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Merge branch 'ahrs_infrared' into dev

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This commit is contained in:
Felix Ruess
2011-09-29 11:21:42 +02:00
parent 22771595ff b6b8052049
commit 0e7a39deb2
57 changed files with 343 additions and 177 deletions
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conf/airframes/CDW/LisaFw.xml
+2 -1
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@@ -171,6 +171,7 @@
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
<define name="NAV_LIGHT_MODE_DEFAULT" value="0"/>
</load>
<load name="infrared_adc.xml"/>
</modules>
<firmware name="fixedwing">
@@ -193,7 +194,7 @@
<!-- Sensors -->
<subsystem name="radio_control" type="ppm"/>
<!--<subsystem name="attitude" type="infrared">
<!--<subsystem name="ahrs" type="infrared">
<configure name="ADC_IR1" value="ADC_1"/>
<configure name="ADC_IR2" value="ADC_2"/>
<configure name="ADC_IR_TOP" value="ADC_0"/>
conf/airframes/CDW/TinyFw.xml
+2 -1
View File
@@ -166,6 +166,7 @@
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
<define name="NAV_LIGHT_MODE_DEFAULT" value="0"/>
</load>
<load name="infrared_adc.xml"/>
</modules>
<firmware name="fixedwing">
@@ -186,7 +187,7 @@
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="gyro" type="roll"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
conf/airframes/ENAC/fixed-wing/merlin.xml
+1 -1
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@@ -19,7 +19,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<!--subsystem name="attitude" type="infrared"/-->
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/ENAC/fixed-wing/minimag1.xml
+1 -1
View File
@@ -22,7 +22,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="navigation" />
<!-- <subsystem name="attitude" type="infrared"/>-->
<!-- <subsystem name="ahrs" type="infrared"/>-->
<subsystem name="control"/>
<subsystem name="gps" type="ublox"/>
</firmware>
conf/airframes/ENAC/fixed-wing/twinjet2.xml
+2 -1
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@@ -20,6 +20,7 @@
</load>
<!--load name="enose.xml"/-->
<load name="light.xml"/>
<load name="infrared_adc.xml"/>
</modules>
<firmware name="fixedwing">
@@ -33,7 +34,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="control" type="new"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/LAAS/mmlaas_N1.xml
+6 -5
View File
@@ -23,11 +23,7 @@
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared">
<configure name="ADC_IR1" value="ADC_1"/>
<configure name="ADC_IR2" value="ADC_0"/>
<configure name="ADC_IR_TOP" value="ADC_2"/>
</subsystem>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
@@ -43,6 +39,11 @@
<!-- <load name="tcas.xml"/> -->
<!--load name="potential.xml"/-->
<load name="cartography.xml"/>
<load name="infrared_adc.xml">
<configure name="ADC_IR1" value="ADC_1"/>
<configure name="ADC_IR2" value="ADC_0"/>
<configure name="ADC_IR_TOP" value="ADC_2"/>
</load>
</modules>
conf/airframes/LAAS/mmlaas_N2.xml
+6 -5
View File
@@ -23,11 +23,7 @@
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared">
<configure name="ADC_IR1" value="ADC_0"/>
<configure name="ADC_IR2" value="ADC_1"/>
<configure name="ADC_IR_TOP" value="ADC_2"/>
</subsystem>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
@@ -42,6 +38,11 @@
<load name="formation_flight.xml"/>
<load name="tcas.xml"/>
<!--load name="potential.xml"/-->
<load name="infrared_adc.xml">
<configure name="ADC_IR1" value="ADC_0"/>
<configure name="ADC_IR2" value="ADC_1"/>
<configure name="ADC_IR_TOP" value="ADC_2"/>
</load>
</modules>
<!-- commands section -->
conf/airframes/LAAS/mmlaas_N3.xml
+6 -5
View File
@@ -23,11 +23,7 @@
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared">
<configure name="ADC_IR1" value="ADC_0"/>
<configure name="ADC_IR2" value="ADC_1"/>
