Re: [Paparazzi-devel] Tiny13 V1.1 Basic Airframe Compile

[chrismcdowell25]

That example file really helped.  Thanks for the help it is compiling just
fine now.  This is the airframe I am using now that is compiling for me.

<!DOCTYPE airframe SYSTEM &quot;airframe.dtd&quot;>



<airframe name="Chris Tiny">



<firmware name="fixedwing">
        <target name="sim" board="pc" />
        <target name="ap" board="tiny_1.1" />
        <target name="usb_tunnel_1" board="tiny_1.1"/>
        <subsystem name="ahrs" type="infrared" />
        <subsystem name="radio_control" type="ppm" />
        <subsystem name="telemetry" type="transparent" />
        <subsystem name="gps" type="ublox_utm" />
        <subsystem name="control" />
        <subsystem name="navigation" />
        <configure name="GPS_LED" value="1" />
        <configure name="RADIO_CONTROL_LED" value="2" />
</firmware>



<modules>
        <load name="infrared_adc.xml"/>
</modules>



<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="-3.6" unit="deg"/>
        <define name="PITCH_NEUTRAL_DEFAULT" value="5" 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>



<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"/>
</commands>



<servos>
        <servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
        <servo name="ROLL" no="1" min="1050" neutral="1480" max="1900"/>
        <servo name="PITCH" no="2" min="1750" neutral="1530" max="1250"/>
        <servo name="YAW" no="3" min="1100" neutral="1500" max="1900"/>
</servos>



<command_laws>
        <set servo="THROTTLE" value="@THROTTLE"/>
        <let var="ROLL" value="@ROLL"/>
        <let var="PITCH" value="@PITCH"/>
        <let var="YAW" value="@YAW"/>
</command_laws>



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



<auto_rc_commands>
        <set command="YAW" value="@YAW"/>
</auto_rc_commands>



<section name="BAT">
        <define name="MILLIAMP_AT_FULL_THROTTLE" value="1200" unit="mA" />
        <define name="CATASTROPHIC_BAT_LEVEL" value="11.0" unit="V" />
        <define name="CRITICAL_BAT_LEVEL" value="11.5" unit="V" />
        <define name="LOW_BAT_LEVEL" value="11.0" unit="V" />
        <define name="MAX_BAT_LEVEL" value="12.4" unit="V" />
</section>



<section name="AUTO1" prefix="AUTO1_">
        <define name="MAX_ROLL" value="0.85"/>
        <define name="MAX_PITCH" value="0.6"/>
</section>



<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
        <define name="COURSE_PGAIN" value="1.0"/>
        <define name="COURSE_DGAIN" value="0.3"/>
        <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
        <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
        <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
        <define name="PITCH_PGAIN" value="12000."/>
        <define name="PITCH_DGAIN" value="1.5"/>
        <define name="ELEVATOR_OF_ROLL" value="1250"/>
        <define name="ROLL_SLEW" value="0.1"/>
        <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
        <define name="ROLL_RATE_GAIN" value="1500"/>
</section>



<section name="VERTICAL CONTROL" prefix="V_CTL_">
        <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
        <define name="ALTITUDE_PGAIN" value="0.03"/>
        <define name="ALTITUDE_MAX_CLIMB" value="2."/>
        <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
        <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
        <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
        <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
        <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
        <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"/>
        <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
</section>



<section name="MISC">
        <define name="NOMINAL_AIRSPEED" value ="12.0" unit="m/s" />
        <define name="CONTROL_RATE" value="60" unit="Hz"/>
        <define name="CARROT" value="5.0" unit="s" />
        <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
        <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
</section>

</airframe>




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