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Merge branch 'master' into dev
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@flixr
flixr committed Jun 18, 2011
2 parents d0cc41c + 9cae0a3 commit ef0a3b8
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Showing 59 changed files with 4,192 additions and 400 deletions.
14 changes: 7 additions & 7 deletions conf/airframes/ENAC/fixed-wing/funjet3.xml
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Expand Up @@ -13,21 +13,21 @@

<modules target="jsbsim">
<load name="ins_arduimu_basic.xml"/>
<load name="airspeed_ets.xml">
<!--define name="SENSOR_SYNC_SEND"/-->
<!--load name="airspeed_ets.xml">
<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"/>
</load-->
<!--load name="alt_filter.xml"/-->
<load name="generic_com.xml"/>
</modules>

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

Expand All @@ -43,7 +43,7 @@
</subsystem>

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

<!-- Actuators are automatically chosen according to board-->
<subsystem name="control" type="new"/>
Expand Down Expand Up @@ -208,7 +208,7 @@
<!--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_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.)"/>
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189 changes: 189 additions & 0 deletions conf/airframes/ENAC/fixed-wing/spocIII-1.xml
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@@ -0,0 +1,189 @@
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">

<!-- SPirit Of Corsica III
Ailerons, elevator, NO rudder
Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
arduIMU i2c
XBee modem (transparent)
Current sensor
-->

<airframe name="Spoc III Tiny 2.1">

<modules>
<load name="ins_arduimu_basic.xml"/>
</modules>

<firmware name="fixedwing">
<define name="ALT_KALMAN"/>
<define name="LOITER_TRIM"/>

<target name="sim" board="pc"/>
<target name="ap" board="tiny_2.11">
<configure name="FLASH_MODE" value="IAP"/>
<define name="USE_I2C0"/>
</target>

<subsystem name="i2c"/>

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

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

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

<!--subsystem name="current_sensor">
<configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
</subsystem-->

<subsystem name="navigation"/>
</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="7" min="1000" neutral="1000" max="2000"/>
<servo name="ELEVATOR" no="0" min="1900" neutral="1500" max="1100"/>
<!-- Wing 1 -->
<servo name="AILERON_LEFT" no="2" min="1900" neutral="1526" max="1100"/>
<servo name="AILERON_RIGHT" no="6" min="1900" neutral="1537" max="1100"/>
</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="AILERON_DIFF" value="0.66"/>
</section>

<command_laws>
<set servo="MOTOR" value="@THROTTLE"/>
<set servo="ELEVATOR" value="@PITCH"/>
<let var="roll" value="@ROLL"/>
<set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
</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="-0.26" 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="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
<define name="MAXIMUM_AIRSPEED" value="25." 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="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/ -->
<!-- define name="NO_XBEE_API_INIT" value="TRUE"/ -->
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>

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

<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
<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="-0.04"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>

<!-- auto throttle inner loop -->
<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="0.80"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>

<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
<define name="AUTO_PITCH_IGAIN" value="0.075"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>

<define name="THROTTLE_SLEW" value="0.5"/>

</section>

<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20599997044"/>

<define name="ROLL_MAX_SETPOINT" value="0.805000007153" 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="-8200"/>
<define name="PITCH_DGAIN" value="1.5"/>

<define name="ELEVATOR_OF_ROLL" value="2500"/>

<define name="ROLL_ATTITUDE_GAIN" value="-8500"/>
<define name="ROLL_RATE_GAIN" value="-2700"/>

<define name="ROLL_KFF" value="-500"/>
<define name="ROLL_IGAIN" value="-500"/>
<define name="PITCH_IGAIN" value="-500"/>
</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="1" 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="JSBSIM_MODEL" value="&quot;Corsica&quot;"/>
<define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
<define name="JSBSIM_IR_PITCH_NEUTRAL" value="RadOfDeg(0.)"/>
</section>

</airframe>

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