Re: [Paparazzi-devel] Tiny v2.11 - Programming help required

[C Kuo]

Hi Ben

  I have same problem of using wireless link, but what I do suggest is that can
you confrim your autopilot has no problem by connecting to your wire to laptop
(FTDI cable, the one you use for bootloader).

  If you have done that, and find when your autopilot has no problem, then you
are in the same stage as me (which mean I am still try to configure my Xbee
modem).


Good luck 


                      chen

Quoting Ben Paratz <address@hidden>:

> Hi Guys,
> 
> Thanks very much for all your help, I've had much more success thanks to it.
> I spent all of today playing with paparazzi, and this is what I have:
> - The airframe file is successfully compiling, and has been uploaded to the
> autopilot. I had to create another airframe file, as the one I posted first
> caused the autopilot to do nothing. I found out that this is likely because
> the program was for an earlier version of the Tiny. I have based the new
> aiframe file on funjet1.xml
> - The servos (through the autopilot) respond correctly to my JR transmitter.
> I used a JR R700, but modified it as per the link earlier in the thread.
> 
> The flight plan I have uploaded is "Muret demo"
> 
> The only thing now is that the GCS is not populating. It loaded fully once,
> after I ran a simulation, but I cannot get it to do it again. When I execute
> a session the GCS window pops up, but remains blank... I have tried using
> both "Flight address@hidden" and "Flight address@hidden" but neither
> seems to help the GCS load. I think the defult baud rate for the Maxstream
> modem is 9600
> 
> When I plug in the modem this what I get:
> tail -f /var/log/messages
> Sep  5 09:14:16 ben-laptop kernel: [ 1461.018531] usb 1-1: new full speed
> USB device using uhci_hcd and address 4
> Sep  5 09:14:16 ben-laptop kernel: [ 1461.040458] usb 1-1: configuration #1
> chosen from 1 choice
> Sep  5 09:14:16 ben-laptop kernel: [ 1461.046091] ftdi_sio 1-1:1.0: FTDI USB
> Serial Device converter detected
> Sep  5 09:14:16 ben-laptop kernel: [ 1461.046149]
> /build/buildd/linux-2.6.24/drivers/usb/serial/ftdi_sio.c: Detected FT232BM
> Sep  5 09:14:16 ben-laptop kernel: [ 1461.046277] usb 1-1: FTDI USB Serial
> Device converter now attached to ttyUSB0
> 
> Do you have any ideas how to get the GCS to load? I have attached the new
> airframe code below. Let me know if you need me to post any more files.
> 
> Thanks,
> Ben
> 
> <!DOCTYPE airframe SYSTEM "airframe.dtd">
> 
> <!-- Funjet Multiplex (http://www.multiplex-rc.de/)
>      Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
>      Tilted infrared sensor (
> http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
>      Radiotronix modem
> -->
> 
> <airframe name="Easystar Tiny 2.1">
> 
> <!-- commands section -->
>   <servos>
>     <servo name="THROTTLE" no="2" min="1000" neutral="1500" max="2000"/>
>     <servo name="ROLL"  no="3" min="1000" neutral="1500" max="2000"/>
>     <servo name="PITCH" no="4" 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"/>
>   </commands>
> 
>   <rc_commands>
>     <set command="THROTTLE" value="@THROTTLE"/>
>     <set command="ROLL"     value="@ROLL"/>
>     <set command="PITCH"    value="@PITCH"/>
>   </rc_commands>
> 
>   <command_laws>
>     <set servo="THROTTLE" value="@THROTTLE"/>
>     <set servo="ROLL"  value="@ROLL"/>
>     <set servo="PITCH" value="@PITCH"/>
>   </command_laws>
> 
>   <section name="AUTO1" prefix="AUTO1_">
>     <define name="MAX_ROLL" value="0.3"/>
>     <define name="MAX_PITCH" value="0.3"/>
>   </section>
> 
>   <section name="adc" prefix="ADC_CHANNEL_">
>     <define name="IR1" value="ADC_1"/>
>     <define name="IR2" value="ADC_2"/>
>     <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="512"/>
>     <define name="ADC_TOP_NEUTRAL" value="512"/>
> 
>     <define name="LATERAL_CORRECTION" value="1."/>
>     <define name="LONGITUDINAL_CORRECTION" value="1."/>
>     <define name="VERTICAL_CORRECTION" value="1.5"/>
> 
>     <define name="HORIZ_SENSOR_TILTED" 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="MILLIAMP_PER_PERCENT" value="0.86"/>
> 
>     <define name="CATASTROPHIC_BAT_LEVEL" value="5.5" unit="V"/>
>   </section>
> 
>   <section name="MISC">
