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Merge remote-tracking branch 'origin/master'
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Allen committed May 24, 2011
2 parents 53699e6 + 4023427 commit ad17a73
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Showing 184 changed files with 4,045 additions and 1,168 deletions.
9 changes: 4 additions & 5 deletions conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
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Expand Up @@ -206,13 +206,12 @@
-->
<!-- <load name="digital_cam_i2c.xml"/> -->

<!-- -->
<!-- <load name="ins_ppzuavimu.xml" /> -->

<!--
<load name="digital_cam.xml" >
<define name="DC_SHUTTER_LED" value="3"/>
</load>
<load name="ins_ppzuavimu.xml" />
-->
</modules>

Expand Down Expand Up @@ -243,13 +242,13 @@
<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" />
</subsystem>
<subsystem name="imu" type="aspirin_i2c"/>
-->

-->
<subsystem name="imu" type="ppzuav"/>
<subsystem name="attitude" type="dcm">
<define name="USE_MAGNETOMETER" />
<!-- <define name="USE_MAGNETOMETER" /> -->
</subsystem>


<subsystem name="radio_control" type="ppm"/>

<!-- Communication -->
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2 changes: 1 addition & 1 deletion conf/airframes/Poine/beth.xml
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Expand Up @@ -142,7 +142,7 @@ main_stm32.srcs += subsystems/imu.c \
arch/$(ARCH)/subsystems/imu/imu_crista_arch.c
main_stm32.CFLAGS += -DUSE_DMA1_C4_IRQ

main_stm32.srcs += $(SRC_BOOZ)/booz2_commands.c
main_stm32.srcs += $(SRC_FIRMWARE)/commands.c
main_stm32.srcs += firmwares/rotorcraft/actuators/actuators_asctec.c
#\
# $(SRC_BOOZ_ARCH)/actuators/actuators_asctec_arch.c
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16 changes: 8 additions & 8 deletions conf/airframes/TU_Delft/MicrojetCDW.xml
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Expand Up @@ -5,7 +5,7 @@
<!-- commands section -->
<servos>
<servo name="THROTTLE" no="0" min="1050" neutral="1050" max="1900"/>
<servo name="AILEVON_RIGHT" no="1" min="1850" neutral="1480" max="1100"/> <!-- 400 - 380 -->
<servo name="AILEVON_RIGHT" no="1" min="1850" neutral="1480" max="1100"/> <!-- 400 - 380 -->
<servo name="AILEVON_LEFT" no="2" min="1250" neutral="1580" max="1980"/> <!-- 300 - 400 -->
</servos>

Expand All @@ -28,7 +28,7 @@

<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>

<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
Expand All @@ -42,7 +42,7 @@


<section name="IMU" prefix="IMU_">
<!-- MAX1168 ADC CHANNELS -->
<!-- MAX1168 ADC CHANNELS -->
<define name="GYRO_P_CHAN" value="0"/>
<define name="GYRO_Q_CHAN" value="1"/>
<define name="GYRO_R_CHAN" value="2"/>
Expand Down Expand Up @@ -81,9 +81,9 @@
<define name="ACCEL_Y_SENS" value="0.9346" integer="16"/>
<define name="ACCEL_Z_SENS" value="0.9178" integer="16"/>

<define name="ACCEL_X_SIGN" value="-1"/>
<define name="ACCEL_Y_SIGN" value="1"/>
<define name="ACCEL_Z_SIGN" value="1"/>
<define name="ACCEL_X_SIGN" value="1"/>
<define name="ACCEL_Y_SIGN" value="-1"/>
<define name="ACCEL_Z_SIGN" value="-1"/>

<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
Expand All @@ -92,7 +92,7 @@
<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="MAG_45_HACK" value="1"/> -->

<define name="BODY_TO_IMU_PHI" value="0"/>
Expand Down Expand Up @@ -161,7 +161,7 @@
<define name="ROLL_ATTITUDE_GAIN" value="-6000."/>
<define name="ROLL_RATE_GAIN" value="-600."/>

<define name="ROLL_SLEW" value="0.02"/> <!-- Maximal roll angle change per 1/60 of second: 0.02 rad/loop * 180/pi * 60 loop/sec = 60 deg/sec -->
<define name="ROLL_SLEW" value="0.02"/> <!-- Maximal roll angle change per 1/60 of second: 0.02 rad/loop * 180/pi * 60 loop/sec = 60 deg/sec -->
</section>

<section name="AGGRESSIVE" prefix="AGR_">
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240 changes: 240 additions & 0 deletions conf/airframes/TU_Delft/skywalker.xml
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@@ -0,0 +1,240 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">

<!--
YAPA + XSens + XBee
-->

<airframe name="Yapa v1">

<servos>
<servo name="THROTTLE" no="0" min="1100" neutral="1100" max="1900"/>
<servo name="AILERON_LEFT" no="2" min="900" neutral="1500" max="2100"/>
<servo name="AILERON_RIGHT" no="6" min="900" neutral="1500" max="2100"/>
<servo name="ELEVATOR" no="7" min="1900" neutral="1500" max="1100"/>
<servo name="RUDDER" no="3" min="1100" neutral="1500" max="1900"/>
</servos>

<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="BRAKE" failsafe_value="9600"/> <!-- both elerons up as butterfly brake ? -->
</commands>

