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[crrcsim] use crrcsim as fdm with nps
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Install the patched version of crrcsim:
https://github.com/paparazzi/crrcsim-pprz
Select MNAV as input of crrcsim
Run nps simulator with crrcsim fdm type
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@gautierhattenberger
gautierhattenberger committed Oct 16, 2013
1 parent 3dd68bf commit 3040dce
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258 changes: 258 additions & 0 deletions conf/airframes/ENAC/fixed-wing/crrcsim.xml
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">

<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
Umarim Lite
Radiotronix modem
UBX GPS
Airspeed sensor
Digital camera
-->

<airframe name="Funjet II">

<modules>
<!--load name="light.xml">
<define name="LIGHT_LED_STROBE" value="5"/>
<define name="LIGHT_LED_NAV" value="3"/>
</load-->
<!--load name="baro_board.xml">
<define name="BARO_ABS_EVENT" value="BaroPbnUpdate"/>
</load-->
<load name="pbn.xml"/>
</modules>

<firmware name="fixedwing">
<define name="USE_I2C0"/>
<define name="USE_I2C1"/>
<define name="AGR_CLIMB"/>
<!--define name="ALT_KALMAN"/-->
<define name="LOITER_TRIM"/>
<define name="USE_AIRSPEED"/>

<target name="sim" board="pc">
<subsystem name="imu" type="umarim"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="crrcsim"/>
<subsystem name="imu" type="nps"/>
</target>
<target name="ap" board="umarim_lite_2.0">
<subsystem name="imu" type="umarim"/>
</target>

<subsystem name="radio_control" type="ppm"/>

<!-- Communication -->
<subsystem name="telemetry" type="transparent"/>

<!-- Actuators are automatically chosen according to board-->
<subsystem name="ahrs" type="float_dcm"/>
<subsystem name="ins" type="alt_float"/>
<subsystem name="control" type="new">
<define name="USE_GYRO_PITCH_RATE"/>
</subsystem>
<!-- Sensors -->
<subsystem name="gps" type="ublox"/>

<subsystem name="current_sensor">
<configure name="ADC_CURRENT_SENSOR" value="ADC_0"/>
</subsystem>

<subsystem name="navigation"/>
</firmware>

<servos>
<servo name="MOTOR" no="0" min="1040" neutral="1040" max="2000"/>
<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1500" max="1050"/>
<servo name="AILEVON_RIGHT" no="1" min="1120" neutral="1540" max="1980"/>
</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="MIXER">
<define name="AILEVON_AILERON_RATE" value="0.75"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
</section>

<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="MOTOR" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
</command_laws>

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

<!-- Calibration Neutral -->
<define name="GYRO_P_NEUTRAL" value="5"/>
<define name="GYRO_Q_NEUTRAL" value="17"/>
<define name="GYRO_R_NEUTRAL" value="-5 "/>

<define name="GYRO_P_SENS" value="1." integer="16"/>
<define name="GYRO_Q_SENS" value="1." integer="16"/>
<define name="GYRO_R_SENS" value="1." integer="16"/>

<define name="ACCEL_X_SIGN" value="1"/>
<define name="ACCEL_Y_SIGN" value="-1"/>
<define name="ACCEL_Z_SIGN" value="-1"/>

<define name="ACCEL_X_NEUTRAL" value="6"/>
<define name="ACCEL_Y_NEUTRAL" value="-3"/>
<define name="ACCEL_Z_NEUTRAL" value="-8"/>

<define name="ACCEL_X_SENS" value="38.273044006" integer="16"/>
<define name="ACCEL_Y_SENS" value="39.3799642589" integer="16"/>
<define name="ACCEL_Z_SENS" value="39.6142126316" integer="16"/>

<define name="MAG_X_SIGN" value="1"/>
<define name="MAG_Y_SIGN" value="-1"/>
<define name="MAG_Z_SIGN" value="-1"/>

<define name="MAG_X_NEUTRAL" value="6"/>
<define name="MAG_Y_NEUTRAL" value="-3"/>
<define name="MAG_Z_NEUTRAL" value="-8"/>

<define name="MAG_X_SENS" value="38.273044006" integer="16"/>
<define name="MAG_Y_SENS" value="39.3799642589" integer="16"/>
<define name="MAG_Z_SENS" value="39.6142126316" integer="16"/>

<define name="BODY_TO_IMU_PHI" value="0"/>
<define name="BODY_TO_IMU_THETA" value="0"/>
<define name="BODY_TO_IMU_PSI" value="0"/>
</section>

<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="8." unit="deg"/>
</section>

<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="MilliAmpereOfAdc(_adc)" value="(_adc-100)*26.9"/>
</section>

<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>

<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
</section>

<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="0.1"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="4."/>
<!-- disable climb rate limiter -->
<define name="AUTO_CLIMB_LIMIT" value="2*V_CTL_ALTITUDE_MAX_CLIMB"/>

