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

[pascal . brisset]

Hi Ben,

Quoting Ben Paratz <address@hidden>:
> The flight plan I have uploaded is "Muret demo"

 Please prefer basic.xml (which is written to work anywhere around the world)

> 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

 You have to be sure about the speed :-)
 Thanks to your airframe file (you are using the modem in the transparent mode),
you do not want to use the USB-Maxstream session (which runs the link agent with
the "-transport xbee" option). If you want to change the baudrate to 56k, just
run the address@hidden session, stop the "Data Link" process, edit the command
to add "-s 57600" and restart the processs.

 To check that you get messages on the host, run the "Messages" agent (from the
Tools menu in Paparazzicenter") : you should see green spots blinking. If you
get messages and the GCS does not show anything, hmmm, let us know ...

--Pascal

>
> 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
> >
>