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

<section name="SERVO_MIXER_GAINS">
<define name="AILERON_NEUTRAL" value="0.3f"/>

<define name="AILERON_RATE_UP" value="1.0f"/>
<define name="AILERON_RATE_DOWN" value="0.5f"/>

<define name="AILERON_RATE_UP_BRAKE" value="1.0f"/>
<define name="AILERON_RATE_DOWN_BRAKE" value="1.0f"/>

<define name="PITCH_GAIN" value="0.9f"/>

<define name="BRAKE_AILEVON" value="-0.7f"/>
<define name="BRAKE_PITCH" value="0.1f"/>
<define name="MAX_BRAKE_RATE" value="130"/>

<define name="RUDDER_OF_AILERON" value="0.3"/>

<define name="LIMIT(X,XL,XH)" value="( ((X)>(XH)) ? (XH) : ( ((X)>(XL)) ? (X) : (XL) ) )"/>

</section>

<command_laws>
<!-- Brake Rate Limiter -->
<let var="brake_value_nofilt" value="LIMIT(-@BRAKE, 0, MAX_PPRZ)"/>
<let var="test; \
static int16_t _var_brake_value = 0; \
_var_brake_value += LIMIT(_var_brake_value_nofilt - _var_brake_value,-MAX_BRAKE_RATE,MAX_BRAKE_RATE); \
int verwaarloos_deze_warning_CDW" value="0"/>

<!-- Differential Aileron Depending on Brake Value -->
<let var="aileron_up_rate" value="(AILERON_RATE_UP * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_UP_BRAKE * $brake_value)"/>
<let var="aileron_down_rate" value="(AILERON_RATE_DOWN * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_DOWN_BRAKE * $brake_value)"/>
<let var="aileron_up" value="(@ROLL * (((float)$aileron_up_rate) / ((float)MAX_PPRZ)))"/>
<let var="aileron_down" value="(@ROLL * (((float)$aileron_down_rate) / ((float)MAX_PPRZ)))"/>
<let var="leftturn" value="(@ROLL >= 0? 1 : 0)"/>
<let var="rightturn" value="(1 - $leftturn)"/>
<set servo="AILERON_LEFT" value="($aileron_up * $leftturn) + ($aileron_down * $rightturn) - $brake_value*(BRAKE_AILEVON) - (MAX_PPRZ * AILERON_NEUTRAL)"/>
<set servo="AILERON_RIGHT" value="($aileron_up * $rightturn) + ($aileron_down * $leftturn) + $brake_value*(BRAKE_AILEVON) + (MAX_PPRZ *AILERON_NEUTRAL)"/>

<set servo="RUDDER" value="@YAW + @ROLL * RUDDER_OF_AILERON"/>
<set servo="THROTTLE" value="@THROTTLE"/>

<!-- Pitch with Brake-Trim Function -->
<set servo="ELEVATOR" value="@PITCH * PITCH_GAIN - BRAKE_PITCH * $brake_value"/>
</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="XSENS">
<define name="GPS_IMU_LEVER_ARM_X" value="-0.285f" />
<define name="GPS_IMU_LEVER_ARM_Y" value="0.0f" />
<define name="GPS_IMU_LEVER_ARM_Z" value="0.0f" />
</section>

<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="RadOfDeg(75)"/>
<define name="MAX_PITCH" value="RadOfDeg(45)"/>
</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="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
</section>

<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="14." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<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="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="-0.108000002801"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>

<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.57800000906"/>
<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="0.108999997377" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0."/>
<define name="AUTO_THROTTLE_IGAIN" value="0."/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.324999988079"/>

<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
</section>

<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20000004768"/>
<define name="COURSE_DGAIN" value="0.300000011921"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="1.01600003242"/>

<define name="ROLL_MAX_SETPOINT" value="0.851999998093" 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="-13476.5615234"/>
<define name="PITCH_DGAIN" value="7.73400020599"/>

<define name="ELEVATOR_OF_ROLL" value="3007.81298828"/>

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

<define name="ROLL_ATTITUDE_GAIN" value="-11718.75"/>
<define name="ROLL_RATE_GAIN" value="-820.312011719"/>
</section>

<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="30"/>
<define name="BLEND_END" value="15"/>
<define name="CLIMB_THROTTLE" value="1.00"/>
<define name="CLIMB_PITCH" value="RadOfDeg(30)"/>
<define name="DESCENT_THROTTLE" value="0.0"/>
<define name="DESCENT_PITCH" value="RadOfDeg(-15)"/>
<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="ins_xsens_MTiG_fixedwing.xml">
<configure name="XSENS_UART_NR" value="0"/>
</load>

<load name="light.xml">
<define name="LIGHT_LED_STROBE" value="3"/>
<define name="LIGHT_LED_NAV" value="2"/>
<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="ins_ppzuavimu.xml"/> -->
<load name="digital_cam.xml">
<define name="DC_SHUTTER_LED" value="2"/>
</load>

</modules>

<firmware name="fixedwing">

<target name="ap" board="tiny_2.11">
<define name="STRONG_WIND"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<define name="LOITER_TRIM"/>
</target>
<target name="sim" board="pc"/>

<subsystem name="radio_control" type="ppm"/>

<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B57600"/>
</subsystem>

<!-- Actuators -->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="navigation"/>
<subsystem name="gps" type="xsens"/>

<subsystem name="i2c"/>

</firmware>

</airframe>

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