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Fixed binding
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@fvantienen
fvantienen committed Aug 29, 2013
1 parent 83492da commit 2064e65
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Showing 7 changed files with 368 additions and 61 deletions.
6 changes: 3 additions & 3 deletions conf/airframes/esden/quady_ls01pwm.xml
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Expand Up @@ -179,9 +179,9 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_s_0.1">
<subsystem name="radio_control" type="superbitrf_rc">
<define name="RADIO_TRANSMITTER_ID" value="425044546"/>
<define name="RADIO_TRANSMITTER_CHAN" value="9"/>
<define name="RADIO_TRANSMITTER_PROTOCOL" value="0xA2"/>
<define name="RADIO_TRANSMITTER_ID" value="626371286"/> <!-- 425044546 -->
<define name="RADIO_TRANSMITTER_CHAN" value="9"/> <!-- 9 -->
<define name="RADIO_TRANSMITTER_PROTOCOL" value="0xB2"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_FLAP"/>
</subsystem>

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51 changes: 41 additions & 10 deletions conf/airframes/walkera_heli.xml
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Expand Up @@ -27,8 +27,8 @@
</commands>

<command_laws>
<let var="hoverpower" value=".75*MAX_PPRZ" />
<let var="hoverstick" value=".35*MAX_PPRZ" />
<let var="hoverpower" value=".75*MAX_PPRZ"/>
<let var="hoverstick" value=".35*MAX_PPRZ"/>
<let var="halfway" value="(@THRUST >= ($hoverstick) ? 1 : 0)"/>
<let var="collective" value="@THRUST * 0.4 + (MAX_PPRZ*0.01)"/>
<let var="gas" value="($hoverpower) + $halfway * (((@THRUST) - ($hoverstick)) * (MAX_PPRZ - ($hoverpower))) / (MAX_PPRZ - ($hoverstick)) + (1 - $halfway) * ((@THRUST - ($hoverstick)) * ($hoverpower)) / ($hoverstick)"/>
Expand All @@ -40,21 +40,52 @@
<set servo="TAIL" value="@YAW+0.4*$gas"/>
</command_laws>

<include href="conf/airframes/esden/calib/ls01-default.xml"/>

<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="190." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>

<!-- Calibration Neutral -->
<define name="GYRO_P_NEUTRAL" value="0"/>
<define name="GYRO_Q_NEUTRAL" value="0"/>
<define name="GYRO_R_NEUTRAL" value="0"/>

<!-- SENS = 16.4 LSB/(deg/sec) * 57.6 deg/rad = 939.650 LSB/rad/sec / 12bit FRAC: 4096 / 939.65 -->
<define name="GYRO_P_SENS" value="4.359" integer="16"/>
<define name="GYRO_Q_SENS" value="4.359" integer="16"/>
<define name="GYRO_R_SENS" value="4.359" integer="16"/>

<define name="ACCEL_X_NEUTRAL" value="0"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="0"/>

<!-- SENS = 2048 LSB/g / 9.81 ms2/g = 208.766564729 LSB/ms2 / 10bit FRAC: 1024 / 208.7665 -->
<define name="ACCEL_X_SENS" value="4.905" integer="16"/>
<define name="ACCEL_Y_SENS" value="4.905" integer="16"/>
<define name="ACCEL_Z_SENS" value="4.905" integer="16"/>

<!-- From delft MAVLab -->
<define name="MAG_X_NEUTRAL" value="396"/>
<define name="MAG_Y_NEUTRAL" value="-260"/>
<define name="MAG_Z_NEUTRAL" value="-91"/>
<define name="MAG_X_SENS" value="3.71635905504" integer="16"/>
<define name="MAG_Y_SENS" value="3.5526454063" integer="16"/>
<define name="MAG_Z_SENS" value="3.52339566014" integer="16"/>

<!-- Current correction -->
<define name="MAG_X_CURRENT_COEF" value="-0.390312445109"/>
<define name="MAG_Y_CURRENT_COEF" value="-0.068976232866"/>
<define name="MAG_Z_CURRENT_COEF" value="-0.181415585657"/>
</section>

<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_DIRECT"/>
</section>

<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="3700"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="4.3" unit="V"/>
</section>

Expand Down Expand Up @@ -131,9 +162,9 @@
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="400"/>
<define name="HOVER_KD" value="350"/>
<define name="HOVER_KI" value="144"/>
<define name="HOVER_KP" value="281"/>
<define name="HOVER_KD" value="66"/>
<define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
Expand Down Expand Up @@ -167,7 +198,7 @@
<define name="RADIO_TRANSMITTER_ID" value="626371286"/> <!-- 425044546 -->
<define name="RADIO_TRANSMITTER_CHAN" value="9"/> <!-- 9 -->
<define name="RADIO_TRANSMITTER_PROTOCOL" value="0xB2"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_FLAP"/>
<!-- define name="RADIO_KILL_SWITCH" value="RADIO_FLAP"/ -->
</subsystem>

