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[Paparazzi-devel] Still can't make the simulator work help!

From: Chris
Subject: [Paparazzi-devel] Still can't make the simulator work help!
Date: Sun, 24 Jun 2012 14:38:38 +0300
User-agent: Mozilla/5.0 (X11; Linux i686; rv:13.0) Gecko/20120615 Thunderbird/13.0.1 
Ok this is as far as i can go so i need some help.
I am trying to simulate a flight with the newest dev version but all i can achieve is to take off and after 30-50 meters the plane dives steeply to the ground, it behaves much like a pitch control oscillation. 
The PFD is not moving at all and gains are all positive now.
Throttle is working at 100% all the time so it is not a throttle problem.
Here is my airframe file as i can't think of something else.

<!--
     X8 DELTA WING
     Twog v1  board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
PPZUAVIMU (http://paparazzi.enac.fr/wiki/Inertial_Measurement_Units#PPZUAV_IMU_9DOF) XBee modem (http://paparazzi.enac.fr/wiki/index.php/Modems#Maxstream_XBee_Pro) in transparent mode. Attopilot (SparkFun) curent sensor (http://paparazzi.enac.fr/wiki/Current_sensor) PTZ camera (http://www.foxtechfpv.com/fh10z-10x-optical-zoom-rc-controlled-camworld-smallest-75g-p-166.htm) 
     Camera Zoom is controlled directly from the PC.
-->

<airframe name="X8_joystick_cam_airframe.xml">

<firmware name="fixedwing">

<target name="ap"             board="twog_1.0"/>
<target name="sim"             board="pc"/>

    <define name="GPS_LED" value="2"/>
        <define name="AGR_CLIMB"/>
    <define name="LOITER_TRIM"/>
    <define name="WIND_INFO"/>
    <define name="WIND_INFO_RET"/>
    <define name="STRONG_WIND"/>
    <define name="ALT_KALMAN"/>
    <define name="USE_GROUNDSPEED_CONTROL"/>
    <define name="USE_ADC_3"/>
    <define name="USE_I2C0"/>
    <define name="USE_JOYSTICK_FOR_CAMERA"/>
<!--    <define name="USE_MAGNETOMETER" />  -->
<!--
    <configure name="PERIODIC_FREQUENCY" value="120"/>
    <configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
    <configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
    <define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
-->
        <configure name="AHRS_ALIGNER_LED" value="3"/>
        <configure name="CPU_LED" value="3"/>

    <subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"> <configure name="MODEM_BAUD" value="B115200"/> </subsystem> 
    <subsystem name="control" />
<subsystem name="gps" type="ublox"> <configure name="GPS_BAUD" value="B38400"/> </subsystem> 
    <subsystem name="navigation" />
    <subsystem name="imu" type="ppzuav"/>
    <subsystem name="ahrs" type="float_dcm"/>

</firmware>

 <firmware name="setup">
    <target name="tunnel"         board="twog_1.0" />
    <target name="setup_actuators"     board="twog_1.0" />
 </firmware>

<modules>
<!-- <load name="imu_ppzuav.xml" /> --> <!-- Only used for testing --> 
    <load name="my_cam_v3_1_yaw_pitch_nose.xml"/>
<!--    <load name="my_sonar.xml"/>   -->
</modules>

<!-- commands section -->
<servos>
<servo name="AILEVON_RIGHT" no="0" min="2000" neutral="1500" max="1000"/> <servo name="AILEVON_LEFT" no="1" min="2000" neutral="1500" max="1000"/> <servo name="MOTOR" no="2" min="1100" neutral="1100" max="2000"/> <servo name="PARACHUTE" no="3" min="943" neutral="1520" max="2056"/> <servo name="CAMERA_ZOOM" no="5" min="950" neutral="1500" max="2050"/> <servo name="CAMERA_PAN" no="6" min="943" neutral="1520" max="2056"/> <servo name="CAMERA_TILT" no="7" min="996" neutral="1221" max="2004"/> <!-- <servo name="ANTENNA_PAN" no="5" min="950" neutral="1500" max="2050"/> --> 
</servos>

<commands>
    <axis name="ROLL"        failsafe_value="0"/>
    <axis name="PITCH"        failsafe_value="0"/>
    <axis name="THROTTLE"        failsafe_value="0"/>
    <axis name="PARACHUTE"        failsafe_value="0"/>
    <axis name="CAM_PAN"        failsafe_value="0"/>
    <axis name="CAM_TILT"        failsafe_value="0"/>
    <axis name="CAM_LOCK"        failsafe_value="0"/>
    <axis name="CAM_ZOOM"        failsafe_value="0"/>
<!--    <axis name="ANT_PAN"        failsafe_value="0"/> -->
</commands>

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

  <section name="MIXER">
    <define name="AILEVON_AILERON_RATE" value="0.75"/>
    <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
  </section>

