From 148250d59d9b7947206400e6f605d32f80fb04ba Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Sun, 18 Jan 2009 15:25:05 +0000
Subject: [PATCH] mc20 radio transmitter added; ppm message for booz2; kill
 switch in airframe file

---
 conf/airframes/booz2_flixr.xml           |  4 +-
 conf/radios/mc20.xml                     | 55 ++++++++++++++++++++++++
 conf/settings/settings_booz2.xml         |  2 +-
 conf/telemetry/telemetry_booz2.xml       |  6 +++
 conf/telemetry/telemetry_booz2_flixr.xml |  6 +++
 5 files changed, 70 insertions(+), 3 deletions(-)
 create mode 100644 conf/radios/mc20.xml

diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml
index 558e8a1f9f..a4a61610f4 100644
--- a/conf/airframes/booz2_flixr.xml
+++ b/conf/airframes/booz2_flixr.xml
@@ -108,7 +108,7 @@
 
 
   <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
-   <define name="HOVER_POWER" value="81"/>
+   <define name="HOVER_POWER" value="86"/>
    <define name="HOVER_KP"    value="-200"/>
    <define name="HOVER_KD"    value="-100"/>
    <define name="HOVER_KI"    value="-50"/>
@@ -133,7 +133,7 @@
   <makefile>
 # prevents motors from ever starting
 #ap.CFLAGS += -DKILL_MOTORS
-ap.CFLAGS += -DKILL_SWITCH
+ap.CFLAGS += -DKILL_SWITCH=RADIO_SWITCH1
 
 include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_buss.makefile
 include $(PAPARAZZI_SRC)/conf/autopilot/booz2_imu_b2v1.makefile
diff --git a/conf/radios/mc20.xml b/conf/radios/mc20.xml
new file mode 100644
index 0000000000..90e2a8d844
--- /dev/null
+++ b/conf/radios/mc20.xml
@@ -0,0 +1,55 @@
+<?xml version="1.0"?>
+<!-- $Id$
+--
+-- (c) 2003 Pascal Brisset, Antoine Drouin
+--
+-- This file is part of paparazzi.
+--
+-- paparazzi is free software; you can redistribute it and/or modify
+-- it under the terms of the GNU General Public License as published by
+-- the Free Software Foundation; either version 2, or (at your option)
+-- any later version.
+--
+-- paparazzi is distributed in the hope that it will be useful,
+-- but WITHOUT ANY WARRANTY; without even the implied warranty of
+-- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+-- GNU General Public License for more details.
+--
+-- You should have received a copy of the GNU General Public License
+-- along with paparazzi; see the file COPYING.  If not, write to
+-- the Free Software Foundation, 59 Temple Place - Suite 330,
+-- Boston, MA 02111-1307, USA.  
+-->
+
+<!--
+-- Attributes of root (Radio) tag :
+-- name: name of RC
+-- min: min width of a pulse to be considered as a data pulse
+-- max: max width of a pulse to be considered as a data pulse
+-- sync: min width of a pulse to be considered as a synchro pulse
+-- min, max and sync are expressed in micro-seconds
+-->
+
+<!-- 
+-- Attributes of channel tag :
+-- ctl: name of the command on the transmitter - only for displaying
+-- no: order in the PPM frame
+-- function: logical command
+-- averaged: channel filtered through several frames (for discrete commands)
+-- min: minimum pulse length (micro-seconds)
+-- max: maximum pulse length (micro-seconds)
+-- neutral: neutral pulse length (micro-seconds)
+Note: a command may be reversed by exchanging min and max values
+-->
+
+<!DOCTYPE radio SYSTEM "radio.dtd">
+<radio name="GraupnerMC20" data_min="950" data_max="2150" sync_min="5000" sync_max="15000">
+  <channel ctl="A" function="THROTTLE" min="1100" neutral="1100" max="1900" average="0"/>	<!-- left stick up/down -->
+  <channel ctl="B" function="ROLL" min="1100" neutral="1500" max="1900" average="0"/>     <!-- right stick left/right -->
+  <channel ctl="C" function="PITCH" min="1900" neutral="1500" max="1100" average="0"/>    <!-- right stick up/down -->
+  <channel ctl="D" function="YAW" min="1100" neutral="1500" max="1900" average="0"/>		<!-- left stick left/right-->
+  <channel ctl="E" function="MODE" min="1100" neutral="1500" max="1900" average="1"/>     <!-- left middle 3-pos switch -->
+  <channel ctl="F" function="GAIN1" min="1100" neutral="1500" max="1900" average="0"/>     <!-- left slider prop channel -->
+  <channel ctl="G" function="GAIN2" min="1100" neutral="1500" max="1900" average="0"/>     <!-- right slider prop channel -->
+  <channel ctl="H" function="SWITCH1" min="1100" neutral="1500" max="1900" average="1"/>     <!-- switch channel -->
+</radio>
diff --git a/conf/settings/settings_booz2.xml b/conf/settings/settings_booz2.xml
index 559e86c4d8..a666fc8859 100644
--- a/conf/settings/settings_booz2.xml
+++ b/conf/settings/settings_booz2.xml
@@ -4,7 +4,7 @@
   <dl_settings>
 