>     <define name="NOMINAL_AIRSPEED" value="7" 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="MIN_CIRCLE_RADIUS" value="35."/>
>   </section>
> 
>   <section name="VERTICAL CONTROL" prefix="V_CTL_">
> 
>     <define name="POWER_CTL_BAT_NOMINAL" value="7.2" 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="0.35"/>
>     <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.3"/>
>     <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="2.0"/>
> 
>   </section>
> 
>   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
>     <define name="COURSE_PGAIN" value="-1.2"/>
> 
>     <define name="ROLL_MAX_SETPOINT" value="0.7" 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="-10000."/>
>     <define name="PITCH_DGAIN" value="1.5"/>
> 
>     <define name="ELEVATOR_OF_ROLL" value="0"/>
> 
>     <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
>     <define name="ROLL_RATE_GAIN" value="-1500"/>
>   </section>
> 
>   <section name="NAV">
>     <define name="NAV_PITCH" value="0."/>
>     <define name="NAV_GLIDE_PITCH_TRIM" value="0.1"/>
>   </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="1.0"/><!-- Gaz for Aggressive Climb
> -->
>     <define name="CLIMB_PITCH" value="0.25"/><!-- Pitch for Aggressive Climb
> -->
>     <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive
> Decent -->
>     <define name="DESCENT_PITCH" value="-0.15"/><!-- 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="2" unit="s"/>
>         <define name="DEFAULT_THROTTLE" value="0.0" unit="%"/>
>         <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
>         <define name="DEFAULT_PITCH" value="0.3" unit="rad"/>
>     <define name="HOME_RADIUS" value="100" unit="m"/>
> </section>
> 
> <!--
>  <section name="DATALINK" prefix="DATALINK_">
>     <define name="DEVICE_TYPE" value="XBEE"/>
>     <define name="DEVICE_ADDRESS" value="...."/>
>   </section>
> -->
> 
>  <section name="SIMU">
>     <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
>  </section>
> 
>  <makefile>
> CONFIG = \"tiny_2_1.h\"
> 
> include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
> 
> FLASH_MODE=IAP
> 
> ap.CFLAGS +=  -DFBW -DAP -DCONFIG=$(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.srcs += commands.c
> 
> ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
> ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
> 
> ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_JR
> ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
> 
> #XBEE ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport
> -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B9600
> #XBEE ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
> 
> #TRANSPARENT
> 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
> 
> 
> ap.CFLAGS += -DINTER_MCU
> ap.srcs += inter_mcu.c
> 
> ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
> ap.srcs += $(SRC_ARCH)/adc_hw.c
> 
> ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
> # -DGPS_LED=2
> ap.srcs += gps_ubx.c gps.c latlong.c
> 
> ap.CFLAGS += -DINFRARED -DALT_KALMAN
> ap.srcs += infrared.c estimator.c
> 
> ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
> ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
> 
> # Config for SITL simulation
> include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
> sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
> 
> # a test program to setup actuators
> setup_actuators.ARCHDIR = $(ARCHI)
> setup_actuators.ARCH = arm7tdmi
> setup_actuators.TARGET = setup_actuators
> setup_actuators.TARGETDIR = setup_actuators
> 
> setup_actuators.CFLAGS += -DFBW -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1
> -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART1
> -DUART1_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart1
> setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
> $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c
> $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4015_hw.c main.c
> 
>   </makefile>
> </airframe>
> 
> On Sat, Sep 6, 2008 at 7:47 PM, David Buzz Carlson
> <address@hidden>wrote:
> 
> > Looking through his airframe file, it seems he is using ADC_6 for his
> > vertical IR sensor.  However,
> > http://paparazzi.enac.fr/wiki/index.php/Tiny_v2  would have me believe
> > that IRV is ADC_0.  I believe ADC_0 is the correct one, can anybody
> confirm
> > that for me?
