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Added support for PPZUAV-9DOF-IMU
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@dewagter
dewagter committed May 12, 2011
1 parent 58d11d0 commit f4a736a
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271 changes: 271 additions & 0 deletions conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">

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

<airframe name="Yapa v1">

<servos>
<servo name="THROTTLE" no="4" min="1000" neutral="1000" max="2000"/>
<servo name="AILERON_LEFT" no="5" min="1000" neutral="1500" max="2000"/>
<servo name="AILERON_RIGHT" no="1" min="2000" neutral="1500" max="1000"/>
<servo name="ELEVATOR" no="8" min="2000" neutral="1500" max="1000"/>
<servo name="RUDDER" no="9" min="1100" neutral="1500" max="1900"/>
</servos>

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

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

<command_laws>
<set servo="AILERON_LEFT" value="@ROLL"/>
<set servo="AILERON_RIGHT" value="@ROLL"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="ELEVATOR" value="@PITCH"/>
</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="IMU" prefix="IMU_">
<!-- Calibration Neutral -->
<define name="GYRO_P_NEUTRAL" value="0"/>
<define name="GYRO_Q_NEUTRAL" value="0"/>
<define name="GYRO_R_NEUTRAL" value="0"/>

<!-- SENS = 14.375 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec / 12bit FRAC: 4096 / 828 -->
<define name="GYRO_P_SENS" value="4.947" integer="16"/>
<define name="GYRO_Q_SENS" value="4.947" integer="16"/>
<define name="GYRO_R_SENS" value="4.947" integer="16"/>

<define name="GYRO_P_Q" value="0."/>
<define name="GYRO_P_R" value="0"/>
<define name="GYRO_Q_P" value="0."/>
<define name="GYRO_Q_R" value="0."/>
<define name="GYRO_R_P" value="0."/>
<define name="GYRO_R_Q" value="0."/>

<define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_Q_SIGN" value="1"/>
<define name="GYRO_R_SIGN" value="1"/>

<define name="ACCEL_X_NEUTRAL" value="-14"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="0"/>

<!-- SENS = 256 LSB/g @ 2.5V [X&Y: 265 LSB/g @ 3.3V] / 9.81 ms2/g = 26.095 LSB/ms2 / 10bit FRAC: 1024 / 26.095 for z and 1024 / 27.01 for X&Y -->
<define name="ACCEL_X_SENS" value="37.9" integer="16"/>
<define name="ACCEL_Y_SENS" value="37.9" integer="16"/>
<define name="ACCEL_Z_SENS" value="39.24" 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="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>

<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_X_SIGN" value="1"/>
<define name="MAG_Y_SIGN" value="1"/>
<define name="MAG_Z_SIGN" value="1"/>

<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="0" unit="deg"/>
</section>

<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.7"/>
<define name="MAX_PITCH" value="0.7"/>
</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="MISC">
<define name="NOMINAL_AIRSPEED" value="13." 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="-0.03"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>

<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
<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="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>

<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="0.3"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>

<define name="ROLL_MAX_SETPOINT" value="0.75" 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="-12000."/>
<define name="PITCH_DGAIN" value="1.5"/>

<define name="ELEVATOR_OF_ROLL" value="1000."/>

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

<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
<define name="ROLL_RATE_GAIN" value="0."/>
</section>

<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_THROTTLE" value="1.00"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.25"/><!-- 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="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="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="digital_cam.xml" >
<define name="DC_SHUTTER_LED" value="3"/>
</load>
<load name="ins_ppzuavimu.xml" />
-->
</modules>

<firmware name="fixedwing">

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

<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" />

<configure name="AHRS_ALIGNER_LED" value="3"/>
<configure name="CPU_LED" value="3"/>
</target>
<target name="sim" board="pc"/>

<define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>

<!-- Sensors -->
<!--
<subsystem name="ahrs" type="ic">
<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" />
</subsystem>

<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="ublox_lea4p"/>

<subsystem name="i2c"/>

</firmware>


</airframe>
1 change: 1 addition & 0 deletions conf/autopilot/fixedwing.makefile
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Expand Up @@ -15,6 +15,7 @@ SRC_FIXEDWING_TEST=$(SRC_FIXEDWING)/

SRC_FIRMWARE=firmwares/fixedwing
SRC_SUBSYSTEMS=subsystems
SRC_MODULES=modules

FIXEDWING_INC = -I$(SRC_FIRMWARE) -I$(SRC_FIXEDWING)

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1 change: 1 addition & 0 deletions conf/autopilot/subsystems/fixedwing/attitude_dcm.makefile
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Expand Up @@ -10,6 +10,7 @@ ap.CFLAGS += -DUSE_AHRS
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs.c
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_float_dcm.c
ap.srcs += math/pprz_trig_int.c

ifdef AHRS_ALIGNER_LED
ap.CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
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5 changes: 5 additions & 0 deletions conf/autopilot/subsystems/fixedwing/imu_aspirin_i2c.makefile
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include $(CFG_FIXEDWING)/imu_ppzuav.makefile

ap.CFLAGS += -DASPIRIN_IMU
22 changes: 22 additions & 0 deletions conf/autopilot/subsystems/fixedwing/imu_ppzuav.makefile
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@@ -0,0 +1,22 @@

IMU_PPZUAVIMU_CFLAGS = -DUSE_IMU
IMU_PPZUAVIMU_CFLAGS += -DIMU_TYPE_H=\"modules/ins/ins_ppzuavimu.h\"

IMU_PPZUAVIMU_SRCS = $(SRC_SUBSYSTEMS)/imu.c \
$(SRC_MODULES)/ins/ins_ppzuavimu.c


