[bebop] Added the new Parrot Bebop

paparazzi · Dec 3, 2014 · 9c14bbb · 9c14bbb
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diff --git a/conf/Makefile.bebop b/conf/Makefile.bebop
@@ -0,0 +1,39 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
+#
+# This file is part of paparazzi.
+#
+# paparazzi is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2, or (at your option)
+# any later version.
+#
+# paparazzi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with paparazzi; see the file COPYING.  If not, see
+# <http://www.gnu.org/licenses/>.
+#
+
+#
+# This Makefile uses the generic Makefile.linux and adds upload rules for the ARDrone2
+#
+
+include $(PAPARAZZI_SRC)/conf/Makefile.linux
+
+DRONE = $(PAPARAZZI_SRC)/sw/ext/bebop.py
+
+# Allow modules or other raw makefiles to add actions to the upload
+upload_extra:
+
+
+# Program the device and start it.
+upload program: upload_extra $(OBJDIR)/$(TARGET).elf
+	$(Q)$(DRONE) --host=$(HOST) upload_file_and_run $(OBJDIR)/$(TARGET).elf $(SUB_DIR)
+
+# Listing of phony targets.
+.PHONY : upload_extra upload program
diff --git a/conf/airframes/bebop.xml b/conf/airframes/bebop.xml
@@ -0,0 +1,217 @@
+<!DOCTYPE airframe SYSTEM "airframe.dtd">
+
+<airframe name="bebop">
+
+  <firmware name="rotorcraft">
+    <target name="ap" board="bebop">
+      <subsystem name="telemetry" type="transparent_udp"/>
+      <subsystem name="radio_control" type="datalink"/>
+    </target>
+
+    <target name="nps" board="pc">
+      <subsystem name="fdm" type="jsbsim"/>
+      <subsystem name="radio_control" type="ppm"/>
+    </target>
+
+  <!--define name="USE_SONAR" value="TRUE"/-->
+
+	<!-- Subsystem section -->
+    <subsystem name="motor_mixing"/>
+    <subsystem name="actuators" type="bebop"/>
+    <subsystem name="imu" type="bebop"/>
+    <subsystem name="gps" type="furuno"/>
+    <subsystem name="stabilization" type="int_quat"/>
+    <subsystem name="ahrs" type="int_cmpl_quat"/>
+    <subsystem name="ins" type="extended"/>
+  </firmware>
+
+  <modules main_freq="512">
+    <load name="send_imu_mag_current.xml"/>
+    <load name="file_logger.xml">
+      <define name="FILE_LOGGER_PATH" value="\\\"/data/ftp/internal_000/\\\""/>
+    </load>
+  </modules>
+
+  <commands>
+    <axis name="PITCH" failsafe_value="0"/>
+    <axis name="ROLL" failsafe_value="0"/>
+    <axis name="YAW" failsafe_value="0"/>
+    <axis name="THRUST" failsafe_value="6000"/>
+  </commands>
+
+  <servos driver="Default">
+    <servo name="TOP_LEFT" no="0" min="3000" neutral="3000" max="12000"/>
+    <servo name="TOP_RIGHT" no="1" min="3000" neutral="3000" max="12000"/>
+    <servo name="BOTTOM_RIGHT" no="2" min="3000" neutral="3000" max="12000"/>
+    <servo name="BOTTOM_LEFT" no="3" min="3000" neutral="3000" max="12000"/>
+  </servos>
+
+  <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="4"/>
+    <define name="SCALE" value="255"/>
+    <define name="MAX_SATURATION_OFFSET" value="3*MAX_PPRZ"/>
+
+    <!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
+    <define name="ROLL_COEF" value="{  -256,  256,  256, -256 }"/>
+    <define name="PITCH_COEF" value="{  256,  256, -256, -256 }"/>
+    <define name="YAW_COEF" value="{    256, -256,  256, -256 }"/>
+    <define name="THRUST_COEF" value="{ 256,  256,  256,  256 }"/>
+  </section>
+
+  <command_laws>
+    <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
+    <set servo="TOP_LEFT" value="motor_mixing.commands[0]"/>
+    <set servo="TOP_RIGHT" value="motor_mixing.commands[1]"/>
+    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[2]"/>
+    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[3]"/>
+  </command_laws>
+
+  <section name="IMU" prefix="IMU_">
+    <!-- Magneto calibration -->
+    <define name="MAG_X_NEUTRAL" value="18"/>
+    <define name="MAG_Y_NEUTRAL" value="157"/>
+    <define name="MAG_Z_NEUTRAL" value="49"/>
+    <define name="MAG_X_SENS" value="10.5007722373" integer="16"/>
+    <define name="MAG_Y_SENS" value="11.1147400462" integer="16"/>
+    <define name="MAG_Z_SENS" value="11.6479371722" integer="16"/>
+
+    <!-- Magneto current calibration -->
+    <define name="MAG_X_CURRENT_COEF" value="0.0"/>
+    <define name="MAG_Y_CURRENT_COEF" value="0.0"/>
+    <define name="MAG_Z_CURRENT_COEF" value="0.0"/>
+
+    <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
+  </section>
+
+  <!-- local magnetic field -->
+  <!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
+  <section name="AHRS" prefix="AHRS_">
+    <!-- Toulouse -->
+    <!--define name="H_X" value="0.513081"/>
+    <define name="H_Y" value="-0.00242783"/>
+    <define name="H_Z" value="0.858336"/-->
+    <!-- Delft -->
+    <define name="H_X" value="0.3892503"/>
+    <define name="H_Y" value="0.0017972"/>