> >
> > Buzz
> >
> > address@hidden wrote:
> >
> >>  Ben
> >>
> >> I believe the maxstream packages use an FTDI USB-to-serial converter chip
> >> (everything in linux is chip-specific).  The FTDI driver is already
> present
> >> and functional in Ubuntu so you may be all set.  Type "dmesg | tail"
> after
> >> plugging in the modem and look for something about ftdi on ttyusb0 or
> such.
> >>
> >> The ground modem can be any baud you want.  Maxtream and some others
> allow
> >> independent configuration of the RF baud and serial port baud to allow
> the
> >> air and ground serial baud rates to be unequal so long as the RF rates
> are
> >> equal.  Make sure your ap and airborne modem are at the same baud
> >> (-DUART0_BAUD=B9600 in your case) and same for the gcs (link line should
> >> have "-s 9600" or such to match the ground modem) and make sure your
> modems
> >> are each configured for their appropriate baud rates as well (maybe 9600
> is
> >> the default?).
> >>
> >> The RC modes are set in conf/radios/*.xml but I don't know how those
> >> settings get mapped to channels 1 thru 8.  I usually use the transmitter
> >> programming to change the channel of my switch until I find the one that
> >> works.
> >>
> >> Your airframe file looks ok but I should point out that the GPS failsafe
> >> values on many of the cvs airframes are strange, specifying 30% throttle,
> 30
> >> degree pitch up, and 17 degree roll in the event of a total loss of GPS
> >> position info.  It sounds to me more like a wild spin, throttle-on crash
> and
> >> lipo fire.  I advise something more like 0 throttle, 10 deg up and 17
> roll
> >> or whatever produces a gentle circling glide on your airframe.  I think
> >> these pitch/roll values are used in "kill" mode as well so you can test
> them
> >> in the air.
> >> ____________________________________________________________
> >> Fashion Design Education - Click Here!
> >>
> >>
>
http://thirdpartyoffers.juno.com/TGL2141/fc/Ioyw6i3oIaxayhf6v0qyKFdfvXplzTMUHQ82EF1TvuOwIQPzEsrgkl/
> >>
> >> ------------------------------------------------------------------------
> >>
> >>
> >> Hi,
> >>
> >> I have a Tiny v2.11 autopilot with all the hardware needed for autonomous
> >> flight. I have started on the programming, but have run into a few
> >> difficulties.
> >>
> >> I have installed all the hardware in my aircraft, but have not gotten any
> >> further than that succesfully. I am meant to be demonstrating autonomous
> >> flight a week from now, so it would be really great if I could get the
> >> autopilot fully working by then.
> >>
> >> I am new to Linux, and have run into some problems regarding the
> >> programming. It would be extremely helpful if you could provide some
> >> assistance. I am using Ubuntu 8.04.1 - Hardy Heron
> >>
> >> I have been studying the Wiki and following it very closely.
> >>
> >> This is what I need help with:
> >>
> >> - Installing the drivers for the radio modem (the ground-station modem.
> It
> >> plugs into the USB port and grabs the serial signals. I'm sure you know
> all
> >> about this... The readme file that came with it says that I need to
> compile
> >> the driver into a 'Loadable Kernel Module' but I am unsure how to do
> this.
> >> The modem I am using is a Digi (Maxstream) 9XTend operating on 900MHz. I
> >> have been told that I may not need to install the driver, but can you
> please
> >> advise me on what to do.
> >>
> >> - Configuring the rc radio settings: I am using a 6-channel JR Radio. I
> >> have found (using a scope) that my JR R700 7-channel receiver outputs the
> >> ppm signal through the 'signal' pin in the battery connector. I can attach
> a
> >> picture of the signal if you want. Also, how do you choose which channel
> >> determines the mode? (Auto 1, Auto 2, Manual).
> >>
> >> - Configuring the airframe file: I have had a go at making my own
> airframe
> >> file (following the wiki), but are not sure if it is correct. I have
> pasted
> >> the code at the bottom. My airframe is very simple: A 3-Channel Easystar.
> It
> >> also hope to be able to trigger a servo for controlling the shutter on a
> >> camera at a set position, but I will keep it simple and focus on
> achieving
> >> autonomous flight first.
