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Re: [Paparazzi-devel] CHDK and digital_cam.xml
From: |
gatib |
Subject: |
Re: [Paparazzi-devel] CHDK and digital_cam.xml |
Date: |
Wed, 23 May 2012 14:50:59 +0200 |
User-agent: |
SquirrelMail/1.4.20 |
Thank you Eduardo!
My airframe file:
<!DOCTYPE airframe SYSTEM "airframe.dtd">
<!-- EasyGlider
TWOGv1
Xsens MtiG
AC4868
ETS Airspeed
-->
<airframe name="Trainer60 - TWOG v1">
<firmware name="fixedwing">
<target name="ap" board="twog_1.0"/>
<define name="AGR_CLIMB" />
<define name="USE_I2C0"/>
<define name="USE_AIRSPEED"/>
<define name="USE_BARO_ETS"/>
<define name="USE_ADC"/>
<define name="USE_ADC_3"/> <!-- accu voltage-->
<define name="USE_ADC_4"/> <!-- motor current-->
<define name="LOITER_TRIM" />
<define name="ALT_KALMAN" />
<define name="ADC_CHANNEL_VSUPPLY" value="ADC_3"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="B57600"/>
</subsystem>
<subsystem name="control"/>
<subsystem name="gps" type="xsens"/>
<subsystem name="navigation"/>
<subsystem name="i2c"/>
</firmware>
<!-- commands section -->
<servos>
<servo name="AILERON" no="4" min="2000" neutral="1500" max="1000"/>
<!-- TWOG servo channel layout-->
<servo name="ELEVATOR" no="3" min="2000" neutral="1400" max="1000"/>
<servo name="THROTTLE" no="7" min="1000" neutral="1000" max="2000"/>
<servo name="RUDDER" no="6" min="1000" neutral="1500" max="2000"/>
</servos>
<!-- COMMANDS: generated by AP/RC -->
<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="FLAPS" failsafe_value="0"/>
</commands>
<!-- MANUAL MODE: links the channels of the RC transmitter (defined in the
Radio Control file)
to the commands defined above -->
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="YAW" value="@YAW"/>
<set command="FLAPS" value="@FLAPS"/>
</rc_commands>
<section name="MIXER">
<define name="COMBI_SWITCH" value="0.4"/> <!--Orig: 1.0 -->
</section>
<command_laws>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="ELEVATOR" value="@PITCH"/>
<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
<set servo="AILERON" value="@ROLL"/>
</command_laws>
<!-- AUTO1 MODE: max.pitch max.roll-->
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="RadOfDeg(50)"/>
<define name="MAX_PITCH" value="RadOfDeg(40)"/>
</section>
<!-- Battery -->
<section name="BAT">
<define name="ADC_CHANNEL_CURRENT" value="ADC_4"/>
<define name="MilliAmpereOfAdc(adc)" value="(100*adc)"/>
<define name="VOLTAGE_ADC_A" value="0.05"/>
<define name="VOLTAGE_ADC_B" value="1"/>
<define name="VoltageOfAdc(adc)" value ="(VOLTAGE_ADC_A * adc +
VOLTAGE_ADC_B)"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="19.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="20.0" unit="V"/>
<define name="LOW_BAT_LEVEL" value="21.0" unit="V"/>
<define name="MAX_BAT_LEVEL" value="25.0" unit="V"/>
</section>
<!-- Horizontal control -->
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.7"/> <!-- course error-> roll
command orig: -1.0-->
<define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/> <!-- max.
roll command -->
<define name="ROLL_SLEW" value="0.1"/> <!-- roll
rate-->
<define name="ROLL_ATTITUDE_GAIN" value="-9000"/> <!-- roll
command from roll error-->
<define name="ROLL_RATE_GAIN" value="-1500"/> <!-- if gyro
is installed-->
<define name="PITCH_DGAIN" value="1.5"/>
<define name="PITCH_PGAIN" value="-7000"/>
<define name="ELEVATOR_OF_ROLL" value="1700"/> <!-- orig 1300
-->
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.25" unit="radians"/>
</section>
<!-- Vertical control -->
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="ALTITUDE_PGAIN" value="-0.1" unit="(m/s)/m"/> <!-- altitude
error->rate of climb -->
<define name="ALTITUDE_MAX_CLIMB" value="1" unit="m/s"/> <!-- max.
