From b53073a87e8d2d1a5b0b5d88f0a152d95a6ba7f9 Mon Sep 17 00:00:00 2001
From: Martin Mueller <martin@pfump.org>
Date: Tue, 9 Sep 2014 18:27:27 +0000
Subject: [PATCH] add ou planes

---
 conf/airframes/campaign/sumoou01.xml | 228 +++++++++++++++++++++++++++
 conf/airframes/campaign/sumoou02.xml | 228 +++++++++++++++++++++++++++
 2 files changed, 456 insertions(+)
 create mode 100644 conf/airframes/campaign/sumoou01.xml
 create mode 100644 conf/airframes/campaign/sumoou02.xml

diff --git a/conf/airframes/campaign/sumoou01.xml b/conf/airframes/campaign/sumoou01.xml
new file mode 100644
index 00000000000..ecf354d4086
--- /dev/null
+++ b/conf/airframes/campaign/sumoou01.xml
@@ -0,0 +1,228 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<!-- Funjet Multiplex, Jeti ECO 25
+     Umarim Lite v2
+     XBee modem
+     HK NEO-6M / ublox 6
+-->
+
+<airframe name="SUMO OU 01">
+
+  <firmware name="fixedwing">
+    <define name="AGR_CLIMB"/>
+    <define name="LOITER_TRIM"/>
+    <define name="ALT_KALMAN"/>
+    <define name="WIND_INFO"/>
+    <define name="WIND_INFO_RET"/>
+    <define name="STRONG_WIND"/>
+
+    <target name="ap" board="umarim_lite_2.0">
+
+      <configure name="PERIODIC_FREQUENCY" value="120"/>
+      <configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
+      <configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
+
+      <define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
+      <define name="USE_AHRS_GPS_ACCELERATIONS" />
+      <define name="USE_I2C0"/>
+      <define name="USE_I2C1"/>
+      <define name="SENSOR_SYNC_SEND"/>
+    </target>
+
+    <target name="sim"                 board="pc">
+    </target>
+
+    <subsystem name="radio_control" type="ppm"/>
+
+    <!-- Communication -->
+    <subsystem name="telemetry" type="xbee_api"/>
+
+    <!-- Actuators are automatically chosen according to board-->
+    <subsystem name="imu"     type="umarim"/>
+    <subsystem name="ahrs"    type="float_dcm"/>
+    <subsystem name="control"/>
+    <subsystem name="navigation"/>
+    <!-- Sensors -->
+    <subsystem name="gps" type="ublox"/>
+    <!-- Interfaces -->
+    <subsystem name="spi"/>
+  </firmware>
+
+  <firmware name="setup">
+    <target name="usb_tunnel_0"        board="tiny_2.11"/>
+  </firmware>
+
+  <!-- modules -->
+  <modules>
+    <load name="gps_ubx_ucenter.xml"/>
+    <load name="baro_ms5611_i2c.xml"/>
+    <load name="temp_temod.xml"/>
+    <load name="ir_mlx.xml"/>
+    <load name="airspeed_ets.xml"/>
+    <load name="humid_sht.xml">
+      <define name="DAT_PIN" value="15"/>
+      <define name="SCK_PIN" value="13"/>
+    </load>
+    <load name="log_sd_spi.xml"/>
+  </modules>
+
+  <!-- commands section -->
+  <servos>
+    <servo name="LIGHT"         no="2" min="1000" neutral="1900" max="2000"/>
+    <servo name="AILEVON_LEFT"  no="3" min="1900" neutral="1468" max="1100"/>
+    <servo name="AILEVON_RIGHT" no="4" min="1100" neutral="1517" max="1900"/>
+    <servo name="MOTOR"         no="5" min="1000" neutral="1000" max="2000"/>
+  </servos>
+
+  <commands>
+    <axis name="THROTTLE" failsafe_value="0"/>
+    <axis name="ROLL"     failsafe_value="0"/>
+    <axis name="PITCH"    failsafe_value="0"/>
+    <axis name="LIGHT"    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="0.45"/>
+    <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
+  </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"/>
+    <set servo="LIGHT"         value="1900"/>
+  </command_laws>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="0.85"/>
+    <define name="MAX_PITCH" value="0.6"/>
+  </section>
+
+  <section name="IMU" prefix="IMU_">
+    <!-- Calibration Neutral -->
+    <define name="GYRO_P_NEUTRAL" value="0"/>
+    <define name="GYRO_Q_NEUTRAL" value="1"/>
+    <define name="GYRO_R_NEUTRAL" value="2"/>
+
+    <!-- SENS ITG3200  1/14.375 (deg/s)/LSB, rate frac 12bit => 1/14.375 * pi / 180 * 2^12 -->
+    <define name="GYRO_P_SENS" value="4.97312" integer="16"/>
+    <define name="GYRO_Q_SENS" value="4.97312" integer="16"/>
+    <define name="GYRO_R_SENS" value="4.97312" integer="16"/>
+
+    <define name="ACCEL_X_NEUTRAL" value="0"/>
+    <define name="ACCEL_Y_NEUTRAL" value="1"/>
+    <define name="ACCEL_Z_NEUTRAL" value="2"/>
+
+    <!-- SENS ADXL345 16G 31.2 mg/LSB, accel frac 10bit => 31.2 * 2^10 / 1000 -->
