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Re: [Paparazzi-devel] YAPA2 setup for fixed wing
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From: |
Robert |
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Subject: |
Re: [Paparazzi-devel] YAPA2 setup for fixed wing |
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Date: |
Sat, 1 Nov 2014 13:07:58 -0700 (MST) |
Rolf,
thank you!
Yes, after digging through all these airframe files I altered one rather
comprehensive one with funjet settings. The result is attached to this text.
It can be compiled with paparazzi center without faults (only minor
warnings).
My current issue with it is: I cant predict at all how this whole set of
defines might work out. For instance this:
I added a set of parameters obviously needed for the Eagle Tree airspeed
sensor, like this:
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<define name="ALTITUDE_PGAIN" value="0.06"/>
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2"
unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.02"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
now this part was added from another airframe file
<define name="AUTO_AIRSPEED_SETPOINT" value="12.5" unit="m/s"/>
<define name="AUTO_AIRSPEED_PGAIN" value="0.060"/>
<define name="AUTO_AIRSPEED_IGAIN" value="0.050"/>
<define name="AUTO_GROUNDSPEED_SETPOINT" value="6.0" unit="m/s"/>
<define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
<define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>
up to here
<define name="AUTO_PITCH_PGAIN" value="0.06"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<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>
I am totally unsure about the airspeed sensor related parameters and values
in this part of the vertical control section. While I changed all the rest
to funjet-settings, the airspeed part was taken from another airframe file
and most probably doesnt match.
General question: Where can I look up all these settings? only go through
the sources?
Thank you
Best Regards
Bob
Annex: here is the airframe file
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="Funjet">
<firmware name="fixedwing">
<define name="USE_I2C0"/>
<define name="USE_I2C1"/>
<define name="AGR_CLIMB"/>
<define name="TUNE_AGRESSIVE_CLIMB"/>
<define name="STRONG_WIND"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<define name="LOITER_TRIM"/>
<define name="USE_AIRSPEED"/>
<define name="USE_BARO_MS5611"/>
<configure name="USE_MAGNETOMETER" value="FALSE"/>
<target name="ap" board="yapa_2.0"/>
<target name="sim" board="pc"/>
<configure name="SYS_TIME_LED" value="1"/>
<configure name="RADIO_CONTROL_LED" value="2"/>
<configure name="GPS_LED" value="3"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="B57600"/>
</subsystem>
<subsystem name="gps" type="ublox"/>
<subsystem name="control"/>
<subsystem name="navigation"/>
<subsystem name="ins" type="alt_float"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="imu" type="drotek_10dof_v2">
<configure name="DROTEK_2_I2C_DEV" value="i2c0"/>
<define name="DROTEK_2_MPU_I2C_ADDR" value="MPU60X0_ADDR"/>
<define name="IMU_DROTEK_2_ORIENTATION_IC_UP" value="1"/>
</subsystem>
</firmware>
<modules>
<load name="nav_line.xml"/>
<load name="baro_ms5611_i2c.xml"/>
<define name="MS5611_I2C_DEV" value="i2c2"/>
<define name="MS5611_SLAVE_ADDR=0xEE"/>
<define name="MS5611_SEND_BARO_ALTITUDE"/>
<define name="SENSOR_SYNC_SEND"/>
<load name="airspeed_ets.xml"/>
</modules>
<servos>
<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILERON_LEFT" no="1" min="900" neutral="1500" max="2100"/>
<servo name="AILERON_RIGHT" no="3" min="900" neutral="1500" max="2100"/>
</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>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="RadOfDeg(85)"/>
<define name="MAX_PITCH" value="RadOfDeg(45)"/>
</section>
<command_laws>
<let var="aileron" value="@ROLL * 0.3"/>
<let var="elevator" value="@PITCH * 0.7"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="AILERON_LEFT" value="$elevator + $aileron"/>
<set servo="AILERON_RIGHT" value="$elevator - $aileron"/>
</command_laws>
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DEFAULT_THROTTLE" value="0.35" 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"/>
<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<define name="ALTITUDE_PGAIN" value="0.06"/>
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2"
unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.02"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<define name="AUTO_AIRSPEED_SETPOINT" value="12.5" unit="m/s"/>
<define name="AUTO_AIRSPEED_PGAIN" value="0.060"/>
<define name="AUTO_AIRSPEED_IGAIN" value="0.050"/>
<define name="AUTO_GROUNDSPEED_SETPOINT" value="6.0" unit="m/s"/>
<define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
<define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>
<define name="AUTO_PITCH_PGAIN" value="0.06"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<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="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="0.90"/>
<define name="COURSE_DGAIN" value="0.35"/>
<define name="ROLL_MAX_SETPOINT" value="0.70" 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="5500."/>
<define name="PITCH_DGAIN" value="0.4"/>
<define name="ELEVATOR_OF_ROLL" value="2400"/>
<define name="ROLL_ATTITUDE_GAIN" value="10000"/>
<define name="ROLL_RATE_GAIN" value="800"/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="30"/>
<define name="BLEND_END" value="15"/>
<define name="CLIMB_THROTTLE" value="0.9"/>
<define name="CLIMB_PITCH" value="0.35"/>
<define name="DESCENT_THROTTLE" value="0.05"/>
<define name="DESCENT_PITCH" value="-0.35"/>
<define name="CLIMB_NAV_RATIO" value="0.8"/>
<define name="DESCENT_NAV_RATIO" value="1.0"/>
</section>
<section name="BAT">
<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="14." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
</section>
</airframe>
--
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- Re: [Paparazzi-devel] YAPA2 setup for fixed wing,
Robert <=