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example airframe updates

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This commit is contained in:
Felix Ruess
2010-08-20 13:44:56 +00:00
parent a89234bdfb
commit 1b04c100d2
3 changed files with 59 additions and 96 deletions
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conf/airframes/easystar_example.xml
+2 -2
View File
@@ -29,8 +29,8 @@
</firmware>
<firmware name="setup">
<target name="tunnel" board="twog_1" />
<target name="setup_actuators" board="twog_1" />
<target name="tunnel" board="twog_1"/>
<target name="setup_actuators" board="twog_1"/>
</firmware>
<!-- commands section -->
conf/airframes/twinjet_example.xml
+29 -49
View File
@@ -10,6 +10,33 @@
<airframe name="Twinjet">
<firmware name="fixedwing">
<target name="ap" board="twog_1">
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="AGR_CLIMB"/>
</target>
<target name="sim" board="pc">
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="AGR_CLIMB"/>
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="4017"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="gyro" type="roll"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="navigation"/>
</firmware>
<firmware name="setup">
<target name="tunnel" board="twog_1" />
<target name="setup_actuators" board="twog_1" />
</firmware>
<servos>
<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILEVON_RIGHT" no="1" min="1230" neutral="1710" max="2100"/>
@@ -140,8 +167,7 @@
<define name="HOME_RADIUS" value="50" unit="m"/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
<section name="AGGRESSIVE" prefix="AGR_">
<define name="CLIMB_THROTTLE" value="0.65"/><!-- Throttle for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive Decent -->
<define name="CLIMB_PITCH" value="0.2"/><!-- Pitch for Aggressive Climb -->
@@ -150,52 +176,6 @@
<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
<define name="DESCENT_NAV_RATIO" value="1.0"/>
</section>
</section>
<makefile>
BOARD_CFG = \"twog_v1.h\"
# FLASH_MODE=ISP
FLASH_MODE=IAP
# Board Specifics
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
# Fixed Wing Specifics
include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile
include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile
include $(CFG_FIXEDWING)/subsystems/fixedwing_navigation.makefile
# IO Options
include $(CFG_FIXEDWING)/subsystems/fixedwing_radio_control_ppm.makefile
include $(CFG_FIXEDWING)/subsystems/fixedwing_actuators_4017.makefile
# Sensors
include $(CFG_FIXEDWING)/subsystems/fixedwing_attitude_infrared.makefile
include $(CFG_FIXEDWING)/subsystems/fixedwing_gyro.makefile
### (UART 0, 38400baud) are the default GPS parameters, change and uncomment if needed
#GPS_UART_NR = 0
#GPS_BAUD = 38400
include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox_lea5h.makefile
### (UART 1, 57600baud) are default modem parameters, change and uncomment if needed
#MODEM_UART_NR = 1
#MODEM_BAUD = 57600
include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
# Special options
ap.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO
######################################
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\"
sim.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
</makefile>
</airframe>
conf/airframes/twinstar_example.xml
+28 -45
View File
@@ -11,6 +11,32 @@
<airframe name="Twinstar">
<firmware name="fixedwing">
<target name="ap" board="twog_1">
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="AGR_CLIMB"/>
</target>
<target name="sim" board="pc">
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="AGR_CLIMB"/>
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="4017"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea4p"/>
<subsystem name="navigation"/>
</firmware>
<firmware name="setup">
<target name="tunnel" board="twog_1"/>
<target name="setup_actuators" board="twog_1"/>
</firmware>
<!-- commands section -->
<servos>
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
@@ -135,8 +161,7 @@
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
<define name="THROTTLE_SLEW" value="0.1"/>
<define name="THROTTLE_SLEW" value="0.1"/>
</section>
@@ -152,7 +177,7 @@
<define name="PITCH_DGAIN" value="-1700."/>
<define name="ELEVATOR_OF_ROLL" value="1500"/>
</section>
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
@@ -178,46 +203,4 @@
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
<makefile>
BOARD_CFG = \"twog_v1.h\"
FLASH_MODE=IAP
# Board Specifics
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
# Fixed Wing Specifics
include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile
include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile
include $(CFG_FIXEDWING)/subsystems/fixedwing_navigation.makefile
# IO Options
include $(CFG_FIXEDWING)/subsystems/fixedwing_radio_control_ppm.makefile
include $(CFG_FIXEDWING)/subsystems/fixedwing_actuators_4017.makefile
# Sensors
include $(CFG_FIXEDWING)/subsystems/fixedwing_attitude_infrared.makefile
### (UART 0, 38400baud) are the default GPS parameters, change and uncomment if needed
#GPS_UART_NR = 0
#GPS_BAUD = 38400
include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox_lea4p.makefile
### (UART 1, 57600baud) are default modem parameters, change and uncomment if needed
#MODEM_UART_NR = 1
#MODEM_BAUD = 57600
include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
# Special options
ap.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO
######################################
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\"
sim.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
</makefile>
</airframe>