|
| From: | Felix Ruess |
| Subject: | Re: [Paparazzi-devel] DiscoveryF4 bat volatge messurement not runnig bug report |
| Date: | Fri, 5 Sep 2014 23:40:29 +0200 |
Hi,
i made same test with die discoveryF4.
In actually master and stabile version of paparazzi the measurement of the bat voltage is not working.
In a master version from 11.2013 656a13 -v5.1 its runs perfect.
Can some test it in the stabile Version 5.2 and 5.0?
Regards
Heinrich
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- Discovery F4 for normal plane, with DROTEK 10Dof IMU -->
<airframe name="HB_DiscoveryFixed">
<firmware name="fixedwing">
<target name="ap" board="stm32f4_discovery"/>
<target name="sim" board="pc"/>
<!--#######################################################################################-->
<!--############################## GLOBAL DEFINITIONS #################################-->
<!--#######################################################################################-->
<!-- "configure" pass the definition in the makefile -->
<configure name="SYS_TIME_LED" value="3"/>
<!-- "define" pass the definition in the C preprocessor -->
<define name="USE_LED_3"/>
<define name="USE_LED_4"/>
<define name="USE_LED_5"/>
<define name="USE_LED_6"/>
<define name="USE_ADC_1" value="1"/>
<define name="USE_ADC_2" value="1"/>
<define name="USE_ADC_3" value="1"/>
<define name="USE_ADC_4" value="1"/>
<define name="AGR_CLIMB"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<define name="STRONG_WIND"/>
<define name="ALT_KALMAN"/>
<define name="USE_I2C"/>
<define name="USE_I2C2"/>
<!-- <define name="SENSOR_SYNC_SEND"/> -->
<define name="USE_AHRS_GPS_ACCELERATIONS"/>
<define name="USE_GROUNDSPEED_CONTROL"/>
<configure name="PERIODIC_FREQUENCY" value="120"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
<!-- <define name="ADC_CHANNEL_VSUPPLY" value="ADC_1" /> -->
<!-- <define name="MEASURE_AIRSPEED"/> -->
<!-- <define name="USE_AIRSPEED"/> -->
<!-- <define name="USE_BAROMETER"/> -->
<!-- <define name="USE_INS_NAV_INIT" value=FALSE"/> --> <!--Set Home to flight plan coordinates -->
<!--#######################################################################################-->
<!--############################## SUBSYSTEMS #################################-->
<!--#######################################################################################-->
<!-- "define" goes to the C preprocessor, "configure" configures the makefile -->
<subsystem name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="B57600"/>
<configure name="MODEM_PORT" value="UART2"/>
<!-- <configure name="MODEM_LED" value="5"/> -->
</subsystem>
<subsystem name="gps" type="ublox">
<configure name="GPS_BAUD" value="B38400"/>
<configure name="GPS_PORT" value="UART3"/>
<configure name="GPS_LED" value="6"/>
<!-- <configure name="GPS_LED" value="none"/> -->
</subsystem>
<subsystem name="control" />
<subsystem name="radio_control" type="ppm"/>
<subsystem name="navigation" type="extra"/>
<!--
subsystems/imu/imu_drotek_10dof_v2.c:42:1: note: #pragma message: Config: Gyro/Accel output rate is 100Hz
subsystems/imu/imu_drotek_10dof_v2.c:44:1: note: #pragma message: Config: DROTEK_2_SMPLRT_DIV = 9
subsystems/imu/imu_drotek_10dof_v2.c:45:1: note: #pragma message: Config: DROTEK_2_LOWPASS_FILTER = MPU60X0_DLPF_42HZ
subsystems/imu/imu_drotek_10dof_v2.c:50:1: note: #pragma message: Config: DROTEK_2_GYRO_RANGE = MPU60X0_GYRO_RANGE_1000
subsystems/imu/imu_drotek_10dof_v2.c:55:1: note: #pragma message: Config: DROTEK_2_ACCEL_RANGE = MPU60X0_ACCEL_RANGE_8G
subsystems/imu/imu_drotek_10dof_v2.c:60:1: note: #pragma message: Config: DROTEK_2_MPU_I2C_ADDR = 0xD2
subsystems/imu/imu_drotek_10dof_v2.c:65:1: note: #pragma message: Config: DROTEK_2_HMC_I2C_ADDR = 0x3C
-->
<subsystem name="imu" type="drotek_10dof_v2">
<define name="DROTEK_2_MPU_I2C_ADDR" value="MPU60X0_ADDR_ALT" />
<!-- <define name="IMU_DROTEK_2_ORIENTATION_IC_UP" value="1" /> -->
</subsystem>
<!-- MAGNETOMETER IS NOT WORKING IN DCM BE CAREFULL -->
<!-- olri <subsystem name="ahrs" type="float_dcm"> -->
<subsystem name="ahrs" type="int_cmpl_quat">
<define name="USE_MAGNETOMETER" value="1"/>
<define name="USE_MAGNETOMETER_ONGROUND" value="0"/>
</subsystem>
<subsystem name="ins" type="alt_float"/>
<!-- <subsystem name="spi" type="master"/> -->
</firmware>
<!--#######################################################################################-->
