From 1a5321484577ead82ffa94e3d99d3558fbcf0593 Mon Sep 17 00:00:00 2001
From: Pascal Brisset <pascal.brisset@free.fr>
Date: Sat, 22 Mar 2008 11:29:04 +0000
Subject: [PATCH] *** empty log message ***

---
 conf/airframes/flyingtux.xml | 130 -----------------------------------
 conf/airframes/ugv.xml       | 112 ------------------------------
 2 files changed, 242 deletions(-)
 delete mode 100644 conf/airframes/flyingtux.xml
 delete mode 100644 conf/airframes/ugv.xml

diff --git a/conf/airframes/flyingtux.xml b/conf/airframes/flyingtux.xml
deleted file mode 100644
index 3e8aa1fb7e..0000000000
--- a/conf/airframes/flyingtux.xml
+++ /dev/null
@@ -1,130 +0,0 @@
-<airframe name="FlyingTux">
-  <section name="adc" prefix="ADC_CHANNEL_">
-    <define name="IR1" value="1"/>
-    <define name="IR2" value="0"/>
-    <define name="IR_NB_SAMPLES" value="16"/>
-    <define name="VSUPPLY" value="3" />
-  </section>
-  <servos min="1000" neutral="1500" max="2000">
-    <servo name="GAZ"    no="0" min="1250" neutral="1250" max="1850"/>
-    <servo name="AILEVON_RIGHT"  no="1" min="1200" neutral="1425" max="2000"/>
-    <servo name="AILEVON_LEFT" no="2" min="1200" neutral="1520" max="2000"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL"     failsafe_value="0"/>
-    <axis name="PITCH"    failsafe_value="0"/>
-  </commands>
-
-  <rc_commands>
-    <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="ROLL" value="@ROLL"/>
-    <set command="PITCH" value="@PITCH"/>
-  </rc_commands>
-
-  <command_laws>
-    <set servo="GAZ" value="@THROTTLE"/>
-    <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
-    <set servo="AILEVON_LEFT" value="$aileron + $elevator"/>
-    <set servo="AILEVON_RIGHT" value="$aileron - $elevator"/>
-  </command_laws>
-
-  <section name="MIXER">
-    <define name="AILEVON_AILERON_RATE" value="0.55"/>
-    <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
-  </section>
-
-  <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="0.8"/>
-    <define name="MAX_PITCH" value="0.6"/>
-  </section>
-
-  <section name="INFRARED" prefix="IR_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="-3" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="6" unit="deg"/>
-    <define name="DEFAULT_CONTRAST" value="400"/>
-    <define name="RAD_OF_IR_CONTRAST" value="0.6"/>
-    <define name="RAD_OF_IR_MIN_VALUE" value="0.0008"/>
-    <define name="RAD_OF_IR_MAX_VALUE" value="0.008"/>
-    <linear name="RollOfIrs" arity="2" coeff1="-1" coeff2="1"/>
-    <linear name="PitchOfIrs" arity="2" coeff1="1" coeff2="1"/>
-    <define name="ADC_ROLL_NEUTRAL" value="0"/>
-    <define name="ADC_PITCH_NEUTRAL" value="1020"/>
-  </section>
-  <section name="PID">
-    <define name="ROLL_PGAIN" value="6000."/>
-    <define name="PITCH_OF_ROLL" value="0.2"/>
-    <define name="PITCH_PGAIN" value="10000."/>
-    <define name="MAX_ROLL" value="0.4"/>
-    <define name="MAX_PITCH" value="0.25"/>
-    <define name="MIN_PITCH" value="-0.35"/>
-    <define name="AILERON_OF_GAZ" value="-0.13"/>
-    <define name="CRUISE_THROTTLE" value="0.5"/>
-   </section>
-
-  <section name="ALT" prefix="CLIMB_">
-    <define name="PITCH_PGAIN" value="-0.1"/>
-    <define name="PITCH_IGAIN" value="1.0"/>
-    <define name="PGAIN" value="-0.025"/>
-    <define name="IGAIN" value="0.01"/>
-    <define name="MAX" value="1."/>
-    <define name="GAZ_OF_CLIMB" value="0.15" unit="% / m/s"/>
-    <define name="PITCH_OF_VZ_PGAIN" value="0.05"/>
-  </section>
-  <section name="NAV">
-    <define name="COURSE_PGAIN" value="-0.3"/>
-    <define name="ALTITUDE_PGAIN" value="-0.05"/>
-    <define name="NAV_PITCH" value="0."/>
-  </section>
-  <section name="BAT" channel="3">
-    <define name="MILLIAMP_PER_PERCENT" value="1.25"/>
-    <define name="VOLTAGE_ADC_A" value="0.0178771"/>
-    <define name="VOLTAGE_ADC_B" value="-0.556983"/>
-    <define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
-    <define name="LOW_BATTERY" value="9.0" unit="V"/>
-  </section>
-  <section name="SERVOS" channel="6">
-    <define name="SERVOS_FALLING_EDGE" value="1"/>
-    <define name="SERVOS_VOLTAGE_ADC_A" value="0.005661"/>
-    <define name="SERVOS_VOLTAGE_ADC_B" value="0.014948"/>
-    <define name="ServosVoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
