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This commit is contained in:
Antoine Drouin
2008-12-05 01:30:44 +00:00
parent 4fca15a90f
commit 0df141b619
3 changed files with 31 additions and 12 deletions
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conf/airframes/booz2_a1.xml
+2 -5
View File
@@ -118,11 +118,6 @@
<define name="IGAIN" value="-0"/>
</section>
<section name="JOYSTICK" prefix="BOOZ2_JOYSTICK_">
<define name="SP_PHI_COEF" value="1400"/> <!-- MAX SP = 20 deg ( RadOfDeg(20 / 128) << 20 ) -->
<define name="SP_THETA_COEF" value="1400"/> <!-- MAX SP = 20 deg ( RadOfDeg(20 / 128) << 20 ) -->
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
@@ -131,6 +126,8 @@
<makefile>
# prevents motors from ever starting
ap.CFLAGS += -DKILL_MOTORS
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_autopilot.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_test_progs.makefile
conf/autopilot/booz2_autopilot.makefile
+1 -1
View File
@@ -40,7 +40,6 @@ ap.ARCH = arm7tdmi
ap.TARGET = ap
ap.TARGETDIR = ap
#ap.CFLAGS += -DKILL_MOTORS
ap.CFLAGS += -DCONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
ap.srcs += $(BOOZ_PRIV)/booz2_main.c
@@ -86,6 +85,7 @@ ap.srcs += $(BOOZ_PRIV)/booz2_imu.c
ap.CFLAGS += -DADC1_VIC_SLOT=2
ap.CFLAGS += -DBOOZ2_ANALOG_BARO_LED=2 -DBOOZ2_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))'
ap.srcs += $(BOOZ_PRIV)/booz2_analog_baro.c
ap.srcs += $(BOOZ_PRIV)/booz2_analog.c $(BOOZ_PRIV_ARCH)/booz2_analog_hw.c
ap.CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
conf/autopilot/booz2_simulator.makefile
+28 -6
View File
@@ -3,17 +3,20 @@
#
SIM_TYPE = BOOZ
SIM_PRIV_ARCH = $(BOOZ_PRIV)/sim
#BOOZ_PRIV_ARCH = $(SIM_PRIV_ARCH)
sim.ARCHDIR = $(ARCHI)
sim.ARCH = sitl
sim.TARGET = sim
sim.TARGETDIR = sim
sim.CFLAGS += -DITL
sim.CFLAGS += `pkg-config glib-2.0 --cflags` -I /usr/include/meschach
sim.CFLAGS += -DSITL
sim.CFLAGS += `pkg-config glib-2.0 --cflags` -I /usr/include/meschach
sim.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lmeschach -lpcre -lglibivy
sim.CFLAGS += -I$(BOOZ) -I$(BOOZ_PRIV) -I../simulator -DFLOAT_T=float
sim.CFLAGS += -I $(BOOZ_PRIV) -I $(SIM_PRIV_ARCH) -I../simulator -DFLOAT_T=float
sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2.h\"
sim.srcs = $(SIMDIR)/booz2_sim_main.c \
@@ -29,11 +32,30 @@ sim.srcs = $(SIMDIR)/booz2_sim_main.c \
$(SIMDIR)/booz_sensors_model_gps.c \
$(SIMDIR)/booz_wind_model.c \
sim.CFLAGS += -DSITL
sim.CFLAGS += -DBOOZ_CONTROLLER_MCU
sim.CFLAGS += -DCONFIG=\"booz2_board_v1_0.h\"
sim.srcs += $(BOOZ_PRIV)/booz2_main.c
sim.srcs += $(BOOZ_PRIV)/booz2_main.c
sim.srcs += commands.c
sim.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA -DRC_LED=1
sim.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
sim.CFLAGS += -DACTUATORS=\"actuators_buss_twi_blmc_hw.h\" -DUSE_BUSS_TWI_BLMC
sim.srcs += $(SIM_PRIV_ARCH)/actuators_buss_twi_blmc_hw.c actuators.c
sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
sim.CFLAGS += -DBOOZ2_IMU_TYPE=IMU_B2
sim.CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
#ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
sim.CFLAGS += -DUSE_AMI601
sim.srcs += AMI601.c
sim.CFLAGS += -DBOOZ2_FMS_TYPE=BOOZ2_FMS_TYPE_TEST_SIGNAL
sim.srcs += $(BOOZ_PRIV)/booz2_fms_test_signal.c