rate of climb -->
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.6" unit="%"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.2" unit="%"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1.0" unit="%"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" unit="pprz_t"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000" unit="pprz_t"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.3"
unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.008" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"
unit="rad/(m/s)"/> <!-- orig 0.05 -->
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.2"/> <!-- orig 0.1 -->
<define name="AUTO_PITCH_IGAIN" value="0.025"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.5"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.5"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
<!-- auto airspeed and altitude inner loop -->
<define name="AUTO_AIRSPEED_SETPOINT" value="11.0" unit="m/s"/> <!--orig
10.5 -->
<define name="AUTO_AIRSPEED_PGAIN" value="0.060"/> <!-- orig 0.060 -->
<define name="AUTO_AIRSPEED_IGAIN" value="0.050"/> <!-- orig 0.050 -->
<define name="AUTO_GROUNDSPEED_SETPOINT" value="7.0" unit="m/s"/>
<define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
<define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="14.0" unit="m/s"/> <!--mainly for
simulator -->
<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="DEFAULT_CIRCLE_RADIUS" value="120."/>
<define name="UNLOCKED_HOME_MODE" value="FALSE"/> <!-- if true, HOME mode
does not get stuck -->
<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<!--
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
-->
</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"/><!-- 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="0.5"/><!-- 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="DELAY_WITHOUT_GPS" value="5" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.3" unit="rad"/>
</section>
<!-- <section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="PPRZ"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section> -->
<section name="XSENS">
<!-- <define name="GPS_IMU_LEVER_ARM_X" value="-0.285f"/> -->
<!-- <define name="GPS_IMU_LEVER_ARM_Y" value="0.0f"/> -->
<!-- <define name="GPS_IMU_LEVER_ARM_Z" value="0.0f"/> -->
<define name="INS_PITCH_NEUTRAL_DEFAULT" value="0.0f"/>
<define name="INS_ROLL_NEUTRAL_DEFAULT" value="0.0f"/>
</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="ins_xsens_MTiG_fixedwing.xml">
<configure name="XSENS_UART_NR" value="0"/>
<define name="XSENS_BACKWARDS" />
</load>
<load name="airspeed_ets.xml">
<define name="AIRSPEED_ETS_SCALE" value="1.8"/>
<define name="AIRSPEED_ETS_OFFSET" value="4"/>
<define name="AIRSPEED_ETS_I2C_DEV" value="i2c0"/>
<!-- <define name="SENSOR_SYNC_SEND"/> Sending the raw airspeed by
telemetry (high bandwith)-->
</load>
<load name="baro_ets.xml">
<define name="BARO_ETS_TELEMETRY"/> <!-- Sending the barometric pressure
by telemetry -->
</load>
<load name="digital_cam.xml" >
<define name="DC_SHUTTER_LED" value="5"/>
<define name="POWER_SWITCH_LED" value="4"/>
</load>
<!--<load name="adc_generic.xml"> -->
<!-- <configure name="ADC_CHANNEL_GENERIC1" value="ADC_3"/> -->
<!-- <configure name="ADC_CHANNEL_GENERIC2" value="ADC_4"/> -->
<!--</load> -->
</modules>
</airframe>
- [Paparazzi-devel] CHDK and digital_cam.xml, privé, 2012/05/22
- Re: [Paparazzi-devel] CHDK and digital_cam.xml, Eduardo lavratti, 2012/05/22
- Re: [Paparazzi-devel] CHDK and digital_cam.xml, gatib, 2012/05/22
- Re: [Paparazzi-devel] CHDK and digital_cam.xml, Eduardo lavratti, 2012/05/22
- Re: [Paparazzi-devel] CHDK and digital_cam.xml,
gatib <=
- Re: [Paparazzi-devel] CHDK and digital_cam.xml, Eduardo lavratti, 2012/05/23
- Re: [Paparazzi-devel] CHDK and digital_cam.xml, gatib, 2012/05/23
- Re: [Paparazzi-devel] CHDK and digital_cam.xml, marzer, 2012/05/24
- Re: [Paparazzi-devel] CHDK and digital_cam.xml, Eduardo lavratti, 2012/05/24
- Re: [Paparazzi-devel] CHDK and digital_cam.xml, mrsa, 2012/05/24
- Re: [Paparazzi-devel] CHDK and digital_cam.xml, Christophe De Wagter, 2012/05/24
- Re: [Paparazzi-devel] CHDK and digital_cam.xml, Christophe De Wagter, 2012/05/24
- Re: [Paparazzi-devel] CHDK and digital_cam.xml, mrsa, 2012/05/24
- Re: [Paparazzi-devel] CHDK and digital_cam.xml, Christophe De Wagter, 2012/05/24
- Re: [Paparazzi-devel] CHDK and digital_cam.xml, Felix Ruess, 2012/05/24