<!--################################ MODULES #################################-->
<!--#######################################################################################-->
<modules>
<!-- baro_ms5611_i2c Alternate address -->
<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"/>
<!-- olri
<define name="SENSOR_SYNC_SEND"/>
olri -->
</load>
<load name="gps_ubx_ucenter.xml"/>
</modules>
<!--#######################################################################################-->
<!--############################# SERVOS AND CONTROLS #################################-->
<!--#######################################################################################-->
<!-- commands section -->
<servos>
<servo name="AILERON" no="0" min="988" neutral="1500" max="2012"/>
<servo name="ELEVATOR" no="1" min="988" neutral="1500" max="2012"/>
<servo name="ENGINE" no="2" min="1060" neutral="1060" max="2012"/>
<servo name="FLAPS" no="3" min="988" neutral="988" max="2012"/>
<servo name="ANT_PAN" no="4" min="950" neutral="1485" max="2050"/>
<servo name="CAM_ZOOM" no="5" min="998" neutral="1500" max="2012"/>
<servo name="CAM_PAN" no="6" min="970" neutral="1500" max="2075"/>
<servo name="CAM_TILT" no="7" min="1040" neutral="1500" max="1900"/>
</servos>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="FLAPS" failsafe_value="0"/>
<axis name="ANT_PAN" failsafe_value="0"/>
<axis name="CAM_ZOOM" failsafe_value="0"/>
<axis name="CAM_PAN" failsafe_value="0"/>
<axis name="CAM_TILT" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="FLAPS" value="@FLAPS"/>
</rc_commands>
<section name="MIXER">
<define name="FLAP_TO_ELEVATOR_MIX" value="-0.15"/>
</section>
<command_laws>
<let var="elevator" value="(@PITCH + (@FLAPS * FLAP_TO_ELEVATOR_MIX))"/>
<set servo="ENGINE" value="@THROTTLE"/>
<set servo="AILERON" value="@ROLL"/>
<set servo="ELEVATOR" value="$elevator"/>
<set servo="ANT_PAN" value="@ANT_PAN"/>
<set servo="FLAPS" value="@FLAPS"/>
<set servo="CAM_ZOOM" value="@CAM_ZOOM"/>
<set servo="CAM_PAN" value="@CAM_PAN"/>
<set servo="CAM_TILT" value="@CAM_TILT"/>
</command_laws>
<!-- EMPTY "auto_rc_commands" block means NO RC RUDDER CONTROL IN AUTO2 AND AUTO1 -->
<auto_rc_commands>
<!-- <set command="YAW" value="@YAW"/> -->
</auto_rc_commands>
<ap_only_commands>
<copy command="ANT_PAN"/>
</ap_only_commands>
<!--#######################################################################################-->
<!--################################# I M U SETUP #################################-->
<!--#######################################################################################-->
<!-- Normalized Local magnetic field obtained from http://www.ngdc.noaa.gov/geomag-web/#igrfwmm -->
<!-- Magnetic field intensity / total field strength -->
<!-- Calculated for PIRAEUS HELLAS 31 MAY 2013 declination = 3.59 degrees, 5.9 deg/year-->
<section name="AHRS" prefix="AHRS_" >
<define name="H_X" value="(26536.9/45821.6)" />
<define name="H_Y" value="(1850.1/45821.6)" />
<define name="H_Z" value="(37309.3/45821.6) " />
<define name="MAG_DECLINATION" value="(RadOfDeg(4))" />
</section>
<section name="IMU" prefix="IMU_">
<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_SIGN" value="1"/>
<define name="ACCEL_Y_SIGN" value="1"/>
<define name="ACCEL_Z_SIGN" value="1"/>
<define name="MAG_X_SIGN" value="1"/>
<define name="MAG_Y_SIGN" value="1"/>
<define name="MAG_Z_SIGN" value="1"/>
<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."/>
<!-- Found with calibrate.py script and visual observation of the RAW values -->
<!--
<define name="ACCEL_X_NEUTRAL" value="-223"/>
<define name="ACCEL_Y_NEUTRAL" value="-704"/>
<define name="ACCEL_Z_NEUTRAL" value="-40"/>
-->
<define name="GYRO_P_NEUTRAL" value="5" />
<define name="GYRO_Q_NEUTRAL" value="25" />
<define name="GYRO_R_NEUTRAL" value="12" />
<!-- SENS = 2048 LSB/g / 9.81 ms2/g = 208.766564729 LSB/ms2 / 10bit FRAC: 1024 / 208.7665 -->
<!-- Found with calibrate.py script -->
<define name="ACCEL_X_NEUTRAL" value="8"/>
<define name="ACCEL_Y_NEUTRAL" value="25"/>
<define name="ACCEL_Z_NEUTRAL" value="-55"/>
<define name="ACCEL_X_SENS" value="2.46169818688" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.4400141151" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.42446843209" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="9.7" unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="-2.4" unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
