[airframe] clean ENAC airframe files

FlyTheThings · May 18, 2014 · 4dc68e6 · 4dc68e6
1 parent 83d0d17
commit 4dc68e6
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Showing 11 changed files with 81 additions and 335 deletions.
diff --git a/conf/airframes/ENAC/fixed-wing/apogee.xml b/conf/airframes/ENAC/fixed-wing/apogee.xml
@@ -24,7 +24,6 @@
     <!--define name="AGR_CLIMB"/-->
     <!--define name="LOITER_TRIM"/-->
     <!--define name="PITCH_TRIM"/-->
-    <define name="USE_GYRO_PITCH_RATE"/>
     <configure name="PERIODIC_FREQUENCY" value="100"/>
 
     <target name="sim" board="pc">
@@ -197,7 +196,6 @@
   </section>
 
   <section name="NAV">
-    <define name="NAV_PITCH" value="0."/>
     <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
   </section>
 
@@ -212,11 +210,6 @@
   <section name="SIMU">
     <!--define name="ROLL_RESPONSE_FACTOR" value="10"/>
     <define name="MAX_ROLL_DOT" value="20" unit="rad/s"/-->
-    <define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
-    <!--define name="JSBSIM_INIT"	value="&quot;Malolo1-IC&quot;"/-->
-    <define name="JSBSIM_LAUNCHSPEED"	value="15.0"/>
-    <define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
-    <define name="JSBSIM_IR_PITCH_NEUTRAL" value="RadOfDeg(0.)"/>
   </section>
 
 </airframe>
diff --git a/conf/airframes/ENAC/fixed-wing/crrcsim.xml b/conf/airframes/ENAC/fixed-wing/crrcsim.xml
@@ -154,7 +154,6 @@
     <define name="CARROT" value="5." unit="s"/>
     <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-
     <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
   </section>
 

diff --git a/conf/airframes/ENAC/fixed-wing/firestorm.xml b/conf/airframes/ENAC/fixed-wing/firestorm.xml
@@ -33,9 +33,7 @@
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="imu"     type="umarim"/>
     <subsystem name="ahrs"    type="float_dcm"/>
-    <subsystem name="ins" type="alt_float">
-      <!--define name="USE_BAROMETER"/-->
-    </subsystem>
+    <subsystem name="ins"     type="alt_float"/>
     <subsystem name="control" type="adaptive"/>
     <subsystem name="navigation"/>
     <!-- Sensors -->

diff --git a/conf/airframes/ENAC/fixed-wing/funjet2.xml b/conf/airframes/ENAC/fixed-wing/funjet2.xml
@@ -1,59 +1,66 @@
 <!DOCTYPE airframe SYSTEM "../../airframe.dtd">
 
-<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
-     Umarim Lite
-     Radiotronix modem
-     UBX GPS
-     Airspeed sensor
-     Digital camera
+<!--
+     Apogee test board
 -->
 
-<airframe name="Funjet II">
+<airframe name="Apogee">
 
   <modules>
+    <load name="mag_hmc58xx.xml">
+      <define name="MODULE_HMC58XX_UPDATE_AHRS"/>
+      <define name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
+    </load>
+    <!--load name="sys_mon.xml"/-->
     <!--load name="light.xml">
       <define name="LIGHT_LED_STROBE" value="5"/>
       <define name="LIGHT_LED_NAV" value="3"/>
     </load-->
-    <load name="pbn.xml"/>
+    <!--load name="pbn.xml"/-->
   </modules>
 
   <firmware name="fixedwing">
-    <define name="USE_I2C0"/>
-    <define name="USE_I2C1"/>
-    <define name="AGR_CLIMB"/>
-    <define name="LOITER_TRIM"/>
-    <define name="USE_AIRSPEED"/>
+    <define name="USE_I2C2"/>
+    <configure name="PERIODIC_FREQUENCY" value="125"/>
 
+    <target name="ap" board="apogee_1.0"/>
     <target name="sim" board="pc"/>
-    <target name="ap" board="umarim_lite_2.0"/>
 
-    <subsystem name="radio_control" type="ppm"/>
+    <subsystem name="radio_control" type="sbus"/>
 
     <!-- Communication -->
-    <subsystem name="telemetry"     type="transparent"/>
+    <subsystem name="telemetry" type="transparent"/>
 
