CSU Telemaster

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<!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>

CONFIG = \"tiny_2_1_1.h\"

include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile

FLASH_MODE=IAP

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

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

ap.CFLAGS += -DINTER_MCU

ap.srcs += inter_mcu.c

ap.srcs += commands.c

########## RC actuators + radio

ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017

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

ap.CFLAGS += -DRADIO_CONTROL

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


########## Telemetry configuration

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

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

########## ADC

ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3

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

########## GPS

ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG

ap.srcs += gps_ubx.c gps.c latlong.c

########## IR sensors

ap.CFLAGS += -DINFRARED -DALT_KALMAN

ap.srcs += infrared.c estimator.c

########## Nav

ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM

ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c

ap.srcs += nav_survey_rectangle.c

ap.srcs += nav_line.c

########## Heading Hold Gyro

ap.srcs += gyrogain.h

sim.srcs += gyrogain.h

########## Lights

ap.CFLAGS += -DUSE_LIGHT

ap.srcs += light.c

ap.CFLAGS += -DUSE_MODULES

# Config for SITL simulation

include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile

sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN

sim.srcs += nav_line.c nav_survey_rectangle.c

sim.CFLAGS += -DUSE_MODULES 

 </makefile>

</airframe>

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