+    <define name="H_Z" value="0.9211303"/>
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="SONAR_MAX_RANGE" value="2.2"/>
+    <define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
+  </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="300" unit="deg/s"/>
+    <define name="DEADBAND_A" value="0"/>
+    <define name="DEADBAND_E" value="0"/>
+    <define name="DEADBAND_R" value="50"/>
+
+    <!-- reference -->
+    <define name="REF_OMEGA_P" value="450" unit="deg/s"/>
+    <define name="REF_ZETA_P" value="0.9"/>
+    <define name="REF_MAX_P" value="600." unit="deg/s"/>
+    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
+
+    <define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
+    <define name="REF_ZETA_Q" value="0.9"/>
+    <define name="REF_MAX_Q" value="600." unit="deg/s"/>
+    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
+
+    <define name="REF_OMEGA_R" value="450" unit="deg/s"/>
+    <define name="REF_ZETA_R" value="0.9"/>
+    <define name="REF_MAX_R" value="600." unit="deg/s"/>
+    <define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
+
+    <!-- feedback -->
+    <define name="PHI_PGAIN" value="650"/>
+    <define name="PHI_DGAIN" value="300"/>
+    <define name="PHI_IGAIN" value="0"/>
+
+    <define name="THETA_PGAIN" value="650"/>
+    <define name="THETA_DGAIN" value="300"/>
+    <define name="THETA_IGAIN" value="0"/>
+
+    <define name="PSI_PGAIN" value="4000"/>
+    <define name="PSI_DGAIN" value="350"/>
+    <define name="PSI_IGAIN" value="0"/>
+
+    <!-- feedforward -->
+    <define name="PHI_DDGAIN" value="0"/>
+    <define name="THETA_DDGAIN" value="0"/>
+    <define name="PSI_DDGAIN" value="0"/>
+  </section>
+
+  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
+    <define name="HOVER_KP" value="283"/>
+    <define name="HOVER_KD" value="82"/>
+    <define name="HOVER_KI" value="13"/>
+    <define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
+    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
+  </section>
+
+  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+    <!-- Good weather -->
+    <define name="MAX_BANK" value="20" unit="deg"/>
+    <!-- Bad weather -->
+    <!-- define name="MAX_BANK" value="32" unit="deg"/ -->
+    <define name="PGAIN" value="79"/>
+    <define name="DGAIN" value="100"/>
+    <define name="IGAIN" value="30"/>
+  </section>
+
+  <section name="SIMULATOR" prefix="NPS_">
+    <define name="ACTUATOR_NAMES" value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
+    <define name="JSBSIM_MODEL" value="&quot;simple_ardrone2&quot;"/>
+    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
+    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_ardrone2.h&quot;"/>
+  </section>
+
+  <section name="AUTOPILOT">
+    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
+    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
+    <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
+    <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
+  </section>
+
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
+    <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="9.7" unit="V"/>
+    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
+  </section>
+</airframe>
diff --git a/conf/boards/bebop.makefile b/conf/boards/bebop.makefile
@@ -0,0 +1,39 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# bebop.makefile
+#
+# http://wiki.paparazziuav.org/wiki/Bebop
+#
+
+BOARD=bebop
+BOARD_CFG=\"boards/$(BOARD).h\"
+
+ARCH=linux
+$(TARGET).ARCHDIR = $(ARCH)
+# include conf/Makefile.bebop (with specific upload rules) instead of only Makefile.linux:
+ap.MAKEFILE = bebop
+
+# -----------------------------------------------------------------------
+USER=foobar
+HOST?=192.168.42.1
+SUB_DIR=paparazzi
+FTP_DIR=/data/ftp
+TARGET_DIR=$(FTP_DIR)/$(SUB_DIR)
+# -----------------------------------------------------------------------
+
+# The datalink default uses UDP
+MODEM_HOST         ?= \"192.168.42.255\"
+
+# The GPS sensor is connected internally
+GPS_PORT           ?= UART1
+GPS_BAUD           ?= B230400
+$(TARGET).CFLAGS   += -DUART1_DEV=\"/dev/ttyPA1\"
+
+# -----------------------------------------------------------------------
+
+# default LED configuration
+RADIO_CONTROL_LED				?= none
+BARO_LED           			?= none
+AHRS_ALIGNER_LED   			?= 1
+GPS_LED            			?= none
+SYS_TIME_LED       			?= 0
diff --git a/conf/conf_example.xml b/conf/conf_example.xml
@@ -219,6 +219,17 @@
    settings_modules=""
    gui_color="blue"
   />
+  <aircraft
+   name="bebop"
+   ac_id="202"
+   airframe="airframes/bebop.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
+   settings_modules=""
+   gui_color="red"
+  />
   <aircraft
    name="krooz_quad"
    ac_id="23"