     <!-- Actuators are automatically chosen according to board-->
-    <subsystem name="imu"     type="umarim"/>
-    <subsystem name="ahrs"    type="float_dcm"/>
-    <subsystem name="ins"     type="alt_float"/>
-    <subsystem name="control" type="new">
-      <define name="USE_GYRO_PITCH_RATE"/>
+    <subsystem name="imu"     type="apogee">
+      <define name="USE_MAGNETOMETER"/>
+      <define name="APOGEE_LOWPASS_FILTER" value="MPU60X0_DLPF_20HZ"/>
+      <define name="APOGEE_SMPLRT_DIV" value="7"/>
     </subsystem>
+    <subsystem name="ins"     type="float_invariant">
+      <configure name="AHRS_PROPAGATE_FREQUENCY" value="125"/>
+      <configure name="AHRS_CORRECT_FREQUENCY" value="125"/>
+      <define name="BARO_BOARD_APOGEE_FREQ" value="50"/>
+      <define name="MPL3115_OVERSAMPLING" value="2"/>
+    </subsystem>
+    <subsystem name="control" type="new"/>
+    <subsystem name="navigation"/>
     <!-- Sensors -->
-    <subsystem name="gps"           type="ublox"/>
+    <subsystem name="gps" type="ublox">
+      <configure name="GPS_BAUD" value="B57600"/>
+    </subsystem>
 
     <subsystem name="current_sensor">
-      <configure name="ADC_CURRENT_SENSOR" value="ADC_0"/>
+      <configure name="ADC_CURRENT_SENSOR" value="ADC_1"/>
     </subsystem>
 
-    <subsystem name="navigation"/>
   </firmware>
 
+<!-- commands section -->
   <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"/>
+    <servo name="AILEVON_LEFT" no="2" min="1900" neutral="1500" max="1050"/>
   </servos>
 
   <commands>
@@ -82,53 +89,59 @@
   </command_laws>
 
   <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="0.85"/>
-    <define name="MAX_PITCH" value="0.6"/>
+    <define name="MAX_ROLL" value="45" unit="deg"/>
+    <define name="MAX_PITCH" value="30" unit="deg"/>
   </section>
 
   <section name="IMU" prefix="IMU_">
+    <!-- Calibration Neutral -->
     <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="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="BODY_TO_IMU_PHI" value="0"/>
-    <define name="BODY_TO_IMU_THETA" value="0"/>
-    <define name="BODY_TO_IMU_PSI" value="0"/>
+    <define name="ACCEL_X_NEUTRAL" value="-20"/>
+    <define name="ACCEL_Y_NEUTRAL" value="41"/>
+    <define name="ACCEL_Z_NEUTRAL" value="170"/>
+    <define name="ACCEL_X_SENS" value="2.44857790576" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="2.46450311739" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="2.44257470231" 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="-21"/>
+    <define name="MAG_Y_NEUTRAL" value="-137"/>
+    <define name="MAG_Z_NEUTRAL" value="67"/>
+    <define name="MAG_X_SENS" value="3.91383504208" integer="16"/>
+    <define name="MAG_Y_SENS" value="3.91521306757" integer="16"/>
+    <define name="MAG_Z_SENS" value="4.55239350329" integer="16"/>
+
+    <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="8." unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="deg"/>
+    <define name="H_X" value="0.5180"/>
+    <define name="H_Y" value="-0.0071"/>
+    <define name="H_Z" value="0.8554"/>
   </section>
 
   <section name="BAT">
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-    <define name="MilliAmpereOfAdc(_adc)" value="(_adc-100)*26.9"/>
+    <define name="MilliAmpereOfAdc(_adc)" value="(_adc-406)*6.7"/>
   </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="DEFAULT_CIRCLE_RADIUS" value="80."/>
-
     <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
   </section>
 
@@ -140,18 +153,19 @@
     <!-- disable climb rate limiter -->
     <define name="AUTO_CLIMB_LIMIT" value="2*V_CTL_ALTITUDE_MAX_CLIMB"/>
 
-    <!-- auto throttle inner loop -->
+    <!-- Cruise throttle + limits -->
     <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"/-->
+
+    <!-- Climb loop (throttle) -->
     <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_DGAIN" value="0.0"/>
     <define name="AUTO_THROTTLE_IGAIN" value="0.003"/>
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
 
-    <!-- auto pitch inner loop -->
+    <!-- Climb loop (pitch) -->
     <define name="AUTO_PITCH_PGAIN" value="0.03"/>
     <define name="AUTO_PITCH_DGAIN" value="0.03"/>
     <define name="AUTO_PITCH_IGAIN" value="0.0"/>
@@ -188,17 +202,19 @@
     <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_ATTITUDE_GAIN" value="11000."/>
     <define name="ROLL_RATE_GAIN" value="1000."/>
     <define name="ROLL_IGAIN" value="150."/>
+    <define name="ROLL_KFFA" value="0"/>
+    <define name="ROLL_KFFD" value="0"/>
 
     <define name="PITCH_PGAIN" value="18000."/>
-    <define name="PITCH_DGAIN" value="500"/>
+    <define name="PITCH_DGAIN" value="500."/>
     <define name="PITCH_IGAIN" value="250."/>
+    <define name="PITCH_KFFA" value="0."/>
+    <define name="PITCH_KFFD" value="0."/>
 
     <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">
@@ -214,7 +230,13 @@
   </section>
 