<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<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="-1000"/-->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.005"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.003"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>

<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="0.03"/>
<define name="AUTO_PITCH_DGAIN" value="0.03"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<!--define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/-->
<define name="AUTO_PITCH_MAX_PITCH" value="20" unit="deg"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-20" unit="deg"/>

<!-- airspeed control -->
<define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
<define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
<define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
<define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
<define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
<define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
<define name="AIRSPEED_MAX" value="30"/>
<define name="AIRSPEED_MIN" value="10"/>

<!-- groundspeed control -->
<define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
<define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>

<!-- pitch trim -->
<define name="PITCH_LOITER_TRIM" value="0." unit="deg"/>
<define name="PITCH_DASH_TRIM" value="0." unit="deg"/>

<define name="THROTTLE_SLEW" value="0.1"/>
</section>

<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="0.6"/>
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>

<define name="ROLL_ATTITUDE_GAIN" value="9000."/>
<define name="ROLL_RATE_GAIN" value="1000."/>
<define name="ROLL_IGAIN" value="150."/>

<define name="PITCH_PGAIN" value="18000."/>
<define name="PITCH_DGAIN" value="500"/>
<define name="PITCH_IGAIN" value="250."/>

<define name="PITCH_OF_ROLL" value="1." unit="deg"/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<!--define name="ELEVATOR_OF_ROLL" value="1400"/-->
</section>

<section name="NAV">
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>

<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.3" 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"/>
</section>

<section name="SIMU">
<define name="YAW_RESPONSE_FACTOR" value="0.6"/>
</section>

<section name="NPS" prefix="NPS_">
<define name="BYPASS_AHRS" value="TRUE"/>
<define name="CRRCSIM_COMMAND_ROLL" value="1"/>
<define name="CRRCSIM_COMMAND_PITCH" value="2"/>
<define name="CRRCSIM_COMMAND_THROTTLE" value="0"/>
<define name="CRRCSIM_ROLL_NEUTRAL" value="0." unit="deg"/>
<define name="CRRCSIM_PITCH_NEUTRAL" value="12." unit="deg"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
</section>

</airframe>
52 changes: 52 additions & 0 deletions conf/firmwares/subsystems/fixedwing/fdm_crrcsim.makefile
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# Hey Emacs, this is a -*- makefile -*-

#
# SITL Simulator based on CRRCSIM (MNAV inputdev)
#

SRC_FIRMWARE=firmwares/fixedwing

SRC_BOARD=boards/$(BOARD)

NPSDIR = $(SIMDIR)/nps


nps.ARCHDIR = sim

# include Makefile.nps instead of Makefile.sim
nps.MAKEFILE = nps

# add normal ap and fbw sources define in autopilot.makefile
nps.CFLAGS += $(fbw_CFLAGS) $(ap_CFLAGS)
nps.srcs += $(fbw_srcs) $(ap_srcs)

nps.CFLAGS += -DSITL -DUSE_NPS
nps.CFLAGS += $(shell pkg-config glib-2.0 --cflags)
nps.LDFLAGS += $(shell pkg-config glib-2.0 --libs) -lm -lglibivy -lpcre -lgsl -lgslcblas
nps.CFLAGS += -I$(NPSDIR) -I$(SRC_FIRMWARE) -I$(SRC_BOARD) -I../simulator -I$(PAPARAZZI_HOME)/conf/simulator/nps
nps.LDFLAGS += $(shell sdl-config --libs)

nps.srcs += $(NPSDIR)/nps_main.c \
$(NPSDIR)/nps_fdm_crrcsim.c \
$(NPSDIR)/nps_random.c \
$(NPSDIR)/nps_sensors.c \
$(NPSDIR)/nps_sensors_utils.c \
$(NPSDIR)/nps_sensor_gyro.c \
$(NPSDIR)/nps_sensor_accel.c \
$(NPSDIR)/nps_sensor_mag.c \
$(NPSDIR)/nps_sensor_baro.c \
$(NPSDIR)/nps_sensor_gps.c \
$(NPSDIR)/nps_electrical.c \
$(NPSDIR)/nps_atmosphere.c \
$(NPSDIR)/nps_radio_control.c \
$(NPSDIR)/nps_radio_control_joystick.c \
$(NPSDIR)/nps_radio_control_spektrum.c \
$(NPSDIR)/nps_autopilot_fixedwing.c \
$(NPSDIR)/nps_ivy_common.c \
$(NPSDIR)/nps_ivy_fixedwing.c \
$(NPSDIR)/nps_flightgear.c \


nps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport
nps.srcs += subsystems/datalink/downlink.c $(SRC_FIRMWARE)/datalink.c $(SRC_ARCH)/ivy_transport.c

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