diff --git a/conf/firmwares/rotorcraft.makefile b/conf/firmwares/rotorcraft.makefile
@@ -125,6 +125,8 @@ else ifeq ($(BOARD)$(BOARD_TYPE), ardronesdk)
 ns_srcs   += $(SRC_BOARD)/electrical_dummy.c
 else ifeq ($(BOARD)$(BOARD_TYPE), ardroneraw)
 ns_srcs   += $(SRC_BOARD)/electrical_raw.c
+else ifeq ($(BOARD), bebop)
+ns_srcs   += $(SRC_BOARD)/electrical.c
 endif
 
 #

diff --git a/conf/firmwares/subsystems/shared/actuators_bebop.makefile b/conf/firmwares/subsystems/shared/actuators_bebop.makefile
@@ -0,0 +1,11 @@
+
+# Actuator drivers for the bebop
+
+BEBOP_ACTUATORS_I2C_DEV ?= i2c1
+BEBOP_ACTUATORS_I2C_DEV_UPPER=$(shell echo $(BEBOP_ACTUATORS_I2C_DEV) | tr a-z A-Z)
+BEBOP_ACTUATORS_I2C_DEV_LOWER=$(shell echo $(BEBOP_ACTUATORS_I2C_DEV) | tr A-Z a-z)
+
+BEBOP_ACTUATORS_CFLAGS  += -DBEBOP_ACTUATORS_I2C_DEV=$(BEBOP_ACTUATORS_I2C_DEV_LOWER) -DUSE_$(BEBOP_ACTUATORS_I2C_DEV_UPPER)=1
+
+$(TARGET).CFLAGS += -DACTUATORS $(BEBOP_ACTUATORS_CFLAGS)
+$(TARGET).srcs   += $(SRC_BOARD)/actuators.c
diff --git a/conf/firmwares/subsystems/shared/baro_board.makefile b/conf/firmwares/subsystems/shared/baro_board.makefile
@@ -29,6 +29,15 @@ else ifeq ($(BOARD), navstik)
 else ifeq ($(BOARD)$(BOARD_TYPE), ardroneraw)
   BARO_BOARD_SRCS += $(SRC_BOARD)/baro_board.c
 
+# Bebop baro
+else ifeq ($(BOARD), bebop)
+  BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_MS5611_I2C -DBB_MS5611_SLAVE_ADDR=0x77
+  BARO_BOARD_CFLAGS += -DUSE_I2C1
+  BARO_BOARD_CFLAGS += -DBB_MS5611_I2C_DEV=i2c1
+  BARO_BOARD_SRCS += peripherals/ms5611.c
+  BARO_BOARD_SRCS += peripherals/ms5611_i2c.c
+  BARO_BOARD_SRCS += boards/baro_board_ms5611_i2c.c
+
 # Lisa/M baro
 else ifeq ($(BOARD), lisa_m)
   ifeq ($(BOARD_VERSION), 1.0)