    <define name="GAIN_R" value="350"/>
+
+    <define name="IGAIN_P" value="75"/>
+    <define name="IGAIN_Q" value="75"/>
+    <define name="IGAIN_R" value="50"/>
+
+    <!-- feedforward -->
+    <define name="DDGAIN_P" value="300"/>
+    <define name="DDGAIN_Q" value="300"/>
+    <define name="DDGAIN_R" value="300"/>
+  </section>
+
+
+  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
+    <!-- setpoints -->
+    <define name="SP_MAX_PHI"     value="45." unit="deg"/>
+    <define name="SP_MAX_THETA"   value="45." unit="deg"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
+    <define name="DEADBAND_A"     value="0"/>
+    <define name="DEADBAND_E"     value="0"/>
+    <define name="DEADBAND_R"     value="250"/>
+
+    <!-- reference -->
+    <define name="REF_OMEGA_P"  value="400" unit="deg/s"/>
+    <define name="REF_ZETA_P"   value="0.85"/>
+    <define name="REF_MAX_P"    value="400." unit="deg/s"/>
+    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
+
+    <define name="REF_OMEGA_Q"  value="400" unit="deg/s"/>
+    <define name="REF_ZETA_Q"   value="0.85"/>
+    <define name="REF_MAX_Q"    value="400." unit="deg/s"/>
+    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
+
+    <define name="REF_OMEGA_R"  value="250" unit="deg/s"/>
+    <define name="REF_ZETA_R"   value="0.85"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
+    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
+
+    <!-- feedback -->
+    <define name="PHI_PGAIN"  value="1000"/>
+    <define name="PHI_DGAIN"  value="400"/>
+    <define name="PHI_IGAIN"  value="200"/>
+
+    <define name="THETA_PGAIN"  value="1000"/>
+    <define name="THETA_DGAIN"  value="400"/>
+    <define name="THETA_IGAIN"  value="200"/>
+
+    <define name="PSI_PGAIN"  value="500"/>
+    <define name="PSI_DGAIN"  value="300"/>
+    <define name="PSI_IGAIN"  value="10"/>
+
+    <!-- feedforward -->
+    <define name="PHI_DDGAIN"   value="300"/>
+    <define name="THETA_DDGAIN" value="300"/>
+    <define name="PSI_DDGAIN"   value="300"/>
+  </section>
+
+  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
+    <define name="HOVER_KP"    value="150"/>
+    <define name="HOVER_KD"    value="80"/>
+    <define name="HOVER_KI"    value="20"/>
+    <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
+    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
+  </section>
+
+  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+    <define name="MAX_BANK" value="20" unit="deg"/>
+    <define name="USE_SPEED_REF" value="TRUE"/>
+    <define name="PGAIN" value="50"/>
+    <define name="DGAIN" value="100"/>
+    <define name="AGAIN" value="70"/>
+    <define name="IGAIN" value="20"/>
+  </section>
+
+  <section name="AUTOPILOT">
+    <define name="MODE_MANUAL" value="AP_MODE_RATE_DIRECT"/>
+    <define name="MODE_AUTO1"  value="AP_MODE_ATTITUDE_DIRECT"/>
+    <define name="MODE_AUTO2"  value="AP_MODE_HOVER_Z_HOLD"/>
+  </section>
+
+  <section name="BAT">
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
+    <define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
+    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="30000"/>
+  </section>
+
+</airframe>