<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
Expand All @@ -180,7 +211,7 @@
<define name="USE_SERVOS_1AND2"/>
</subsystem>

<subsystem name="telemetry" type="superbitrf"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="lisa_s_v0.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
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249 changes: 249 additions & 0 deletions conf/airframes/walkera_heli.xml.2013-08-21_140323
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@@ -0,0 +1,249 @@
<!-- this is a quadrocopter frame equiped with Lisa/S 0.1 and generic china pwm motor controllers -->

<!--
Applicable configuration:
airframe="airframes/esden/quady_ls01pwm.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/dummy.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-->

<airframe name="quady_lm2a2pwm">

<servos driver="Pwm">
<servo name="CIC_FRONT" no="4" min="570" neutral="1600" max="2200"/>
<servo name="CIC_RIGHT" no="5" min="570" neutral="1400" max="2200"/>
<servo name="CIC_LEFT" no="0" min="570" neutral="1600" max="2200"/>
<servo name="TAIL" no="2" min="0" neutral="0" max="500"/>
<servo name="GAS" no="3" min="0" neutral="10" max="500"/>
</servos>

<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>

<command_laws>
<let var="hoverpower" value=".75*MAX_PPRZ" />
<let var="hoverstick" value=".35*MAX_PPRZ" />
<let var="halfway" value="(@THRUST >= ($hoverstick) ? 1 : 0)"/>
<let var="collective" value="@THRUST * 0.4 + (MAX_PPRZ*0.01)"/>
<let var="gas" value="($hoverpower) + $halfway * (((@THRUST) - ($hoverstick)) * (MAX_PPRZ - ($hoverpower))) / (MAX_PPRZ - ($hoverstick)) + (1 - $halfway) * ((@THRUST - ($hoverstick)) * ($hoverpower)) / ($hoverstick)"/>

<set servo="GAS" value="$gas"/>
<set servo="CIC_LEFT" value="((@PITCH*0.3)-(@ROLL*0.3))-($collective)"/>
<set servo="CIC_RIGHT" value="((-@PITCH*0.3)-(@ROLL*0.3))+($collective)"/>
<set servo="CIC_FRONT" value="-@PITCH*0.3-($collective)"/>
<set servo="TAIL" value="@YAW+0.4*$gas"/>
</command_laws>

<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="190." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>

<!-- Calibration Neutral -->
<define name="GYRO_P_NEUTRAL" value="0"/>
<define name="GYRO_Q_NEUTRAL" value="0"/>
<define name="GYRO_R_NEUTRAL" value="0"/>

<!-- SENS = 16.4 LSB/(deg/sec) * 57.6 deg/rad = 939.650 LSB/rad/sec / 12bit FRAC: 4096 / 939.65 -->
<define name="GYRO_P_SENS" value="4.359" integer="16"/>
<define name="GYRO_Q_SENS" value="4.359" integer="16"/>
<define name="GYRO_R_SENS" value="4.359" integer="16"/>

<define name="ACCEL_X_NEUTRAL" value="0"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="0"/>

<!-- SENS = 2048 LSB/g / 9.81 ms2/g = 208.766564729 LSB/ms2 / 10bit FRAC: 1024 / 208.7665 -->
<define name="ACCEL_X_SENS" value="4.905" integer="16"/>
<define name="ACCEL_Y_SENS" value="4.905" integer="16"/>
<define name="ACCEL_Z_SENS" value="4.905" integer="16"/>

<!-- From delft MAVLab -->
<define name="MAG_X_NEUTRAL" value="396"/>
<define name="MAG_Y_NEUTRAL" value="-260"/>
<define name="MAG_Z_NEUTRAL" value="-91"/>
<define name="MAG_X_SENS" value="3.71635905504" integer="16"/>
<define name="MAG_Y_SENS" value="3.5526454063" integer="16"/>
<define name="MAG_Z_SENS" value="3.52339566014" integer="16"/>

<!-- Current correction -->
<define name= "MAG_X_CURRENT_COEF" value="-0.390312445109"/>
<define name= "MAG_Y_CURRENT_COEF" value="-0.068976232866"/>
<define name= "MAG_Z_CURRENT_COEF" value="-0.181415585657"/>
</section>

<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_DIRECT"/>
</section>

<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="3700"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="4.3" unit="V"/>
</section>


<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">

<define name="SP_MAX_P" value="80000"/>
<define name="SP_MAX_Q" value="80000"/>
<define name="SP_MAX_R" value="80000"/>

<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>

</section>

<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">

<!-- setpoints -->
<define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_PSI" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="SP_MAX_P" value="90." unit="deg/s"/>
<define name="DEADBAND_R" value="250"/>
<define name="DEADBAND_A" value="250"/>

<!-- reference -->
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="400." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>

<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>

<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="90." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>

<!-- feedback -->
<define name="PHI_PGAIN" value="3052"/>
<define name="PHI_DGAIN" value="108"/>
<define name="PHI_IGAIN" value="0"/>