> >>
> >>
> >> It would really be great if you could help me get this working within the
> >> next week.
> >>
> >> Thankyou very much,
> >>
> >> Ben
> >>
> >>
> >> Here is my airframe code:
> >>
> >> <!DOCTYPE airframe SYSTEM "airframe.dtd">
> >>
> >> <airframe name="EASYSTAR">
> >>  <!-- tiny v2.11 airframe -->
> >>
> >> <!-- commands section -->
> >>  <servos>
> >>    <servo name="THROTTLE"  no="0" min="1000" neutral="1500" max="2000"/>
> >>    <servo name="RUDDER"  no="2" min="1000" neutral="1500" max="2000"/>
> >>    <servo name="ELEVATOR" no="6" min="1000" neutral="1500" min="2000"/>
> >>  </servos>
> >>
> >>  <commands>
> >>    <axis name="THROTTLE" failsafe_value="0"/>
> >>    <axis name="YAW"     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>
> >>
> >>  <command_laws>
> >>    <set servo="THROTTLE" value="@THROTTLE"/>
> >>    <set servo="RUDDER" value="@ROLL"/>
> >> <set servo="ELEVATOR" value="@PITCH"/>
> >>  </command_laws>
> >>
> >>  <section name="AUTO1" prefix="AUTO1_">
> >>    <define name="MAX_ROLL" value="0.6"/>
> >>    <define name="MAX_PITCH" value="0.6"/>
> >>  </section>
> >>
> >>  <section name="adc" prefix="ADC_CHANNEL_">
> >>    <define name="IR1" value="ADC_0"/>
> >>    <define name="IR2" value="ADC_1"/>
> >>    <define name="IR_TOP" value="ADC_6"/>
> >>
> >>  </section>
> >>
> >>  <section name="INFRARED" prefix="IR_">
> >>    <define name="ADC_IR1_NEUTRAL" value="512"/>
> >>    <define name="ADC_IR2_NEUTRAL" value="512"/>
> >>    <define name="ADC_TOP_NEUTRAL" value="512"/>
> >>    <define name="IR2_SIGN" value="-1"/>
> >>    <define name="TOP_SIGN" value="-1"/>
> >>    <define name="HORIZ_SENSOR_TILTED" value="1"/>
> >>    <define name="LATERAL_CORRECTION" value="1"/>
> >>    <define name="LONGITUDINAL_CORRECTION" value="1"/>
> >>    <define name="VERTICAL_CORRECTION" 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="MILLIAMP_PER_PERCENT" value="0.86"/>
> >>    <define name="CATASTROPHIC_BAT_LEVEL" value="5.5" unit="V"/>
> >>  </section>
> >>    <section name="MISC">
> >>    <define name="NOMINAL_AIRSPEED" value="7" 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"/>
> >>  </section>
> >>    <section name="PID">
> >>    <define name="ROLL_PGAIN" value="5000."/>
> >>    <define name="PITCH_OF_ROLL" value="0.25"/>
> >>    <define name="PITCH_PGAIN" value="10000."/>
> >>    <define name="MAX_ROLL" value="0.35"/>
> >>    <define name="MAX_PITCH" value="0.35"/>
> >>    <define name="MIN_PITCH" value="-0.35"/>
> >>    <define name="AILERON_OF_THROTTLE" value="0.0"/>
> >>    <define name="CRUISE_THROTTLE" value="0.35"/>
> >>  </section>
> >>    <section name="ALT" prefix="CLIMB_">
> >>    <define name="PITCH_PGAIN" value="-0.05"/>
> >>    <define name="PITCH_IGAIN" value="0.075"/>
> >>    <define name="PGAIN" value="-0.01"/>
> >>    <define name="IGAIN" value="0.1"/>
> >>    <define name="MAX" value="1."/>
> >>    <define name="PITCH_OF_VZ_PGAIN" value="0.05"/>
> >>    <define name="THROTTLE_OF_CLIMB" value="0.15" unit="%/(m/s)"/>
> >>  </section>
> >>    <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
> >>    <define name="COURSE_PGAIN" value="-0.4"/>
> >>    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
> >>    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
> >>    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
> >>
> >>
> >>    <define name="ROLL_PGAIN" value="5000."/>
> >>    <define name="AILERON_OF_THROTTLE" value="0.0"/>
> >>    <define name="PITCH_PGAIN" value="-9000."/>
> >>    <define name="PITCH_DGAIN" value="1.5"/>
> >>      <!--  roll rate loop -->
> >>    <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
> >>    <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
> >>    <define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
> >>    <define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="1000."/>
> >>    <define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="1000."/>