IMU_PPZUAVIMU_CFLAGS += -DUSE_I2C
ifdef STM32
IMU_PPZUAVIMU_CFLAGS += -DUSE_I2C2
IMU_PPZUAVIMU_CFLAGS += -DPPZUAVIMU_I2C_DEVICE=i2c2
else
IMU_PPZUAVIMU_CFLAGS += -DUSE_I2C0
IMU_PPZUAVIMU_CFLAGS += -DPPZUAVIMU_I2C_DEVICE=i2c0
endif

ap.CFLAGS += $(IMU_PPZUAVIMU_CFLAGS)
ap.srcs += $(IMU_PPZUAVIMU_SRCS)

ap.CFLAGS += -DAHRS_MAG_UPDATE_YAW_ONLY

24 changes: 24 additions & 0 deletions conf/modules/ins_ppzuavimu.xml
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<!DOCTYPE module SYSTEM "module.dtd">

<module name="ins_ppzuavimu" dir="ins">
<!-- <depend conflict="ins" -->
<header>
<file name="ins_ppzuavimu.h"/>
</header>

<!-- default imu stuff -->
<init fun="imu_impl_init()"/>
<periodic fun="imu_periodic()" freq="60"/>
<!-- ImuEvent called directly from main_ap -->

<!-- extras to become a usefull module -->
<periodic fun="ppzuavimu_module_downlink_raw()" freq="5"/>
<event fun="ppzuavimu_module_event()"/>

<makefile>
<file name="ins_ppzuavimu.c"/>
<define name="PPZUAVIMU_I2C_DEVICE" value="i2c0" />
<define name="USE_I2C" />
<define name="USE_I2C0" />
</makefile>
</module>
18 changes: 18 additions & 0 deletions conf/telemetry/default_fixedwing_imu.xml
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Expand Up @@ -28,6 +28,7 @@
<message name="GPS_SOL" period="2.0"/>
<message name="IMU_ACCEL" period=".8"/>
<message name="IMU_GYRO" period=".6"/>
<message name="IMU_MAG" period="1.3"/>
</mode>
<mode name="minimal">
<message name="ALIVE" period="5"/>
Expand All @@ -50,6 +51,23 @@
<message name="SURVEY" period="2.1"/>
<message name="GPS_SOL" period="5.0"/>
</mode>
<mode name="debug_imu">
<message name="ATTITUDE" period="0.1"/>
<message name="ALIVE" period="5"/>
<message name="GPS" period="5.1"/>
<message name="ESTIMATOR" period="5.3"/>
<message name="BAT" period="10.1"/>
<message name="DESIRED" period="10.2"/>
<message name="NAVIGATION" period="5.4"/>
<message name="PPRZ_MODE" period="5.5"/>
<message name="DOWNLINK" period="5.7"/>
<message name="IMU_ACCEL" period=".5"/>
<message name="IMU_GYRO" period=".5"/>
<message name="IMU_MAG" period=".5"/>
<message name="IMU_ACCEL_RAW" period=".5"/>
<message name="IMU_GYRO_RAW" period=".5"/>
<message name="IMU_MAG_RAW" period=".5"/>
</mode>
<mode name="extremal">
<message name="ALIVE" period="5"/>
<message name="GPS" period="5.1"/>
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8 changes: 8 additions & 0 deletions sw/airborne/ap_downlink.h
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Expand Up @@ -142,13 +142,21 @@
#include "subsystems/imu.h"
#define PERIODIC_SEND_IMU_ACCEL_RAW(_chan) { DOWNLINK_SEND_IMU_ACCEL_RAW(_chan, &imu.accel_unscaled.x, &imu.accel_unscaled.y, &imu.accel_unscaled.z)}
#define PERIODIC_SEND_IMU_GYRO_RAW(_chan) { DOWNLINK_SEND_IMU_GYRO_RAW(_chan, &imu.gyro_unscaled.p, &imu.gyro_unscaled.q, &imu.gyro_unscaled.r)}
#define PERIODIC_SEND_IMU_MAG_RAW(_chan) { DOWNLINK_SEND_IMU_MAG_RAW(_chan, &imu.mag_unscaled.x, &imu.mag_unscaled.y, &imu.mag_unscaled.z)}
#define PERIODIC_SEND_IMU_ACCEL(_chan) { struct FloatVect3 accel_float; ACCELS_FLOAT_OF_BFP(accel_float, imu.accel); DOWNLINK_SEND_IMU_ACCEL(_chan, &accel_float.x, &accel_float.y, &accel_float.z)}
#define PERIODIC_SEND_IMU_GYRO(_chan) { struct FloatRates gyro_float; RATES_FLOAT_OF_BFP(gyro_float, imu.gyro); DOWNLINK_SEND_IMU_GYRO(_chan, &gyro_float.p, &gyro_float.q, &gyro_float.r)}
# ifdef USE_MAGNETOMETER
# define PERIODIC_SEND_IMU_MAG(_chan) { struct FloatVect3 mag_float; MAGS_FLOAT_OF_BFP(mag_float, imu.mag); DOWNLINK_SEND_IMU_MAG(_chan, &mag_float.x, &mag_float.y, &mag_float.z)}
# else
# define PERIODIC_SEND_IMU_MAG_RAW(_chan) {}
# endif
#else
#define PERIODIC_SEND_IMU_ACCEL_RAW(_chan) {}
#define PERIODIC_SEND_IMU_GYRO_RAW(_chan) {}
#define PERIODIC_SEND_IMU_MAG_RAW(_chan) {}
#define PERIODIC_SEND_IMU_ACCEL(_chan) {}
#define PERIODIC_SEND_IMU_GYRO(_chan) {}
#define PERIODIC_SEND_IMU_MAG(_chan) {}
#endif

#ifdef IMU_ANALOG
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