[Paparazzi-devel] Airframefile for a boat

I want to try to have paparazzi (a Lisa/M) to control a RC-boat.

My idea is to modify a airframefile for a EZStar for the purpose, since the EZStar is originally controlled by throttle/rudder/elevator only.

The current airframefile is found below. I have tried to remove the settings related to roll and pitch control, but then the setup will not compile.

Any suggestions for how to get paparazzi to use a fixed throttle level set in a airframefile -or to use a throttle level set directly from the tx? (I am not even sure it is possible to make paparazzi "forget" everything about roll and pitch control).

Jorn

-----------------------------------------------------------------
<!DOCTYPE airframe SYSTEM "../airframe.dtd">



<airframe name="my_lisa_m2_boat">

<firmware name="fixedwing">
    <target name="ap"             board="lisa_m_2.0">
      
      <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"/>
    </target>

    <target name="sim"             board="pc"/>

    <define name="USE_MAGNETOMETER" value="FALSE"/>

    <subsystem name="radio_control" type="ppm"/>
    <subsystem name="telemetry" type="transparent"/>
    <subsystem name="control"/>
    <subsystem name="imu" type="aspirin_v2.1"/>
    <subsystem name="ahrs" type="float_dcm"/>
    <subsystem name="gps" type="ublox"/>
    <subsystem name="navigation"/>
    <subsystem name="ins" type="alt_float"/>
</firmware>

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


<servos>
    <servo name="THROTTLE"      no="7" min="1120" neutral="1120" max="1920"/>
    <servo name="ELEVATOR"      no="3" min="1100" neutral="1515" max="1900"/>
    <servo name="RUDDER"        no="4" min="950" neutral="1440" max="2050"/>
</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="ROLL"      value="@ROLL"/>
    <set command="PITCH"     value="@PITCH"/>
    <set command="THROTTLE" value="@THROTTLE"/>
</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="50" unit="deg"/>
    <define name="MAX_PITCH" value="40" unit="deg"/>
</section>

<section name="IMU" prefix="IMU_">
    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
    <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
</section>

<section name="INS" prefix="INS_">
    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
</section>

<section name="BAT">
    <define name="MILLIAMP_AT_FULL_THROTTLE" value="20000" unit="mA"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.0" unit="V"/>
    <define name="CRITIC_BAT_LEVEL" value="9.5" unit="V"/>
    <define name="LOW_BAT_LEVEL" value="10.0" unit="V"/>
    <define name="MAX_BAT_LEVEL" value="12.5" unit="V"/>
</section>

<section name="MISC">
    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
    <define name="CARROT" value="4." unit="s"/>
    <define name="KILL_MODE_DISTANCE" value="(2.0*MAX_DIST_FROM_HOME)"/>
    <define name="DEFAULT_CIRCLE_RADIUS" value="100."/>
</section>

<section name="VERTICAL CONTROL" prefix="V_CTL_">
    <define name="POWER_CTL_BAT_NOMINAL" value="11.0" unit="volt"/>
    
    <define name="ALTITUDE_PGAIN" value="0.075" unit="(m/s)/m"/>
    <define name="ALTITUDE_MAX_CLIMB" value="4." unit="m/s"/>
    
    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5" unit="%"/>
    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.2" unit="%"/>
    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1.0" unit="%"/>
    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" unit="pprz_t"/>
    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000" 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)"/>
    <define name="AUTO_THROTTLE_IGAIN" value="0.03"/>
    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05" unit="rad/(m/s)"/>
    <define name="AUTO_PITCH_PGAIN" value="0.125"/>
    <define name="AUTO_PITCH_IGAIN" value="0.025"/>
    <define name="AUTO_PITCH_MAX_PITCH" value="25" unit="deg"/>
    <define name="AUTO_PITCH_MIN_PITCH" value="-25" unit="deg"/>
    <define name="THROTTLE_SLEW" value="1.0"/>
</section>

<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
    <define name="COURSE_PGAIN" value="1.0"/>
    <define name="COURSE_DGAIN" value="0.4"/>
    <define name="ROLL_MAX_SETPOINT" value="35" unit="deg"/>
    <define name="PITCH_MAX_SETPOINT" value="25" unit="deg"/>
    <define name="PITCH_MIN_SETPOINT" value="-25" unit="deg"/>
    <define name="PITCH_PGAIN" value="20000."/>
    <define name="PITCH_DGAIN" value="1.5"/>
    <define name="ELEVATOR_OF_ROLL" value="2500"/>
    <define name="ROLL_ATTITUDE_GAIN" value="7400"/>
    <define name="ROLL_RATE_GAIN" value="200"/>
</section>

<section name="FAILSAFE" prefix="FAILSAFE_">
    <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
    <define name="DEFAULT_THROTTLE" value="0.4" unit="%"/>
    <define name="DEFAULT_ROLL" value="15" unit="deg"/>
    <define name="DEFAULT_PITCH" value="0" unit="deg"/>
    <define name="HOME_RADIUS" value="90" unit="m"/>
</section>

</airframe>

From:	Jorn Anke
Subject:	[Paparazzi-devel] Airframefile for a boat
Date:	Fri, 6 Feb 2015 23:34:54 +0100