<define name="THETA_PGAIN" value="3052"/>
<define name="THETA_DGAIN" value="108"/>
<define name="THETA_IGAIN" value="0"/>

<define name="PSI_PGAIN" value="944"/>
<define name="PSI_DGAIN" value="300"/>
<define name="PSI_IGAIN" value="10"/>

<!-- feedforward -->
<define name="PHI_DDGAIN" value="0"/>
<define name="THETA_DDGAIN" value="0"/>
<define name="PSI_DDGAIN" value=" 300"/>

<define name="PHI_AGAIN" value="0"/>
<define name="THETA_AGAIN" value="0"/>
<define name="PSI_AGAIN" value="0"/>
</section>

<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="22.4" integer="16"/>
</section>

<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="400"/>
<define name="HOVER_KD" value="350"/>
<define name="HOVER_KI" value="144"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value="160000"/>
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.9"/>
</section>

<section name="AHRS" prefix="AHRS_">
<define name="H_X" value=" 0.47577"/>
<define name="H_Y" value=" 0.11811"/>
<define name="H_Z" value=" 0.87161"/>
</section>

<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="50"/>
<define name="IGAIN" value="0"/>
</section>

<section name="MISC">
<define name="FACE_REINJ_1" value="1024"/>
</section>

<modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/>
</modules>

<firmware name="rotorcraft">
<target name="ap" board="lisa_s_0.1">
<subsystem name="radio_control" type="superbitrf_rc">
<define name="RADIO_TRANSMITTER_ID" value="626371286"/> <!-- 425044546 -->
<define name="RADIO_TRANSMITTER_CHAN" value="9"/> <!-- 9 -->
<define name="RADIO_TRANSMITTER_PROTOCOL" value="0xB2"/>
<!-- define name="RADIO_KILL_SWITCH" value="RADIO_FLAP"/ -->
</subsystem>

<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
<configure name="LISA_S_BARO" value="BARO_MS5611_SPI"/>
</target>

<subsystem name="actuators" type="pwm">
<define name="TIM5_SERVO_HZ" value="2000"/>
<define name="SERVO_HZ" value="300"/>
<define name="USE_SERVOS_1AND2"/>
</subsystem>

<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="lisa_s_v0.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins"/>
<!--define name="USE_INS_NAV_INIT"/-->
<!--subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/-->
</firmware>


<firmware name="lisa_test_progs">
<target name="test_led" board="lisa_s_0.1">
<configure name="SYS_TIME_LED" value="none"/>
</target>
<target name="test_uart" board="lisa_s_0.1"/>
<target name="test_servos" board="lisa_s_0.1"/>
<target name="test_telemetry" board="lisa_s_0.1"/>
<target name="test_imu_aspirin" board="lisa_s_0.1"/>
<target name="test_rc_spektrum" board="lisa_s_0.1"/>
<target name="test_baro" board="lisa_s_0.1"/>
<target name="test_imu_b2" board="lisa_s_0.1"/>
<target name="test_can" board="lisa_s_0.1"/>
<!--<target name="test_imu" board="lisa_s_0.1"/>
<target name="test_rc_ppm" board="lisa_s_0.1"/>
<target name="test_adc" board="lisa_s_0.1"/>
<target name="test_hmc5843" board="lisa_s_0.1"/>
<target name="test_itg3200" board="lisa_s_0.1"/>
<target name="test_adxl345" board="lisa_s_0.1"/>
<target name="test_esc_mkk_simple" board="lisa_s_0.1"/>
<target name="test_esc_asctecv1_simple" board="lisa_s_0.1"/>
<target name="test_actuators_mkk" board="lisa_s_0.1"/>
<target name="test_actuators_asctecv1" board="lisa_s_0.1"/-->
</firmware>
</airframe>
8 changes: 1 addition & 7 deletions conf/telemetry/default_rotorcraft.xml
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Expand Up @@ -99,13 +99,7 @@
</mode>

<mode name="vert_loop" key_press="v">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="0.9"/>
<message name="VFF" period=".05"/>
<message name="VERT_LOOP" period=".05"/>
<message name="INS" period=".05"/>
<message name="INS_REF" period="5.1"/>
<message name="VERT_LOOP" period="0.5"/>
</mode>

<mode name="h_loop" key_press="h">
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4 changes: 2 additions & 2 deletions sw/airborne/peripherals/cyrf6936.c
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Original file line number Diff line number Diff line change
Expand Up @@ -67,9 +67,9 @@ void cyrf6936_init(struct Cyrf6936 *cyrf, struct spi_periph *spi_p, const uint8_

/* Reset the CYRF6936 chip (busy waiting) */
gpio_setup_output(rst_port, rst_pin);
gpio_output_high(rst_port, rst_pin);
gpio_set(rst_port, rst_pin);
sys_time_usleep(100);
gpio_output_low(rst_port, rst_pin);
gpio_clear(rst_port, rst_pin);
sys_time_usleep(100);

/* Get the MFG ID */
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