-  </section>
-  <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="9."/>
-    <define name="CARROT" value="5." unit="s"/>
-  </section>
-  <section name="SIMU">
-    <define name="ROLL_RESPONSE_FACTOR" value="-10."/>
-    <define name="YAW_RESPONSE_FACTOR" value="1."/>
-    <define name="WEIGHT" value="0.45"/>
-  </section>
-	<section name="FAILSAFE" prefix="FAILSAFE_">
-		<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
-    <define name="DEFAULT_GAZ" value="CRUISE_THROTTLE+0.05" unit="%"/>
-    <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
-    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
-		<define name="HOME_RADIUS" value="50" unit="m"/>
-	</section>
-  <section name="CAM" prefix="CAM_">
-    <define name="THETA0" value="45" unit="deg"/>
-    <define name="PHI0" value="45" unit="deg"/>
-  </section>
-
-  <makefile>
-
-include $(PAPARAZZI_SRC)/conf/autopilot/v1_2.makefile
-include $(PAPARAZZI_SRC)/conf/autopilot/twin_mcu_avr.makefile
-
-ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-ap.srcs += pprz_transport.c downlink.c
-
-ap.CFLAGS += -DMODEM  -DDOWNLINK_AP_DEVICE=Modem
-ap.srcs += $(SRC_ARCH)/modem_hw.c 
-
-ap.CFLAGS += -DRADIO_CONTROL_SETTINGS
-ap.srcs += rc_settings.c
-
-  </makefile>
-</airframe>
diff --git a/conf/airframes/ugv.xml b/conf/airframes/ugv.xml
deleted file mode 100644
index c51e7a01a3..0000000000
--- a/conf/airframes/ugv.xml
+++ /dev/null
@@ -1,112 +0,0 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
-
-<!-- Board to be used as handheld GPS, with waypoints remotely controlled
-    from a ground station
-     Minimum configuration to be compiled
- -->
-
-<airframe name="UGV Tiny 0.99">
-  <servos>
-    <servo name="THROTTLE"      no="0" min="1290" neutral="1290" max="1810"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL"     failsafe_value="0"/>
-    <axis name="PITCH"    failsafe_value="0"/>
-  </commands>
-
-  <command_laws>
-    <set servo="THROTTLE"      value="@THROTTLE"/>
-  </command_laws>
-
-  <section name="BAT">
-    <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-  </section>
- 
-  <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
-    <define name="CARROT" value="5." unit="s"/>
-    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
-    <define name="CONTROL_RATE" value="60" unit="Hz"/>
-
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-  </section>
-
-  <section name="VERTICAL CONTROL" prefix="V_CTL_">
-
-    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
-    <!-- outer loop proportional gain -->
-    <define name="ALTITUDE_PGAIN" value="-0.03"/>
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
-  </section>
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="-1.4"/>
-
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
-
-    <define name="PITCH_PGAIN" value="-10000."/>
-    <define name="PITCH_DGAIN" value="1.5"/>
-
-    <define name="ELEVATOR_OF_ROLL" value="1250"/>
-    
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
-    <define name="ROLL_RATE_GAIN" value="-1500"/>
-   </section>
- <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
-
-FLASH_MODE=IAP
-
-ap.CFLAGS +=  -DFBW -DAP -DCONFIG=\"tiny_0_99.h\" -DLED -DTIME_LED=1
-ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
-
-ap.srcs += commands.c
-
-ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
-ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
-
-ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
-
-
-ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
-
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DDOWNLINK_GPS_1Hz
-ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
-# -DUSER_GPS_CONFIGURE=\"ugv_gps_configure.h\"
-
-ap.srcs += gps_ubx.c gps.c latlong.c
-
-ap.srcs += estimator.c
-
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
-ap.CFLAGS += -DNAV
-
-# Config for SITL simulation
-sim.ARCHDIR = $(ARCHI)
-sim.ARCH = sitl
-sim.TARGET = autopilot
-sim.TARGETDIR = autopilot
-sim.CFLAGS += -DSITL -DAP -DFBW -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport
-sim.srcs = latlong.c downlink.c commands.c gps.c inter_mcu.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c  $(SRC_ARCH)/ivy_transport.c 
-sim.CFLAGS += -DCONFIG=\"tiny.h\"
-
-
-  </makefile>
-</airframe>