+    <define name="ACCEL_X_SENS" value="37.91" integer="10"/>
+    <define name="ACCEL_Y_SENS" value="37.91" integer="10"/>
+    <define name="ACCEL_Z_SENS" value="39.24" integer="10"/>
+    <!-- Just to compile -->
+    <define name="MAG_X_NEUTRAL" value="0"/>
+    <define name="MAG_Y_NEUTRAL" value="0"/>
+    <define name="MAG_Z_NEUTRAL" value="0"/>
+
+    <define name="BODY_TO_IMU_PHI" value="0"/>
+    <define name="BODY_TO_IMU_THETA" value="0"/>
+    <define name="BODY_TO_IMU_PSI" value="0"/>
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="ROLL_NEUTRAL_DEFAULT"  value="0." unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="5." unit="deg"/>
+  </section>
+
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="15000."/>
+    <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="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="DEFAULT_CIRCLE_RADIUS" value="120."/>
+  </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 -->
+    <!-- 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="0.25"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
+    <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_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"/>
+
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="1.0"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.85" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.6" unit="rad"/>
+
+    <define name="ROLL_PGAIN" value="10000."/>
+    <define name="AILERON_OF_THROTTLE" value="0.0"/>
+    <define name="PITCH_PGAIN" value="16000."/>
+    <define name="PITCH_DGAIN" value="0.4"/>
+
+    <define name="ELEVATOR_OF_ROLL" value="2000"/>
+    <define name="ROLL_SLEW" value="0.7"/>
+
+    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
+    <define name="ROLL_RATE_GAIN" value="1500"/>
+
+  </section>
+
+  <section name="NAV">
+    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+  </section>
+
+  <section name="AGGRESSIVE" prefix="AGR_">
+    <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
+    <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
+    <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
+    <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
+    <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
+    <define name="DESCENT_PITCH" value="-0.35"/><!-- 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"/>
+  </section>
+
+</airframe>
diff --git a/conf/airframes/campaign/sumoou02.xml b/conf/airframes/campaign/sumoou02.xml
new file mode 100644
index 00000000000..4589115714d
--- /dev/null
+++ b/conf/airframes/campaign/sumoou02.xml
@@ -0,0 +1,228 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<!-- Funjet Multiplex, Jeti ECO 25
+     Umarim Lite v2
+     XBee modem
+     HK NEO-6M / ublox 6
+-->
+
+<airframe name="SUMO OU 02">
+
+  <firmware name="fixedwing">
+    <define name="AGR_CLIMB"/>
+    <define name="LOITER_TRIM"/>
+    <define name="ALT_KALMAN"/>
+    <define name="WIND_INFO"/>
+    <define name="WIND_INFO_RET"/>
+    <define name="STRONG_WIND"/>
+
+    <target name="ap" board="umarim_lite_2.0">
+
+      <configure name="PERIODIC_FREQUENCY" value="120"/>
+      <configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
+      <configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
+
+      <define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
+      <define name="USE_AHRS_GPS_ACCELERATIONS" />
+      <define name="USE_I2C0"/>
+      <define name="USE_I2C1"/>
+      <define name="SENSOR_SYNC_SEND"/>
+    </target>
+
+    <target name="sim"                 board="pc">
+    </target>
+
+    <subsystem name="radio_control" type="ppm"/>
+
+    <!-- Communication -->
+    <subsystem name="telemetry" type="xbee_api"/>
+
+    <!-- Actuators are automatically chosen according to board-->
+    <subsystem name="imu"     type="umarim"/>
+    <subsystem name="ahrs"    type="float_dcm"/>
+    <subsystem name="control"/>
+    <subsystem name="navigation"/>
+    <!-- Sensors -->
+    <subsystem name="gps" type="ublox"/>
+    <!-- Interfaces -->
+    <subsystem name="spi"/>
+  </firmware>
+
+  <firmware name="setup">
+    <target name="usb_tunnel_0"        board="tiny_2.11"/>
+  </firmware>
+
+  <!-- modules -->
+  <modules>
+    <load name="gps_ubx_ucenter.xml"/>
+    <load name="baro_ms5611_i2c.xml"/>
