CSU Telemaster - Revision history

Esden at 00:21, 10 March 2011

2011-03-10T00:21:36Z

← Older revision		Revision as of 18:21, 9 March 2011
Line 238:		Line 238:
	</makefile>		</makefile>
	</airframe>		</airframe>

			[[Category:User_Projects]]

CSU-FCUAV at 15:11, 3 August 2010

2010-08-03T15:11:01Z

CSU-FCUAV at 15:09, 3 August 2010

2010-08-03T15:09:35Z

New page

<!DOCTYPE airframe SYSTEM "airframe.dtd">

<airframe name="Telemaster">

<servos>
<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILERON" no="6" min="1000" neutral="1500" max="2000"/>
<servo name="ELEVATOR" no="2" min="1000" neutral="1500" max="2000"/>
<servo name="RUDDER" no="7" min="2000" neutral="1500" max="1000"/>
<servo name="GYRO_GAIN" no="3" min="1000" neutral="1500" max="2000"/>
</servos>

<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="GAIN" failsafe_value="0"/>
</commands>

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

<command_laws>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="AILERON" value="@ROLL"/>
<set servo="ELEVATOR" value="@PITCH"/>
<set servo="RUDDER" value="@YAW"/>
<set servo="GYRO_GAIN" value="@GAIN"/>
</command_laws>

<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="RadOfDeg(50)"/>
<define name="MAX_PITCH" value="RadOfDeg(40)"/>
</section>

<section name="adc" prefix="ADC_CHANNEL_">
<define name="IR1" value="ADC_2"/>
<define name="IR2" value="ADC_1"/>
<define name="IR_TOP" value="ADC_0"/>
<define name="IR_NB_SAMPLES" value="16"/>
</section>

<section name="INFRARED" prefix="IR_">
<define name="ADC_IR1_NEUTRAL" value="512"/>
<define name="ADC_IR2_NEUTRAL" value="516"/>
<define name="ADC_TOP_NEUTRAL" value="511"/>
<define name="LATERAL_CORRECTION" value="1"/>
<define name="LONGITUDINAL_CORRECTION" value="1"/>
<define name="VERTICAL_CORRECTION" value="1."/>
<define name="HORIZ_SENSOR_ALIGNED" value="1"/>
<define name="IR1_SIGN" value="-1"/>
<define name="IR2_SIGN" value="-1"/>
<define name="TOP_SIGN" value="1"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="CORRECTION_UP" value="1."/>
<define name="CORRECTION_DOWN" value="1."/>
<define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/>
</section>

<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="-1" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="-1" unit="V"/>
<define name="LOW_BAT_LEVEL" value="-1" unit="V"/>
<define name="MAX_BAT_LEVEL" value="0" unit="V"/>
</section>

<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
<define name="CARROT" value="4." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(2.0*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<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="100."/>
<define name="MIN_CIRCLE_RADIUS" value="60."/>
</section>

<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="0" unit="volt"/>

<define name="ALTITUDE_PGAIN" value="-0.075" unit="(m/s)/m"/>
<define name="ALTITUDE_MAX_CLIMB" value="4." unit="m/s"/>

<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.75" unit="%"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.4" unit="%"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1.0" unit="%"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="2000" unit="pprz_t"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000" unit="pprz_t"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.02" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05" unit="rad/(m/s)"/>
<define name="AUTO_PITCH_PGAIN" value="-0.20"/>
<define name="AUTO_PITCH_IGAIN" value="0.025"/>
<define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(40)"/>
<define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-40)"/>
<define name="THROTTLE_SLEW" value="1.0"/>
</section>

<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.75"/>
<define name="ROLL_MAX_SETPOINT" value="RadOfDeg(35)" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="RadOfDeg(25)" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="RadOfDeg(-25)" unit="radians"/>
<define name="PITCH_PGAIN" value="-6000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="-7400"/>
<define name="ROLL_RATE_GAIN" value="-200"/>
</section>