<configure name="ADC_IR_TOP" value="ADC_2"/>
</subsystem>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
@@ -42,6 +38,11 @@
<load name="formation_flight.xml"/>
<load name="tcas.xml"/>
<!--load name="potential.xml"/-->
<load name="infrared_adc.xml">
<configure name="ADC_IR1" value="ADC_0"/>
<configure name="ADC_IR2" value="ADC_1"/>
<configure name="ADC_IR_TOP" value="ADC_2"/>
</load>
</modules>
<!-- commands section -->
conf/airframes/Poine/funjet42.xml
+5 -1
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@@ -15,11 +15,15 @@
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
<modules>
<load name="infrared_adc.xml"/>
</modules>
<firmware name="lisa_l_test_progs">
<target name="tunnel" board="lisa_l_1.0"/>
<target name="test_led" board="lisa_l_1.0"/>
conf/airframes/Poine/swift_1.xml
+6 -2
View File
@@ -15,11 +15,15 @@
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
<modules>
<load name="infrared_adc.xml"/>
</modules>
<firmware name="lisa_l_test_progs">
<target name="test_led" board="lisa_m_1.0"/>
<target name="test_uart" board="lisa_m_1.0"/>
@@ -195,4 +199,4 @@
</airframe>
-->
-->
conf/airframes/TU_Delft/MicrojetBR.xml
+2 -1
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@@ -232,6 +232,7 @@
<define name="LIGHT_LED_STROBE" value="3"/>
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
</load>
<load name="infrared_adc.xml"/>
</modules>
<firmware name="fixedwing">
@@ -260,7 +261,7 @@
<!-- <subsystem name="gyro" type="roll">
<configure name="ADC_GYRO_ROLL" value="ADC_3" />
</subsystem>
--> <subsystem name="attitude" type="infrared"/>
--> <subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="control" />
<subsystem name="navigation" type="extra"/>
conf/airframes/delta_wing_minimal_example.xml
+5 -1
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@@ -17,11 +17,15 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
<modules>
<load name="infrared_adc.xml"/>
</modules>
<firmware name="setup">
<target name="tunnel" board="tiny_2.11"/>
<target name="setup_actuators" board="tiny_2.11"/>
conf/airframes/easy_glider_example.xml
+2 -1
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@@ -168,7 +168,7 @@
<!-- Actuators are automatically chosen according to board -->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
</firmware>
@@ -182,6 +182,7 @@
<load name="adc_generic.xml">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_7"/> <!-- current sensor -->
</load>
<load name="infrared_adc.xml"/>
</modules>
</airframe>
conf/airframes/easystar_ets_example.xml
+2 -1
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@@ -24,7 +24,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation" type="extra"/>
</firmware>
@@ -37,6 +37,7 @@
<modules>
<load name="airspeed_ets.xml"/>
<load name="baro_ets.xml"/>
<load name="infrared_adc.xml"/>
</modules>
<!-- commands section -->
conf/airframes/easystar_example.xml
+1 -1
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@@ -23,7 +23,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/funjet_cam_example.xml
+2 -1
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@@ -27,7 +27,7 @@
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation" type="extra"/>
@@ -48,6 +48,7 @@
<define name="DC_SHUTTER_LED" value="3"/>
</load>
<load name="sys_mon.xml"/>
<load name="infrared_adc.xml"/>
</modules>
<!-- commands section -->
conf/airframes/funjet_example.xml
+4 -1
View File
@@ -27,12 +27,15 @@
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
<modules>
<load name="infrared_adc.xml"/>
</modules>
<firmware name="setup">
<target name="tunnel" board="tiny_2.11"/>
conf/airframes/jsbsim.xml
+4 -1
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@@ -216,12 +216,15 @@
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="gyro" type="roll"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