> >>    <define name="ROLL_RATE_IGAIN" value="0"/>
> >>    <define name="ROLL_RATE_DGAIN" value="0"/>
> >>    <define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
> >>
> >>  </section>
> >>
> >>  <section name="VERTICAL CONTROL" prefix="V_CTL_">
> >>
> >>    <define name="POWER_CTL_BAT_NOMINAL" value="6" 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="0.4"/>
> >>    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
> >>    <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="0.15"
> >> 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"/>
> >>
> >>    <!-- 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="0.1"/>
> >>
> >>  </section>
> >>
> >>
> >>  <section name="NAV">
> >>    <define name="NAV_PITCH" value="0.0"/>
> >>    <define name="NAV_GLIDE_PITCH_TRIM" value="0.2"/>
> >>    <define name="DEFAULT_CIRCLE_RADIUS" value="100" unit="m"/>
> >>  </section>
> >>
> >>  <section name="AGGRESSIVE" prefix="AGR_">
> >>    <define name="CLIMB_THROTTLE" value="0.95"/><!-- Throttle for
> >> Aggressive Climb -->
> >>    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for
> >> Aggressive Decent -->
> >>    <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive
> Climb
> >> -->
> >>    <define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive
> >> Decent -->
> >>    <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_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="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="DATALINK" prefix="DATALINK_">
> >>    <define name="DEVICE_TYPE" value="PPRZ"/>
> >>    <define name="DEVICE_ADDRESS" value="...."/>
> >>  </section>
> >> -->
> >>
> >>
> >>  <makefile>
> >> include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
> >>
> >> FLASH_MODE=IAP
> >>
> >> ap.CFLAGS +=  -DFBW -DAP -DCONFIG=\"tiny.h\" -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 += -DLED_3_BANK=0 -DLED_3_PIN=17 -DLED_4_BANK=0 -DLED_4_PIN=18
> >> -DLED_5_BANK=0 -DLED_5_PIN=19 -DLED_6_BANK=0 -DLED_6_PIN=20
> >>
> >>
> >> ap.srcs += commands.c
> >>
> >> ap.CFLAGS += -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015
> >> ap.srcs += actuators.c $(SRC_ARCH)/servos_4015_hw.c
> >>
> >> ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_JR
> >> ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
> >> ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport
> >> -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0
> >> -DDATALINK=PPRZ -DUART0_BAUD=B9600
> >> ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
> >> latlong.c
> >>
> >>
> >> ap.CFLAGS += -DINTER_MCU
> >> ap.srcs += inter_mcu.c
> >>
> >> ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD1
> -DUSE_AD1_5
> >> -DUSE_AD1_3 -DUSE_AD1_5
> >> ap.srcs += $(SRC_ARCH)/adc_hw.c
> >>
> >> ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600
> >>
> >> ap.srcs += gps_ubx.c gps.c
> >>
> >> ap.CFLAGS += -DINFRARED
> >> ap.srcs += infrared.c estimator.c
> >>
> >> ap.CFLAGS += -DNAV
> >> ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c nav_line.c
> >>
> >>
> >> ap.CFLAGS += -DGYRO -DADXRS150 -DPID_RATE_LOOP
> >> ap.srcs += gyro.c
> >>
> >> # Harware In The Loop
> >>
> >> #ap.CFLAGS += -DHITL
> >>
> >> # Config for SITL simulation
> >> include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
> >> sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
> >> sim.srcs += nav_survey_rectangle.c traffic_info.c nav_line.c
> >>  </makefile>
> >> </airframe>
> >>
> >> ------------------------------------------------------------------------
> >>
> >> _______________________________________________
> >> Paparazzi-devel mailing list
> >> address@hidden
> >> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
> >>
> >>
> >
> >
> >
> > _______________________________________________
> > Paparazzi-devel mailing list
> > address@hidden
> > http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
> >
>