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- <!DOCTYPE airframe SYSTEM "../airframe.dtd">
- <!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
- Tiny 2.11 board (http://wiki.paparazziuav.org/wiki/Tiny_v2)
- PerkinElmer TPS334 IR Sensors
- Tilted infrared sensor (http://wiki.paparazziuav.org/wiki/Image:Tiny_v2_1_Funjet.jpg)
- XBee modem with AT firmware
- LEA 5H GPS
- -->
- <airframe name="Funjet Tiny 2.11">
- <firmware name="fixedwing">
- <target name="sim" board="pc"/>
- <target name="ap" board="tiny_2.11"/>
- <define name="AGR_CLIMB"/>
- <define name="LOITER_TRIM"/>
- <subsystem name="radio_control" type="ppm"/>
- <!-- Communication -->
- <subsystem name="telemetry" type="transparent"/>
- <!-- Actuators are automatically chosen according to board-->
- <subsystem name="control"/>
- <!-- Sensors -->
- <subsystem name="gps" type="ublox"/>
- <!--Possibly change gps passthrough-->
- <subsystem name="navigation"/>
- <subsystem name="ins" type="alt_float"/>
- </firmware>
- <modules>
- <load name="infrared_adc.xml"/>
- <load name="ahrs_infrared.xml"/> <!--possibly take out ahrs-->
- <load name="gps_ubx_ucenter.xml"/>
- </modules>
- <!--tunnel only for testing/config-->
- <firmware name="setup">
- <target name="tunnel" board="tiny_2.11"/>
- <target name="usb_tunnel_0" board="tiny_2.11" />
- </firmware>
- <!-- commands section -->
- <servos>
- <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
- <servo name="AILERON" no="6" min="1000" neutral="1500" max="2000"/>
- <servo name="ELEVATOR" no="2" min="1000" neutral="1500" max="2000"/>
- <servo name="RUDDER" no="7" min="2000" neutral="1500" max="1000"/>
- <servo name="GYRO_GAIN" no="3" min="1000" neutral="1500" max="2000"/>
- </servos>
- <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"/>
- <axis name="GAIN" failsafe_value="0"/>
- </commands>
- <rc_commands>
- <set command="THROTTLE" value="@THROTTLE"/>
- <set command="ROLL" value="@ROLL"/>
- <set command="PITCH" value="@PITCH"/>
- <set command="YAW" value="@YAW"/>
- <!--<set command="GAIN" value="@GAIN"/> do we need this???-->
- </rc_commands>
- <command_laws> <!--AILERON AND ELEVATOR TAG WAS CHANGED FROM LET TO SET-->
- <set servo="AILERON" value="@ROLL"/>
- <set servo="ELEVATOR" value="@PITCH"/>
- <set servo="MOTOR" value="@THROTTLE"/>
- <set servo="RUDDER" value="@YAW"/>
- <set servo="GYRO_GAIN" value="@GAIN"/>
- </command_laws>
- <section name="AUTO1" prefix="AUTO1_">
- <define name="MAX_ROLL" value="0.87"/>
- <define name="MAX_PITCH" value="0.7"/>
- </section>
- <!--calibrated-->
- <section name="INFRARED" prefix="IR_">
- <define name="ADC_IR1_NEUTRAL" value="514"/>
- <define name="ADC_IR2_NEUTRAL" value="515"/>
- <define name="ADC_TOP_NEUTRAL" value="509"/>
- <define name="CORRECTION_UP" value="1."/>
- <define name="CORRECTION_DOWN" value="1."/>
- <define name="CORRECTION_LEFT" value="1."/>
- <define name="CORRECTION_RIGHT" value="1."/>
- <define name="LATERAL_CORRECTION" value="1"/>
- <define name="LONGITUDINAL_CORRECTION" value="1"/>
- <define name="VERTICAL_CORRECTION" value="1"/>
- <define name="HORIZ_SENSOR_ALIGNED" value="1"/>
- <define name="IR1_SIGN" value="1"/>
- <define name="IR2_SIGN" value="-1"/>
- <define name="TOP_SIGN" value="1"/>
- <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="50000."/> <!--test motor at full throttle and update value-->
- <define name="CATASTROPHIC_BAT_LEVEL" value="4" 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="CONTROL_FREQUENCY" value="60" unit="Hz"/>
- <!--possibly add Kalman filter if GPS cannot give accurate climb values: <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="60."/>
- </section>
- <section name="VERTICAL CONTROL" prefix="V_CTL_">
- <define name="POWER_CTL_BAT_NOMINAL" value="0" unit="volt"/>
- <!-- outer loop proportional gain -->
- <define name="ALTITUDE_PGAIN" value="0.075"/> <!-- -0.024 -->
- <!-- outer loop saturation -->
- <define name="ALTITUDE_MAX_CLIMB" value="4."/>
- <!-- auto throttle inner loop -->
- <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/> <!--telemaster is 0,75, doesnt need that much throttle-->
- <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.2"/> <!--0.4 tele-->
- <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1.0"/>
- <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
- <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
- <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
- <define name="AUTO_THROTTLE_PGAIN" value="0.02"/> <!-- -0.012 -->
- <define name="AUTO_THROTTLE_IGAIN" value="0.03"/>
- <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
- <!-- auto pitch inner loop -->
- <define name="AUTO_PITCH_PGAIN" value="0.125"/> <!-- -0.03 -->
- <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="NAV">
- <define name="NAV_PITCH" value="0."/>
- <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
- </section>
- <!--in Tele, not in bixler-->
- <section name="AGGRESSIVE" prefix="AGR_">
- <define name="BLEND_START" value="20"/>
- <define name="BLEND_END" value="10"/>
- <define name="CLIMB_THROTTLE" value="0.9"/>
- <define name="CLIMB_PITCH" value="RadOfDeg(18)"/>
- <define name="DESCENT_THROTTLE" value="0.1"/>
- <define name="DESCENT_PITCH" value="RadOfDeg(-20)"/>
- <define name="CLIMB_NAV_RATIO" value="0.8"/>
- <define name="DESCENT_NAV_RATIO" value="1.0"/>
- </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>
- <section name="SIMU">
- <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
- </section>
- <!--This datalink was added (not part of original funjet)-->
- <section name="DATALINK" prefix="DATALINK_">
- <define name="DEVICE_TYPE" value="PPRZ"/>
- <define name="DEVICE_ADDRESS" value="...."/>
- </section>
- </airframe>
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