</firmware>
<modules>
<load name="infrared_adc.xml"/>
</modules>
<firmware name="setup">
<target name="tunnel" board="tiny_2.1" />
conf/airframes/mentor_tum.xml
+2 -1
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@@ -23,7 +23,7 @@
<!--<define name="TELEMETRY_MODE_FBW" value="1"/>-->
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation" type="extra"/>
</firmware>
@@ -41,6 +41,7 @@
<define name="SERVO_SWITCH_SERVO" value="SERVO_SWITCH"/>
</load>
<load name="sys_mon.xml"/>
<load name="infrared_adc.xml"/>
</modules>
<!-- commands section -->
conf/airframes/microjet_example.xml
+5 -1
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@@ -187,12 +187,16 @@
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="gyro" type="roll"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
</firmware>
<modules>
<load name="infrared_adc.xml"/>
</modules>
<firmware name="setup">
<target name="tunnel" board="tiny_1.1" />
conf/airframes/mm/extra/probe_t.xml
+2 -1
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@@ -16,7 +16,7 @@
</target>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
@@ -30,6 +30,7 @@
<!-- modules -->
<modules>
<load name="max11040.xml"/>
<load name="infrared_adc.xml"/>
</modules>
<!-- commands section -->
conf/airframes/mm/extra/turbine_trigger.xml
+2 -1
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@@ -9,7 +9,7 @@
</target>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
@@ -23,6 +23,7 @@
<!-- modules -->
<modules>
<load name="trigger_ext.xml"/>
<load name="infrared_adc.xml"/>
</modules>
<servos>
conf/airframes/mm/fixed-wing/drops.xml
+5 -1
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@@ -22,7 +22,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="control_adaptive"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
<subsystem name="navigation_bomb"/>
@@ -32,6 +32,10 @@
</subsystem>
</firmware>
<modules>
<load name="infrared_adc.xml"/>
</modules>
<!-- commands section -->
<servos>
<servo name="MOTOR_LEFT" no="0" min="1000" neutral="1000" max="2000"/>
conf/airframes/mm/fixed-wing/funjet43.xml
+2 -1
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@@ -20,7 +20,7 @@
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<!--subsystem name="attitude" type="infrared"/-->
<!--subsystem name="ahrs" type="infrared"/-->
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
<!-- Interfaces -->
@@ -30,6 +30,7 @@
<modules>
<load name="ins_arduimu.xml">
</load>
<!--load name="infrared_adc.xml"/-->
</modules>
<firmware name="lisa_l_test_progs">
conf/airframes/mm/fixed-wing/funjetdca.xml
+2 -1
View File
@@ -33,7 +33,7 @@
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<!-- Nav -->
<subsystem name="navigation"/>
@@ -51,6 +51,7 @@
<modules>
<!--load name="formation_flight.xml"/-->
<load name="tcas.xml"/>
<load name="infrared_adc.xml"/>
</modules>
<!-- commands section -->
conf/airframes/mm/fixed-wing/funjetdcb.xml
+2 -1
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@@ -33,7 +33,7 @@
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<!-- Nav -->
<subsystem name="navigation"/>
@@ -51,6 +51,7 @@
<modules>
<!--load name="formation_flight.xml"/-->
<load name="tcas.xml"/>
<load name="infrared_adc.xml"/>
</modules>
<!-- commands section -->
conf/airframes/mm/fixed-wing/funjetdcc.xml
+2 -1
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@@ -33,7 +33,7 @@
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/>
<!-- Nav -->
<subsystem name="navigation"/>
@@ -51,6 +51,7 @@
<modules>
<!--load name="formation_flight.xml"/-->
<load name="tcas.xml"/>
<load name="infrared_adc.xml"/>
</modules>
<!-- commands section -->
conf/airframes/mm/fixed-wing/funjetgfi8.xml
+2 -1
View File
@@ -28,7 +28,7 @@
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<!-- Nav -->
<subsystem name="navigation"/>