+    <load name="temp_temod.xml"/>
+    <load name="ir_mlx.xml"/>
+    <load name="airspeed_ets.xml"/>
+    <load name="humid_sht.xml">
+      <define name="DAT_PIN" value="15"/>
+      <define name="SCK_PIN" value="13"/>
+    </load>
+    <load name="log_sd_spi.xml"/>
+  </modules>
+
+  <!-- commands section -->
+  <servos>
+    <servo name="LIGHT"         no="2" min="1000" neutral="1900" max="2000"/>
+    <servo name="AILEVON_LEFT"  no="3" min="1900" neutral="1513" max="1100"/>
+    <servo name="AILEVON_RIGHT" no="4" min="1100" neutral="1487" max="1900"/>
+    <servo name="MOTOR"         no="5" min="1000" neutral="1000" max="2000"/>
+  </servos>
+
+  <commands>
+    <axis name="THROTTLE" failsafe_value="0"/>
+    <axis name="ROLL"     failsafe_value="0"/>
+    <axis name="PITCH"    failsafe_value="0"/>
+    <axis name="LIGHT"    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="0.45"/>
+    <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
+  </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"/>
+    <set servo="LIGHT"         value="1900"/>
+  </command_laws>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="0.85"/>
+    <define name="MAX_PITCH" value="0.6"/>
+  </section>
+
+  <section name="IMU" prefix="IMU_">
+    <!-- Calibration Neutral -->
+    <define name="GYRO_P_NEUTRAL" value="0"/>
+    <define name="GYRO_Q_NEUTRAL" value="1"/>
+    <define name="GYRO_R_NEUTRAL" value="2"/>
+
+    <!-- SENS ITG3200  1/14.375 (deg/s)/LSB, rate frac 12bit => 1/14.375 * pi / 180 * 2^12 -->
+    <define name="GYRO_P_SENS" value="4.97312" integer="16"/>
+    <define name="GYRO_Q_SENS" value="4.97312" integer="16"/>
+    <define name="GYRO_R_SENS" value="4.97312" integer="16"/>
+
+    <define name="ACCEL_X_NEUTRAL" value="0"/>
+    <define name="ACCEL_Y_NEUTRAL" value="1"/>
+    <define name="ACCEL_Z_NEUTRAL" value="2"/>
+
+    <!-- SENS ADXL345 16G 31.2 mg/LSB, accel frac 10bit => 31.2 * 2^10 / 1000 -->
+    <define name="ACCEL_X_SENS" value="37.91" integer="10"/>
+    <define name="ACCEL_Y_SENS" value="37.91" integer="10"/>
+    <define name="ACCEL_Z_SENS" value="39.24" integer="10"/>
+    <!-- Just to compile -->
+    <define name="MAG_X_NEUTRAL" value="0"/>
+    <define name="MAG_Y_NEUTRAL" value="0"/>
+    <define name="MAG_Z_NEUTRAL" value="0"/>
+
+    <define name="BODY_TO_IMU_PHI" value="0"/>
+    <define name="BODY_TO_IMU_THETA" value="0"/>
+    <define name="BODY_TO_IMU_PSI" value="0"/>
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="ROLL_NEUTRAL_DEFAULT"  value="0." unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="5." unit="deg"/>
+  </section>
+
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="15000."/>
+    <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="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="DEFAULT_CIRCLE_RADIUS" value="120."/>
+  </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 -->
+    <!-- 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="0.25"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
+    <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_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"/>
+
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="1.0"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.85" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.6" unit="rad"/>
+
+    <define name="ROLL_PGAIN" value="10000."/>
+    <define name="AILERON_OF_THROTTLE" value="0.0"/>
+    <define name="PITCH_PGAIN" value="16000."/>
+    <define name="PITCH_DGAIN" value="0.4"/>
+
+    <define name="ELEVATOR_OF_ROLL" value="2000"/>
+    <define name="ROLL_SLEW" value="0.7"/>
+
+    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
+    <define name="ROLL_RATE_GAIN" value="1500"/>
+
+  </section>
+
+  <section name="NAV">
+    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+  </section>
+
+  <section name="AGGRESSIVE" prefix="AGR_">
+    <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
+    <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
+    <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
+    <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
+    <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
+    <define name="DESCENT_PITCH" value="-0.35"/><!-- 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"/>
+  </section>
+
+</airframe>