  <command_laws>
    <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
    <set servo="MOTOR"         value="@THROTTLE"/>
    <set servo="AILEVON_LEFT"  value="$elevator - $aileron"/>
    <set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
    <set servo="CAMERA_PAN"        value="@CAM_PAN"/>
    <set servo="CAMERA_TILT"    value="@CAM_TILT"/>
    <set servo="CAMERA_ZOOM"    value="@CAM_ZOOM"/>
<!--    <set servo="ANTENNA_PAN"    value="@ANT_PAN"/> -->
  </command_laws>
<!-- EMPTY "auto_rc_commands" block means NO RC RUDDER CONTROL IN AUTO2 AND AUTO1 --> 
 <auto_rc_commands>

 </auto_rc_commands>


<!--
<ap_only_commands>
    <copy command="CAM_PAN"/>
    <copy command="CAM_TILT"/>
</ap_only_commands>
-->

  <!-- Local magnetic field -->
  <section name="AHRS" prefix="AHRS_" >
    <define name="H_X" value="0.51562740288882" />
    <define name="H_Y" value="-0.05707735220832" />
    <define name="H_Z" value="0.85490967783446" />
  </section>

  <section name="IMU" prefix="IMU_">
    <!-- Calibration Neutral -->
    <define name="GYRO_P_NEUTRAL" value="0"/>
    <define name="GYRO_Q_NEUTRAL" value="0"/>
    <define name="GYRO_R_NEUTRAL" value="0"/>
<!-- SENS = 14.375 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec / 12bit FRAC: 4096 / 828 --> 
    <define name="GYRO_P_SENS" value="4.947" integer="16"/>
    <define name="GYRO_Q_SENS" value="4.947" integer="16"/>
    <define name="GYRO_R_SENS" value="4.947" integer="16"/>

    <define name="GYRO_P_Q" value="0."/>
    <define name="GYRO_P_R" value="0"/>
    <define name="GYRO_Q_P" value="0."/>
    <define name="GYRO_Q_R" value="0."/>
    <define name="GYRO_R_P" value="0."/>
    <define name="GYRO_R_Q" value="0."/>

    <define name="GYRO_P_SIGN" value="1"/>
    <define name="GYRO_Q_SIGN" value="1"/>
    <define name="GYRO_R_SIGN" value="1"/>

    <define name="ACCEL_X_NEUTRAL" value="0"/>
    <define name="ACCEL_Y_NEUTRAL" value="0"/>
    <define name="ACCEL_Z_NEUTRAL" value="0"/>
<!-- SENS = 256 LSB/g @ 2.5V [X&Y: 265 LSB/g @ 3.3V] / 9.81 ms2/g = 26.095 LSB/ms2 / 10bit FRAC: 1024 / 26.095 for z and 1024 / 27.01 for X&Y --> 
    <define name="ACCEL_X_SENS" value="37.9" integer="16"/>
    <define name="ACCEL_Y_SENS" value="37.9" integer="16"/>
    <define name="ACCEL_Z_SENS" value="39.24" integer="16"/>

    <define name="ACCEL_X_SIGN" value="1"/>
    <define name="ACCEL_Y_SIGN" value="1"/>
    <define name="ACCEL_Z_SIGN" value="1"/>

    <define name="MAG_X_NEUTRAL" value="0"/>
    <define name="MAG_Y_NEUTRAL" value="0"/>
    <define name="MAG_Z_NEUTRAL" value="0"/>

    <define name="MAG_X_SENS" value="1" integer="16"/>
    <define name="MAG_Y_SENS" value="1" integer="16"/>
    <define name="MAG_Z_SENS" value="1" integer="16"/>

    <define name="MAG_X_SIGN" value="1"/>
    <define name="MAG_Y_SIGN" value="1"/>
    <define name="MAG_Z_SIGN" value="1"/>

    <define name="BODY_TO_IMU_PHI" value="0"/>
    <define name="BODY_TO_IMU_THETA" value="0"/>
    <define name="BODY_TO_IMU_PSI" value="0"/>
  </section>

<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-3)" unit="radians"/> <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="radians"/> 
</section>

<section name="AUTO1" prefix="AUTO1_">
    <define name="MAX_ROLL" value="RadOfDeg(40)"/>
    <define name="MAX_PITCH" value="RadOfDeg(30)"/>
</section>


<section name="BAT">
<!-- "MilliAmpereOfAdc(adc)" default is 88 but i have changed the sensor's resistors with 3 turn, 1,6 mm thick copper wire --> 
<!--
        <define name="ADC_CHANNEL_CURRENT"  value="ADC_3" />
    <define name="MilliAmpereOfAdc(adc)"  value="(90*adc)"/>
-->
    <define name="MILLIAMP_AT_FULL_THROTTLE"  value="20000"/>
    <define name="BAT_CAPACITY"                value="9400."/>
    <define name="FUEL_RESERVE_SECONDS"            value="300" unit="s"/>
<!--
        <define name="VOLTAGE_ADC_A" value="0.035449219"/>
        <define name="VOLTAGE_ADC_B" value="0.0"/>
<define name="VoltageOfAdc(adc)" value ="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/> 
-->
<define name="CATASTROPHIC_BAT_LEVEL" value="12.0" unit="V"/> 
    <define name="CRITIC_BAT_LEVEL"                value="13.5" unit="V"/>
    <define name="LOW_BAT_LEVEL"                value="14.0" unit="V"/>
    <define name="MAX_BAT_LEVEL"                value="16.8" unit="V"/>
</section>