@@ -40,6 +40,7 @@
<modules>
<load name="baro_scp.xml"/>
<load name="humid_sht.xml"/>
<load name="infrared_adc.xml"/>
</modules>
<firmware name="setup">
conf/airframes/mm/fixed-wing/funjetlisa.xml
+4 -2
View File
@@ -16,7 +16,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox">
<configure name="GPS_PORT" value="UART3"/>
</subsystem>
@@ -45,7 +45,9 @@
<target name="test_actuators_asctecv1" board="lisa_l_1.0"/>
</firmware>
<modules>
<load name="infrared_adc.xml"/>
</modules>
<servos>
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
conf/airframes/mm/fixed-wing/funjetlisam.xml
+4 -2
View File
@@ -16,7 +16,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox">
<configure name="GPS_PORT" value="UART3"/>
</subsystem>
@@ -45,7 +45,9 @@
<target name="test_actuators_asctecv1" board="lisa_l_1.0"/>
</firmware>
<modules>
<load name="infrared_adc.xml"/>
</modules>
<servos>
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
conf/airframes/mm/fixed-wing/funjetmm.xml
+2 -1
View File
@@ -36,7 +36,7 @@
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="mediatek_diy"/>
<!-- Nav -->
<subsystem name="navigation"/>
@@ -73,6 +73,7 @@
<load name="humid_sht_i2c.xml"/>
<load name="mag_micromag_fw.xml"/>
<load name="baro_scp_i2c.xml"/-->
<load name="infrared_adc.xml"/>
</modules>
<!-- commands section -->
conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
+1 -1
View File
@@ -34,7 +34,7 @@
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/>
<!-- Sensors -->
<!--subsystem name="attitude" type="infrared"/-->
<!--subsystem name="ahrs" type="infrared"/-->
<subsystem name="gps" type="ublox"/>
<!-- Nav -->
<subsystem name="navigation"/>
conf/airframes/mm/fixed-wing/merlin.xml
+1 -1
View File
@@ -181,7 +181,7 @@
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/>
<!-- Nav -->
<subsystem name="navigation"/>
conf/airframes/mm/fixed-wing/slowfast.xml
+5 -1
View File
@@ -22,7 +22,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
@@ -31,6 +31,10 @@
</subsystem>
</firmware>
<modules>
<load name="infrared_adc.xml"/>
</modules>
<!-- commands section -->
<servos>
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
conf/airframes/mm/fixed-wing/slowfast2.xml
+2 -1
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@@ -23,7 +23,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
@@ -38,6 +38,7 @@
<!--param name="USE_AIRSPEED" value="1"/-->
<param name="SENSOR_SYNC_SEND" value="1"/>
</load>
<load name="infrared_adc.xml"/>
</modules>
<!-- commands section -->
conf/airframes/osam_xsens_twog.xml
+1 -1
View File
@@ -31,7 +31,7 @@
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/>
<!-- Sensors -->
<!--subsystem name="attitude" type="infrared"/-->
<!--subsystem name="ahrs" type="infrared"/-->
<subsystem name="gps" type="ugear"/>
<subsystem name="navigation"/>
</firmware>
conf/airframes/twinjet_example.xml
+2 -1
View File
@@ -21,7 +21,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gyro" type="roll"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
@@ -38,6 +38,7 @@
<load name="adc_generic.xml">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_7" />
</load>
<load name="infrared_adc.xml"/>
</modules>
<servos>
conf/airframes/twinjet_overo.xml
+2 -1
View File
@@ -24,7 +24,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gyro" type="roll"/>
<subsystem name="gps" type="ublox_hitl"/>
<subsystem name="navigation"/>
@@ -44,6 +44,7 @@
<flag name="USE_ADC_3"/>
<flag name="USE_ADC_5"/>
</load>
<load name="infrared_adc.xml"/>
</modules>
<servos>
conf/airframes/twinstar_example.xml
+5 -1
View File
@@ -22,7 +22,7 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
</firmware>
@@ -32,6 +32,10 @@
<target name="setup_actuators" board="twog_1.0"/>
</firmware>
<modules>
<load name="infrared_adc.xml"/>
</modules>
<!-- commands section -->