<!-- Found with calibrate.py script -->
<define name="MAG_X_NEUTRAL" value="73"/>
<define name="MAG_Y_NEUTRAL" value="118"/>
<define name="MAG_Z_NEUTRAL" value="169"/>
<define name="MAG_X_SENS" value="4.25741044617" integer="16"/>
<define name="MAG_Y_SENS" value="4.26451705702" integer="16"/>
<define name="MAG_Z_SENS" value="4.87790997442" integer="16"/>
</section>
<!--#######################################################################################-->
<!--################## AIRCRAFT ATTITUDE TRIMMING AND AUTO1 LIMITS #####################-->
<!--#######################################################################################-->
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0.)" unit="radians"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0.)" unit="radians"/>
</section>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="40" unit="deg"/>
<define name="MAX_PITCH" value="30" unit="deg"/>
</section>
<!--#######################################################################################-->
<!--######################### AIRCRAFT VERTICAL CONTROL SETUP ########################-->
<!--#######################################################################################-->
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- OUTER LOOP PARAMETERS -->
<!-- The below definition affect the throttle percentage shown on the GCS. -->
<define name="POWER_CTL_BAT_NOMINAL" value="12.6" unit="volt"/>
<!-- outer loop ALTITUDE proportional gain -->
<define name="ALTITUDE_PGAIN" value="0.07" unit="(m/s)/m"/>
<!-- outer loop ALTITUDE LIMIT (saturation) -->
<define name="ALTITUDE_MAX_CLIMB" value="3" unit="m/s"/>
<!-- outer loop AIRSPEED proportional gain -->
<define name="AIRSPEED_PGAIN" value="0.2"/>
<!-- INNER LOOP PARAMETERS -->
<!-- The below definitions are used almost always -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.50" unit="%"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.40" unit="%"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.70" unit="%"/>
<define name="THROTTLE_SLEW_LIMITER" value="0.6" unit="s"/>
<define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(20)"/>
<define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-20)"/>
<!-- Climb loop (throttle) -->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_PITCH" value="0.0" unit="rad"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.008"unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.0"/>
<define name="AUTO_THROTTLE_DGAIN" value="0.001"/>
<!-- Climb loop (pitch) -->
<!-- magnitude of elevator movement on altitude change -->
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.15" unit="rad/(m/s)"/> <!-- 0.05 -->
<define name="AUTO_PITCH_PGAIN" value="0.04"/> <!--0.052-->
<define name="AUTO_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_PITCH_IGAIN" value="0.01"/> <!--0.065-->
<!-- Loiter and Dash trimming -->
<define name="AUTO_THROTTLE_LOITER_TRIM" value="0" unit="pprz_t"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="0" unit="pprz_t"/>
<define name="PITCH_LOITER_TRIM" value="0" unit="pprz_t"/>
<define name="PITCH_DASH_TRIM" value="0" unit="pprz_t"/>
<!-- The below definitions are used for the "energy" control loop -->
<define name="AUTO_THROTTLE_OF_AIRSPEED_PGAIN" value="0" />
<define name="AUTO_THROTTLE_OF_AIRSPEED_IGAIN" value="0.01" />
<define name="AUTO_PITCH_OF_AIRSPEED_PGAIN" value="0" />
<define name="AUTO_PITCH_OF_AIRSPEED_IGAIN" value="0" />
<define name="AUTO_PITCH_OF_AIRSPEED_DGAIN" value="0" />
<define name="ENERGY_TOT_PGAIN" value="0.35" />
<define name="ENERGY_TOT_IGAIN" value="0.25" />
<define name="ENERGY_DIFF_PGAIN" value="0.30" />
<define name="ENERGY_DIFF_IGAIN" value="0.20" />
<define name="DESIRED_ACCELERATION" value="0.3" />
<define name="MAX_ACCELERATION" value="0.5" />
<define name="AUTO_AIRSPEED_SETPOINT" value="15." unit="m/s"/>
<define name="AUTO_GROUNDSPEED_SETPOINT" value="15." unit="m/s"/>
<define name="AUTO_GROUNDSPEED_PGAIN" value="0."/>
<define name="AUTO_GROUNDSPEED_IGAIN" value="0"/>
</section>
<!--#######################################################################################-->
<!--######################## AIRCRAFT HORIZONTAL CONTROL SETUP ########################-->
<!--#######################################################################################-->
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="0.8"/>
<!-- <define name="COURSE_DGAIN" value="0.8"/> -->