     <dl_settings NAME="Misc">
-       <dl_setting var="telemetry_mode_Main" min="0" step="1" max="10" module="booz2_telemetry" shortname="telemetry" values="Default|Raw sensors|Scaled sensors|Filter|Rate loop|Att loop|Vert loop|H loop|Aligner|HS_att_roll|Tune_hover"/>
+       <dl_setting var="telemetry_mode_Main" min="0" step="1" max="11" module="booz2_telemetry" shortname="telemetry" values="Default|PPM|Raw sensors|Scaled sensors|Filter|Rate loop|Att loop|Vert loop|H loop|Aligner|HS_att_roll|Tune_hover"/>
        <dl_setting var="booz_fms_on" min="0" step="1" max="1" module="booz2_fms" shortname="fms_on" values="OFF|ON"/>
 <!--       <dl_setting var="booz2_autopilot_mode_auto2" min="0" step="1" max="8" module="booz2_autopilot" shortname="auto2" values="Fail|Kill|Rate|Att|Rate_Z|Att_Z|Hover|Hover_Z|Nav"/> -->
     </dl_settings>
diff --git a/conf/telemetry/telemetry_booz2.xml b/conf/telemetry/telemetry_booz2.xml
index bff0eb3cdb..04e4d30559 100644
--- a/conf/telemetry/telemetry_booz2.xml
+++ b/conf/telemetry/telemetry_booz2.xml
@@ -13,6 +13,12 @@
       <message name="BOOZ2_NAV_REF"     period="5."/>
     </mode>
 
+	<mode name="ppm">
+      <message name="PPM"               period="0.5"/>
+      <message name="RC"                period="0.5"/>
+      <message name="BOOZ_STATUS"       period="1"/>
+    </mode>
+    
     <mode name="raw_sensors">
       <message name="BOOZ_STATUS"       period="1.2"/>
       <message name="DL_VALUE"          period="0.5"/>
diff --git a/conf/telemetry/telemetry_booz2_flixr.xml b/conf/telemetry/telemetry_booz2_flixr.xml
index b7f70db7f0..ff7efffb38 100644
--- a/conf/telemetry/telemetry_booz2_flixr.xml
+++ b/conf/telemetry/telemetry_booz2_flixr.xml
@@ -36,6 +36,12 @@
       <message name="ALIVE"             period="2.1"/>
     </mode>
 
+    <mode name="ppm">
+      <message name="PPM"               period="0.5"/>
+      <message name="RC"                period="0.5"/>
+      <message name="BOOZ_STATUS"       period="1"/>
+    </mode>
+
     <mode name="raw_sensors">
       <message name="BOOZ_STATUS"       period="1.2"/>
       <message name="DL_VALUE"          period="0.5"/>