<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>

<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="20"/>
<define name="BLEND_END" value="10"/>
<define name="CLIMB_THROTTLE" value="0.9"/>
<define name="CLIMB_PITCH" value="RadOfDeg(18)"/>
<define name="DESCENT_THROTTLE" value="0.1"/>
<define name="DESCENT_PITCH" value="RadOfDeg(-20)"/>
<define name="CLIMB_NAV_RATIO" value="0.8"/>
<define name="DESCENT_NAV_RATIO" value="1.0"/>
</section>

<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.4" unit="%"/>
<define name="DEFAULT_ROLL" value="RadOfDeg(15)" unit="rad"/>
<define name="DEFAULT_PITCH" value="RadOfDeg(0)" unit="rad"/>
<define name="HOME_RADIUS" value="90" unit="m"/>
</section>

<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="PPRZ"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>

<makefile>

<nowiki>CONFIG = \"tiny_2_1_1.h\"</nowiki>

<nowiki>include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile</nowiki>

<nowiki>FLASH_MODE=IAP</nowiki>

<nowiki>ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1</nowiki>
<nowiki>ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c</nowiki>

<nowiki>ap.CFLAGS += -DINTER_MCU</nowiki>
<nowiki>ap.srcs += inter_mcu.c</nowiki>

<nowiki>ap.srcs += commands.c</nowiki>

<nowiki>########## RC actuators + radio</nowiki>
<nowiki>ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017</nowiki>
<nowiki>ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c</nowiki>

<nowiki>ap.CFLAGS += -DRADIO_CONTROL</nowiki>
<nowiki>ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c </nowiki>

<nowiki>########## Telemetry configuration</nowiki>
<nowiki>ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600</nowiki>
<nowiki>ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c</nowiki>

<nowiki>########## ADC</nowiki>
<nowiki>ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3</nowiki>
<nowiki>ap.srcs += $(SRC_ARCH)/adc_hw.c</nowiki>

<nowiki>########## GPS</nowiki>
<nowiki>ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG</nowiki>
<nowiki>ap.srcs += gps_ubx.c gps.c latlong.c</nowiki>

<nowiki>########## IR sensors</nowiki>
<nowiki>ap.CFLAGS += -DINFRARED -DALT_KALMAN</nowiki>
<nowiki>ap.srcs += infrared.c estimator.c</nowiki>

<nowiki>########## Nav</nowiki>
<nowiki>ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM</nowiki>
<nowiki>ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c</nowiki>
<nowiki>ap.srcs += nav_survey_rectangle.c</nowiki>
<nowiki>ap.srcs += nav_line.c</nowiki>

<nowiki>########## Heading Hold Gyro</nowiki>
<nowiki>ap.srcs += gyrogain.h</nowiki>
<nowiki>sim.srcs += gyrogain.h</nowiki>

<nowiki>########## Lights</nowiki>
<nowiki>ap.CFLAGS += -DUSE_LIGHT</nowiki>
<nowiki>ap.srcs += light.c</nowiki>

<nowiki>ap.CFLAGS += -DUSE_MODULES</nowiki>

<nowiki># Config for SITL simulation</nowiki>
<nowiki>include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile</nowiki>
<nowiki>sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN</nowiki>

<nowiki>sim.srcs += nav_line.c nav_survey_rectangle.c</nowiki>

<nowiki>sim.CFLAGS += -DUSE_MODULES</nowiki>
</makefile>
</airframe>

← Older revision		Revision as of 09:11, 3 August 2010
Line 158:		Line 158:

	<nowiki>ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1</nowiki>		<nowiki>ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1</nowiki>

	<nowiki>ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c</nowiki>		<nowiki>ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c</nowiki>

	<nowiki>ap.CFLAGS += -DINTER_MCU</nowiki>		<nowiki>ap.CFLAGS += -DINTER_MCU</nowiki>

	<nowiki>ap.srcs += inter_mcu.c</nowiki>		<nowiki>ap.srcs += inter_mcu.c</nowiki>

Line 166:		Line 168:

	<nowiki>########## RC actuators + radio</nowiki>		<nowiki>########## RC actuators + radio</nowiki>

	<nowiki>ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017</nowiki>		<nowiki>ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017</nowiki>

	<nowiki>ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c</nowiki>		<nowiki>ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c</nowiki>

	<nowiki>ap.CFLAGS += -DRADIO_CONTROL</nowiki>		<nowiki>ap.CFLAGS += -DRADIO_CONTROL</nowiki>

	<nowiki>ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c </nowiki>		<nowiki>ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c </nowiki>


	<nowiki>########## Telemetry configuration</nowiki>		<nowiki>########## Telemetry configuration</nowiki>

	<nowiki>ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600</nowiki>		<nowiki>ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600</nowiki>

	<nowiki>ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c</nowiki>		<nowiki>ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c</nowiki>

	<nowiki>########## ADC</nowiki>		<nowiki>########## ADC</nowiki>

	<nowiki>ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3</nowiki>		<nowiki>ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3</nowiki>

	<nowiki>ap.srcs += $(SRC_ARCH)/adc_hw.c</nowiki>		<nowiki>ap.srcs += $(SRC_ARCH)/adc_hw.c</nowiki>

	<nowiki>########## GPS</nowiki>		<nowiki>########## GPS</nowiki>

	<nowiki>ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG</nowiki>		<nowiki>ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG</nowiki>

	<nowiki>ap.srcs += gps_ubx.c gps.c latlong.c</nowiki>		<nowiki>ap.srcs += gps_ubx.c gps.c latlong.c</nowiki>

	<nowiki>########## IR sensors</nowiki>		<nowiki>########## IR sensors</nowiki>

	<nowiki>ap.CFLAGS += -DINFRARED -DALT_KALMAN</nowiki>		<nowiki>ap.CFLAGS += -DINFRARED -DALT_KALMAN</nowiki>

	<nowiki>ap.srcs += infrared.c estimator.c</nowiki>		<nowiki>ap.srcs += infrared.c estimator.c</nowiki>

	<nowiki>########## Nav</nowiki>		<nowiki>########## Nav</nowiki>

	<nowiki>ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM</nowiki>		<nowiki>ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM</nowiki>

	<nowiki>ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c</nowiki>		<nowiki>ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c</nowiki>

	<nowiki>ap.srcs += nav_survey_rectangle.c</nowiki>		<nowiki>ap.srcs += nav_survey_rectangle.c</nowiki>

	<nowiki>ap.srcs += nav_line.c</nowiki>		<nowiki>ap.srcs += nav_line.c</nowiki>

	<nowiki>########## Heading Hold Gyro</nowiki>		<nowiki>########## Heading Hold Gyro</nowiki>

	<nowiki>ap.srcs += gyrogain.h</nowiki>		<nowiki>ap.srcs += gyrogain.h</nowiki>

	<nowiki>sim.srcs += gyrogain.h</nowiki>		<nowiki>sim.srcs += gyrogain.h</nowiki>

	<nowiki>########## Lights</nowiki>		<nowiki>########## Lights</nowiki>

	<nowiki>ap.CFLAGS += -DUSE_LIGHT</nowiki>		<nowiki>ap.CFLAGS += -DUSE_LIGHT</nowiki>

	<nowiki>ap.srcs += light.c</nowiki>		<nowiki>ap.srcs += light.c</nowiki>

Line 206:		Line 227:

	<nowiki># Config for SITL simulation</nowiki>		<nowiki># Config for SITL simulation</nowiki>

	<nowiki>include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile</nowiki>		<nowiki>include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile</nowiki>

	<nowiki>sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN</nowiki>		<nowiki>sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN</nowiki>

Line 212:		Line 235:

	<nowiki>sim.CFLAGS += -DUSE_MODULES</nowiki>		<nowiki>sim.CFLAGS += -DUSE_MODULES</nowiki>

	</makefile>		</makefile>
	</airframe>		</airframe>