<section name="MISC">
    <define name="STALL_AIRSPEED"                value="14.0" unit="m/s"/>
    <define name="NOMINAL_AIRSPEED"                value="20" unit="m/s"/>
        <define name="MINIMUM_AIRSPEED"  value="15." unit="m/s"/>
        <define name="MAXIMUM_AIRSPEED"  value="28." unit="m/s"/>
    <define name="CARROT"                    value="3." unit="s"/>
    <define name="GLIDE_RATIO"                value="5."/>
    <define name="KILL_MODE_DISTANCE"  value="(1.5*MAX_DIST_FROM_HOME)"/>
    <define name="CONTROL_FREQUENCY"            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="100."/>
    <define name="MIN_CIRCLE_RADIUS"            value="100."/>
    <define name="UNLOCKED_HOME_MODE"  value="TRUE"/>
    <define name="RC_LOST_MODE"  value="PPRZ_MODE_AUTO2"/>
<!-- The below definitions are used for calculating the touch down point during auto landing --> 
    <define name="GLIDE_AIRSPEED"                value="15"/>
    <define name="GLIDE_VSPEED"                value="-3.0"/>
    <define name="GLIDE_PITCH"                value="-9." unit="deg"/>

</section>

<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- The below definition affect the throttle percentage shown on the GCS. --> 
    <define name="POWER_CTL_BAT_NOMINAL" value="14.8" unit="volt"/>
    <!-- outer loop proportional gain -->
    <define name="ALTITUDE_PGAIN" value="0.06" unit="(m/s)/m"/>
    <!-- outer loop saturation -->
    <define name="ALTITUDE_MAX_CLIMB" value="3" unit="m/s"/>
    <!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55" unit="%"/> <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.45" unit="%"/> <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65" unit="%"/> <define name="AUTO_THROTTLE_CRUISE_THROTTLE_TRIM_STEP" value="0.01" unit="%/s"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000" unit="pprz_t"/> 
    <define name="AUTO_THROTTLE_DASH_TRIM"  value="-500" 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)"/> <!-- -0.025 --> 
    <define name="AUTO_THROTTLE_IGAIN"  value="0.1"/> <!-- 0.1 -->
    <define name="AUTO_THROTTLE_DGAIN"             value="0"/>
    <!-- magnitude of elevator movement on altitude change -->
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.15" unit="rad/(m/s)"/> <!-- 0.05 --> 
    <!-- auto pitch inner loop -->
    <define name="AUTO_PITCH_PGAIN"  value="0.025"/>   <!-- 0.025 -->
    <define name="AUTO_PITCH_IGAIN"  value="0.005"/>  <!-- 0.005 -->
    <define name="AUTO_PITCH_MAX_PITCH"  value="RadOfDeg(20)"/>
    <define name="AUTO_PITCH_MIN_PITCH"  value="RadOfDeg(-20)"/>
<!--    <define name="THROTTLE_SLEW"  value="0.1"/>   -->
    <define name="THROTTLE_SLEW_LIMITER"             value="0.1" unit="s"/>

</section>

<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
    <define name="COURSE_PGAIN"                value="1"/>
        <define name="COURSE_DGAIN"                value="1"/>
        <define name="COURSE_PRE_BANK_CORRECTION"  value="1."/>
    <define name="ROLL_MAX_SETPOINT"  value="RadOfDeg(40)" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="RadOfDeg(20)" unit="radians"/> <define name="PITCH_MIN_SETPOINT" value="RadOfDeg(-20)" unit="radians"/> 
    <define name="PITCH_PGAIN"                value="8000."/>
    <define name="PITCH_DGAIN"                value="0.5"/>
    <define name="ELEVATOR_OF_ROLL"  value="1250"/>
    <define name="ROLL_SLEW"                value="0.1"/>
    <define name="ROLL_ATTITUDE_GAIN"  value="8000"/>
</section>

<section name="NAV">
    <define name="NAV_PITCH"                value="0."/>
    <define name="NAV_GLIDE_PITCH_TRIM"  value="0.0"/>
</section>

<section name="AGGRESSIVE"        prefix="AGR_">
<define name="BLEND_START" value="40"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!--> <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes NOT ZERO!!--> <define name="CLIMB_THROTTLE" value="1.0"/><!-- Gaz for Aggressive Climb --> <define name="CLIMB_PITCH" value="RadOfDeg(20)"/><!-- Pitch for Aggressive Climb --> <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent --> <define name="DESCENT_PITCH" value="RadOfDeg(-20)"/><!-- 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="1" unit="s"/>
        <define name="DEFAULT_THROTTLE"  value="0.8" unit="%"/>
        <define name="DEFAULT_ROLL"  value="RadOfDeg(10)" unit="rad"/>
        <define name="DEFAULT_PITCH"  value="RadOfDeg(10)" 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>
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