<define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
<define name="PITCH_MAX_SETPOINT" value="20" unit="deg"/>
<define name="PITCH_MIN_SETPOINT" value="-20" unit="deg"/>
<define name="PITCH_PGAIN" value="8000."/>
<!-- The below two definitions only for stabilization adaptive -->
<define name="PITCH_DGAIN" value="6."/>
<define name="PITCH_IGAIN" value="100."/>
<define name="ROLL_MAX_SETPOINT" value="30" unit="deg"/>
<define name="ROLL_SLEW" value="0.1"/>
<define name="ROLL_ATTITUDE_GAIN" value="8000"/>
<define name="ROLL_RATE_GAIN" value="500."/>
<define name="PITCH_OF_ROLL" value="RadOfDeg(1.0)"/>
<define name="ELEVATOR_OF_ROLL" value="1000"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<!-- The below definitions are used only for stabilization adaptive -->
<define name="PITCH_DGAIN" value="6."/>
<define name="PITCH_IGAIN" value="100."/>
<define name="ROLL_KFFA" value="0"/>
<define name="ROLL_KFFD" value="0"/>
<define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/>
</section>
<!--#######################################################################################-->
<!--############################ AIRBORNE BATTERY SETUP #############################-->
<!--#######################################################################################-->
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="5000"/>
<define name="BAT_CAPACITY" value="10000."/>
<define name="FUEL_RESERVE_SECONDS" value="300" unit="s"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="8" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.6" unit="V"/>
<define name="VOLTAGE_ADC_SCALE" value="0.018864469"/> <!-- war 0.018 0.008 R1 (Bat - ADC input) = 22k, R2 (ADC input - GND) = 2.2K--->
<define name="VOLTAGE_OFFSET" value="0" unit="V"/>
<define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_SCALE * adc + VOLTAGE_OFFSET)"/>
</section>
<!--#######################################################################################-->
<!--############################# MISCELLANEOUS SETUP ###############################-->
<!--#######################################################################################-->
<section name="MISC">
<define name="CLIMB_AIRSPEED" value="14." unit="m/s"/>
<define name="GLIDE_AIRSPEED" value="14." unit="m/s"/>
<define name="RACE_AIRSPEED" value="23." unit="m/s"/>
<define name="STALL_AIRSPEED" value="12." unit="m/s"/>
<define name="AIRSPEED_SETPOINT_SLEW" value="1" unit="s"/> <!--default=1-->
<define name="NOMINAL_AIRSPEED" value="16" unit="m/s"/>
<define name="MINIMUM_AIRSPEED" value="14." unit="m/s"/>
<define name="MAXIMUM_AIRSPEED" value="26." unit="m/s"/>
<define name="CARROT" value="3." unit="s"/>
<define name="GLIDE_RATIO" value="7."/>
<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="120."/>
<define name="MIN_CIRCLE_RADIUS" value="100."/>
<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
</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="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
<define name="NAV_GROUND_SPEED_PGAIN" value="0.015"/>
<define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
</section>
<section name="GLS_APPROACH" prefix="APP_">
<define name="ANGLE" value="5"/>
<define name="INTERCEPT_AF_TOD" value="10"/>
<define name="TARGET_SPEED" value="13"/>
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.6" unit="%"/>
<define name="DEFAULT_ROLL" value="10" unit="deg"/>
<define name="DEFAULT_PITCH" value="1" unit="deg"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
</section>
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="PPRZ"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
<section name="DIGITAL_CAMERA" prefix="DC_">
<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="8" unit="quarter_second"/>
<define name="AUTOSHOOT_METER_GRID" value="100" unit="meter"/>
</section>
<section name="GCS">
<define name="ALT_SHIFT_PLUS_PLUS" value="100"/>
<define name="ALT_SHIFT_PLUS" value="10"/>
<define name="ALT_SHIFT_MINUS" value="-10"/>
<define name="SPEECH_NAME" value="Cessna"/>
</section>
<section name="SIMU">
<define name="WEIGHT" value ="1."/>
<define name="YAW_RESPONSE_FACTOR" value =".9"/> <!--default 1.-->
<define name="PITCH_RESPONSE_FACTOR" value ="1."/> <!--default 1.-->
<define name="ROLL_RESPONSE_FACTOR" value ="15."/> <!--default 15-->
</section>
<makefile>
</makefile>
</airframe>
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