   <section name="SIMU">
-    <define name="YAW_RESPONSE_FACTOR" value="0.6"/>
+    <!--define name="ROLL_RESPONSE_FACTOR" value="10"/>
+    <define name="MAX_ROLL_DOT" value="20" unit="rad/s"/-->
+    <define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
+    <!--define name="JSBSIM_INIT"	value="&quot;Malolo1-IC&quot;"/-->
+    <define name="JSBSIM_LAUNCHSPEED"	value="15.0"/>
+    <define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
+    <define name="JSBSIM_IR_PITCH_NEUTRAL" value="RadOfDeg(0.)"/>
   </section>
 
 </airframe>
diff --git a/conf/airframes/ENAC/fixed-wing/jp.xml b/conf/airframes/ENAC/fixed-wing/jp.xml
@@ -21,7 +21,6 @@
   <firmware name="fixedwing">
     <define name="USE_I2C1"/>
     <define name="USE_I2C2"/>
-    <define name="USE_GYRO_PITCH_RATE"/>
     <configure name="PERIODIC_FREQUENCY" value="125"/>
 
     <target name="ap" board="apogee_1.0_chibios"/>
@@ -171,7 +170,6 @@
     <define name="NOMINAL_AIRSPEED" value="12." 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="TRUE"/>
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
 
     <define name="UNLOCKED_HOME_MODE" value="TRUE"/>

diff --git a/conf/airframes/ENAC/fixed-wing/merlin.xml b/conf/airframes/ENAC/fixed-wing/merlin.xml
@@ -177,7 +177,6 @@
  </section>
 
   <section name="NAV">
-    <define name="NAV_PITCH" value="0."/>
     <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
   </section>
 

diff --git a/conf/airframes/ENAC/fixed-wing/mythe.xml b/conf/airframes/ENAC/fixed-wing/mythe.xml
@@ -46,7 +46,6 @@
     <define name="USE_AIRSPEED"/>
     <!--define name="LOITER_TRIM"/-->
     <!--define name="PITCH_TRIM"/-->
-    <define name="USE_GYRO_PITCH_RATE"/>
     <define name="SENSOR_SYNC_SEND"/>
 
     <target name="sim" board="pc"/>
@@ -246,7 +245,6 @@
   </section>
 
   <section name="NAV">
-    <define name="NAV_PITCH" value="0."/>
     <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
   </section>
 

diff --git a/conf/airframes/ENAC/fixed-wing/twinjet2.xml b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
@@ -187,8 +187,6 @@
 
   <section name="NAV">
     <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
-    <define name="NAV_CROSS_TRACK_ERROR_IGAIN" value="0."/>
-    <define name="NAV_CROSS_TRACK_ERROR_MAX" value="10." unit="deg"/>
   </section>
 
   <section name="AGGRESSIVE" prefix="AGR_">

diff --git a/conf/airframes/ENAC/quadrotor/blender.xml b/conf/airframes/ENAC/quadrotor/blender.xml
@@ -13,7 +13,6 @@
 
   <firmware name="rotorcraft">
     <define name="USE_INS_NAV_INIT"/>
-    <!--define name="GUIDANCE_H_USE_REF"/-->
 
     <target name="ap" board="navgo_1.0">
       <define name="FAILSAFE_GROUND_DETECT"/>
@@ -138,17 +137,6 @@
     <define name="H_Z" value="0.9251199"/>
   </section>
 
-  <section name="INS" prefix="INS_">
-    <!-- datasheet 1.4 mm/LSB : 0.0014*2^8 = 0.3584 -->
-    <!-- calibration SENS = 1.156 :( -->
-    <define name="SONAR_SENS" value="0.0128633" integer="16"/>
-    <define name="SONAR_OFFSET" value="7"/>
-    <define name="SONAR_MAX_RANGE" value="4.0"/>
-    <define name="SONAR_THROTTLE_THRESHOLD" value="6000"/>
-    <define name="SONAR_BARO_THRESHOLD" value="20."/>
-  </section>
-
-
   <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
 
     <define name="SP_MAX_P" value="10000"/>

diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -181,12 +181,11 @@
   <section name="INS" prefix="INS_">
     <define name="SONAR_MAX_RANGE" value="5.0"/>
     <define name="SONAR_MIN_RANGE" value="0.25"/>
-    <!--define name="SONAR_VARIANCE_THRESHOLD" value="0.01"/-->
   </section>
 
   <section name="SONAR">
-    <!--define name="SONAR_SENS" value="0.00650498" integer="16"/--> <!-- XL-MaxSonar-EZ4 5V supply -->
-    <define name="SONAR_SENS" value="0.016775" integer="16"/> <!-- XL-MaxSonar-EZ4 5V supply scaled to 3.3V -->
+    <!--define name="SONAR_SCALE" value="0.00650498" integer="16"/--> <!-- XL-MaxSonar-EZ4 5V supply -->
+    <define name="SONAR_SCALE" value="0.016775" integer="16"/> <!-- XL-MaxSonar-EZ4 5V supply scaled to 3.3V -->
   </section>
 
   <section name="GUIDANCE_V" prefix="GUIDANCE_V_">