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Lisa-M Aspirin2 Works too

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This commit is contained in:
Christophe De Wagter
2012-01-13 11:17:44 +01:00
parent c61b44a1e3
commit 197a33fea1
2 changed files with 11 additions and 38 deletions
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conf/airframes/CDW/LisaAspirin2.xml
+10 -34
View File
@@ -7,9 +7,9 @@
<airframe name="LisaAspirin2"> <airframe name="LisaAspirin2">
<servos> <servos>
<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/> <servo name="THROTTLE" no="2" min="1000" neutral="1000" max="2000"/>
<servo name="AILERON_LEFT" no="1" min="1000" neutral="1500" max="2000"/> <servo name="AILEVON_LEFT" no="1" min="1000" neutral="1500" max="2000"/>
<servo name="AILERON_RIGHT" no="2" min="2000" neutral="1500" max="1000"/> <servo name="AILEVON_RIGHT" no="0" min="2000" neutral="1500" max="1000"/>
<servo name="ELEVATOR" no="3" min="2000" neutral="1500" max="1000"/> <servo name="ELEVATOR" no="3" min="2000" neutral="1500" max="1000"/>
<servo name="RUDDER" no="4" min="1100" neutral="1500" max="1900"/> <servo name="RUDDER" no="4" min="1100" neutral="1500" max="1900"/>
</servos> </servos>
@@ -29,8 +29,8 @@
</rc_commands> </rc_commands>
<command_laws> <command_laws>
<set servo="AILERON_LEFT" value="@ROLL"/> <set servo="AILEVON_LEFT" value="@ROLL + @PITCH"/>
<set servo="AILERON_RIGHT" value="@ROLL"/> <set servo="AILEVON_RIGHT" value="@ROLL - @PITCH"/>
<set servo="THROTTLE" value="@THROTTLE"/> <set servo="THROTTLE" value="@THROTTLE"/>
<set servo="ELEVATOR" value="@PITCH"/> <set servo="ELEVATOR" value="@PITCH"/>
</command_laws> </command_laws>
@@ -53,35 +53,15 @@
<define name="GYRO_Q_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="GYRO_R_SENS" value="4.359" integer="16"/>
<define name="GYRO_P_Q" value="0."/> <define name="ACCEL_X_NEUTRAL" value="0"/>
<define name="GYRO_P_R" value="0"/> <define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="GYRO_Q_P" value="0."/> <define name="ACCEL_Z_NEUTRAL" value="0"/>
<define name="GYRO_Q_R" value="0."/>
<define name="GYRO_R_P" value="0."/>
<define name="GYRO_R_Q" value="0."/>
<define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_Q_SIGN" value="1"/>
<define name="GYRO_R_SIGN" value="1"/>
<define name="ACCEL_X_NEUTRAL" value="-40"/>
<define name="ACCEL_Y_NEUTRAL" value="-15"/>
<define name="ACCEL_Z_NEUTRAL" value="375"/>
<!-- SENS = 2048 LSB/g / 9.81 ms2/g = 208.766564729 LSB/ms2 / 10bit FRAC: 1024 / 208.7665 --> <!-- SENS = 2048 LSB/g / 9.81 ms2/g = 208.766564729 LSB/ms2 / 10bit FRAC: 1024 / 208.7665 -->
<define name="ACCEL_X_SENS" value="9.81" integer="16"/> <define name="ACCEL_X_SENS" value="9.81" integer="16"/>
<define name="ACCEL_Y_SENS" value="9.81" integer="16"/> <define name="ACCEL_Y_SENS" value="9.81" integer="16"/>
<define name="ACCEL_Z_SENS" value="9.81" integer="16"/> <define name="ACCEL_Z_SENS" value="9.81" integer="16"/>
<!--
<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"/>
-->
<define name="ACCEL_X_SIGN" value="1"/>
<define name="ACCEL_Y_SIGN" value="1"/>
<define name="ACCEL_Z_SIGN" value="1"/>
<define name="MAG_X_NEUTRAL" value="0"/> <define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/> <define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/> <define name="MAG_Z_NEUTRAL" value="0"/>
@@ -90,10 +70,6 @@
<define name="MAG_Y_SENS" value="1" integer="16"/> <define name="MAG_Y_SENS" value="1" integer="16"/>
<define name="MAG_Z_SENS" value="1" integer="16"/> <define name="MAG_Z_SENS" value="1" 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="BODY_TO_IMU_PHI" value="0"/> <define name="BODY_TO_IMU_PHI" value="0"/>
<define name="BODY_TO_IMU_THETA" value="0"/> <define name="BODY_TO_IMU_THETA" value="0"/>
<define name="BODY_TO_IMU_PSI" value="0"/> <define name="BODY_TO_IMU_PSI" value="0"/>
@@ -222,7 +198,7 @@
<firmware name="fixedwing"> <firmware name="fixedwing">
<target name="ap" board="lisa_l_1.0"> <target name="ap" board="lisa_m_1.0">
<define name="STRONG_WIND"/> <define name="STRONG_WIND"/>
<define name="WIND_INFO"/> <define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/> <define name="WIND_INFO_RET"/>
@@ -230,7 +206,7 @@
<configure name="PERIODIC_FREQUENCY" value="120"/> <configure name="PERIODIC_FREQUENCY" value="120"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/> <configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="100"/> <configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
<!-- <define name="AHRS_TRIGGERED_ATTITUDE_LOOP" /> --> <define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
<configure name="AHRS_ALIGNER_LED" value="1"/> <configure name="AHRS_ALIGNER_LED" value="1"/>
<configure name="CPU_LED" value="1"/> <configure name="CPU_LED" value="1"/>
sw/airborne/subsystems/imu/imu_aspirin2.h
+1 -4
View File
@@ -26,7 +26,6 @@
#include "generated/airframe.h" #include "generated/airframe.h"
#include "subsystems/imu.h" #include "subsystems/imu.h"
#include "led.h"
#ifdef IMU_ASPIRIN_VERSION_2_0 #ifdef IMU_ASPIRIN_VERSION_2_0
@@ -35,7 +34,7 @@
#define IMU_MAG_Z_CHAN 1 #define IMU_MAG_Z_CHAN 1
#if !defined IMU_MAG_X_SIGN & !defined IMU_MAG_Y_SIGN & !defined IMU_MAG_Z_SIGN #if !defined IMU_MAG_X_SIGN & !defined IMU_MAG_Y_SIGN & !defined IMU_MAG_Z_SIGN
#define IMU_MAG_X_SIGN 1 #define IMU_MAG_X_SIGN 1
#define IMU_MAG_Y_SIGN -1 #define IMU_MAG_Y_SIGN 1
#define IMU_MAG_Z_SIGN 1 #define IMU_MAG_Z_SIGN 1
#endif #endif
#endif #endif
@@ -127,8 +126,6 @@ static inline void imu_from_buff(void)
static inline void imu_aspirin2_event(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void)) static inline void imu_aspirin2_event(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void))
{ {
LED_TOGGLE(4);
if (imu_aspirin2.status == Aspirin2StatusUninit) return; if (imu_aspirin2.status == Aspirin2StatusUninit) return;
// imu_aspirin2_arch_int_disable(); // imu_aspirin2_arch_int_disable();