<servos>
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
conf/airframes/usb_test.xml
+5 -1
View File
@@ -14,7 +14,7 @@
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
</firmware>
@@ -26,6 +26,10 @@
<target name="setup_actuators" board="tiny_2.11"/>
</firmware>
<modules>
<load name="infrared_adc.xml"/>
</modules>
<!-- commands section -->
<servos>
<servo name="MOTOR" no="0" min="1550" neutral="1550" max="2000"/>
conf/autopilot/subsystems/fixedwing/ahrs_float_dcm.makefile
+1
View File
@@ -4,6 +4,7 @@
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm.h\"
$(TARGET).CFLAGS += -DUSE_AHRS_ALIGNER
ifeq ($(TARGET), ap)
conf/autopilot/subsystems/fixedwing/ahrs_infrared.makefile
+13
View File
@@ -0,0 +1,13 @@
# Hey Emacs, this is a -*- makefile -*-
# attitude estimation for fixedwings using infrared sensors
# usage of this ahrs subsystem implies USE_INFRARED
$(TARGET).CFLAGS += -DUSE_INFRARED
$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_infrared.h\"
$(TARGET).CFLAGS += -DUSE_AHRS
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/ahrs.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_infrared.c
conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile
+2
View File
@@ -4,6 +4,8 @@
#
AHRS_CFLAGS = -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR -DUSE_AHRS_CMPL
AHRS_CFLAGS += -DUSE_AHRS_ALIGNER
ifdef AHRS_ALIGNER_LED
AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
+2
View File
@@ -7,6 +7,8 @@
#
AHRS_CFLAGS = -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
AHRS_CFLAGS += -DUSE_AHRS_ALIGNER
ifdef AHRS_ALIGNER_LED
AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
conf/autopilot/subsystems/fixedwing/attitude_infrared.makefile
+1 -42
View File
@@ -1,42 +1 @@
# Hey Emacs, this is a -*- makefile -*-
# attitude via IR sensors
#
# default values for tiny and twog are:
# ADC_IR1 = ADC_1
# ADC_IR2 = ADC_2
# ADC_IR_TOP = ADC_0
# ADC_IR_NB_SAMPLES = 16
#
# to change just redefine these before including this file
#
#
# LPC only has one ADC
#
ifeq ($(ARCH), lpc21)
ap.CFLAGS += -DADC_CHANNEL_IR1=$(ADC_IR1) -DUSE_$(ADC_IR1)
ap.CFLAGS += -DADC_CHANNEL_IR2=$(ADC_IR2) -DUSE_$(ADC_IR2)
ap.CFLAGS += -DADC_CHANNEL_IR_TOP=$(ADC_IR_TOP) -DUSE_$(ADC_IR_TOP)
endif
#
# On STM32 let's hardwire infrared sensors to AD1 for now
#
ifeq ($(ARCH), stm32)
ap.CFLAGS += -DUSE_AD1
ap.CFLAGS += -DADC_CHANNEL_IR1=$(ADC_IR1_CHAN) -DUSE_AD1_$(ADC_IR1)
ap.CFLAGS += -DADC_CHANNEL_IR2=$(ADC_IR2_CHAN) -DUSE_AD1_$(ADC_IR2)
ap.CFLAGS += -DADC_CHANNEL_IR_TOP=$(ADC_IR_TOP_CHAN) -DUSE_AD1_$(ADC_IR_TOP)
endif
ap.CFLAGS += -DADC_CHANNEL_IR_NB_SAMPLES=$(ADC_IR_NB_SAMPLES)
$(TARGET).CFLAGS += -DUSE_INFRARED
$(TARGET).srcs += subsystems/sensors/infrared.c
$(TARGET).srcs += subsystems/sensors/infrared_adc.c
sim.srcs += $(SRC_ARCH)/sim_ir.c
# is already added to sources in autopilot.makefile
#jsbsim.srcs += $(SRC_ARCH)/jsbsim_ir.c
$(error Attitude estimation via infrared has been implemented as an AHRS subsystem now. Please replace <subsystem name="attitude" type="infrared"/> with <subsystem name="ahrs" type="infrared"/> and add the module <load name="infrared.xml"/> in your airframe file.)
conf/autopilot/subsystems/fixedwing/attitude_infrared_i2c.makefile
+1 -10
View File
@@ -1,10 +1 @@
# Hey Emacs, this is a -*- makefile -*-
# attitude via IR I2C sensors
$(TARGET).CFLAGS += -DUSE_INFRARED_I2C
$(TARGET).srcs += subsystems/sensors/infrared.c
$(TARGET).srcs += subsystems/sensors/infrared_i2c.c
sim.srcs += $(SRC_ARCH)/sim_ir.c
jsbsim.srcs += $(SRC_ARCH)/jsbsim_ir.c
$(error Attitude estimation via infrared has been implemented as an AHRS subsystem now. Please replace <subsystem name="attitude" type="infrared"/> with <subsystem name="ahrs" type="infrared"/> and add the module <load name="infrared_i2c.xml"/> in your airframe file.)
conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile
+8 -9
View File
@@ -1,16 +1,15 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Fixed point complementary filter using euler angles for attitude estimation
#
AHRS_CFLAGS = -DUSE_AHRS -DUSE_AHRS_CMPL
AHRS_CFLAGS += -DUSE_AHRS_ALIGNER
ifdef AHRS_ALIGNER_LED
ap.CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
ap.CFLAGS += -DUSE_AHRS_CMPL
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs.c
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_int_cmpl_euler.c
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_euler.h\"
AHRS_SRCS += subsystems/ahrs.c
AHRS_SRCS += subsystems/ahrs/ahrs_int_cmpl_euler.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
sim.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=3
sim.srcs += $(SRC_SUBSYSTEMS)/ahrs.c
sim.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
sim.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_int_cmpl_euler.c
conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile
+1
View File
@@ -7,6 +7,7 @@
#
AHRS_CFLAGS = -DUSE_AHRS
AHRS_CFLAGS += -DUSE_AHRS_ALIGNER
ifdef AHRS_ALIGNER_LED
AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
conf/modules/infrared_adc.xml
+22 -7
View File
@@ -1,5 +1,4 @@
<!DOCTYPE module SYSTEM "module.dtd">
<!-- @define IR_ADC_READ_ONLY for read only module -->
<module name="ir_adc" dir="sensors">
<header>
@@ -13,12 +12,28 @@
<file name="infrared_adc.c" dir="subsystems/sensors"/>
</makefile>
<makefile target="ap">
<define name="ADC_CHANNEL_IR1" value="$(ADC_IR1)"/>
<define name="ADC_CHANNEL_IR2" value="$(ADC_IR2)"/>
<define name="ADC_CHANNEL_IR_TOP" value="$(ADC_IR_TOP)"/>
<define name="USE_$(ADC_IR1)"/>
<define name="USE_$(ADC_IR2)"/>
<define name="USE_$(ADC_IR_TOP)"/>
<raw>
#
# LPC only has one ADC
#
ifeq ($(ARCH), lpc21)
ap.CFLAGS += -DADC_CHANNEL_IR1=$(ADC_IR1) -DUSE_$(ADC_IR1)
ap.CFLAGS += -DADC_CHANNEL_IR2=$(ADC_IR2) -DUSE_$(ADC_IR2)
ap.CFLAGS += -DADC_CHANNEL_IR_TOP=$(ADC_IR_TOP) -DUSE_$(ADC_IR_TOP)
endif
#
# On STM32 let's hardwire infrared sensors to AD1 for now
#
ifeq ($(ARCH), stm32)
ap.CFLAGS += -DUSE_AD1
ap.CFLAGS += -DADC_CHANNEL_IR1=$(ADC_IR1_CHAN) -DUSE_AD1_$(ADC_IR1)
ap.CFLAGS += -DADC_CHANNEL_IR2=$(ADC_IR2_CHAN) -DUSE_AD1_$(ADC_IR2)
ap.CFLAGS += -DADC_CHANNEL_IR_TOP=$(ADC_IR_TOP_CHAN) -DUSE_AD1_$(ADC_IR_TOP)
endif
ap.CFLAGS += -DADC_CHANNEL_IR_NB_SAMPLES=$(ADC_IR_NB_SAMPLES)
</raw>
</makefile>
<makefile target="sim">
<file_arch name="sim_ir.c" dir="."/>
sw/airborne/ap_downlink.h
+3 -3
View File
@@ -93,10 +93,10 @@
#define PERIODIC_SEND_PPRZ_MODE(_chan) DOWNLINK_SEND_PPRZ_MODE(_chan, &pprz_mode, &v_ctl_mode, &lateral_mode, &horizontal_mode, &rc_settings_mode, &mcu1_status);
#define PERIODIC_SEND_DESIRED(_chan) DOWNLINK_SEND_DESIRED(_chan, &h_ctl_roll_setpoint, &h_ctl_pitch_loop_setpoint, &h_ctl_course_setpoint, &desired_x, &desired_y, &v_ctl_altitude_setpoint, &v_ctl_climb_setpoint);
#ifdef USE_AHRS
#define PERIODIC_SEND_STATE_FILTER_STATUS(_chan) { uint8_t mde = 3; if (ahrs.status == AHRS_UNINIT) mde = 2; if (ahrs_timeout_counter > 10) mde = 5; uint16_t val = 0; DOWNLINK_SEND_STATE_FILTER_STATUS(_chan, &mde, &val); }
#elif defined(USE_INFRARED)
#ifdef USE_INFRARED
#define PERIODIC_SEND_STATE_FILTER_STATUS(_chan) { uint16_t contrast = abs(infrared.roll) + abs(infrared.pitch) + abs(infrared.top); uint8_t mde = 3; if (contrast < 50) mde = 7; DOWNLINK_SEND_STATE_FILTER_STATUS(_chan, &mde, &contrast); }
#elif defined USE_AHRS
#define PERIODIC_SEND_STATE_FILTER_STATUS(_chan) { uint8_t mde = 3; if (ahrs.status == AHRS_UNINIT) mde = 2; if (ahrs_timeout_counter > 10) mde = 5; uint16_t val = 0; DOWNLINK_SEND_STATE_FILTER_STATUS(_chan, &mde, &val); }
#else
#define PERIODIC_SEND_STATE_FILTER_STATUS(_chan) {}
#endif

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