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[conf] remove default_ardrone.xml telemetry file

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use default_rotorcraft.xml instead...

basically we now have two extra ARDrone specific messages in the default_rotorcraft file (ARDRONE_NAVDATA and OPTIC_FLOW_EST)
but they are only sent if a publisher is present for it... so it doesn't really hurt...
This commit is contained in:
Felix Ruess
2015-07-07 19:43:58 +02:00
parent 9f206421f9
commit 1d482d4666
5 changed files with 30 additions and 166 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/TUDelft/IMAV2013/conf.xml
+16 -16
View File
@@ -4,7 +4,7 @@
ac_id="181"
airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_ardrone.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
gui_color="red"
@@ -14,7 +14,7 @@
ac_id="182"
airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_ardrone.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
gui_color="red"
@@ -24,7 +24,7 @@
ac_id="183"
airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_ardrone.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
gui_color="red"
@@ -34,7 +34,7 @@
ac_id="184"
airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_ardrone.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
gui_color="red"
@@ -44,7 +44,7 @@
ac_id="185"
airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_ardrone.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
gui_color="red"
@@ -54,7 +54,7 @@
ac_id="186"
airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_ardrone.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
gui_color="red"
@@ -64,7 +64,7 @@
ac_id="187"
airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_ardrone.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
gui_color="red"
@@ -74,7 +74,7 @@
ac_id="188"
airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_ardrone.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
gui_color="red"
@@ -84,7 +84,7 @@
ac_id="189"
airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_ardrone.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
gui_color="red"
@@ -94,7 +94,7 @@
ac_id="190"
airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_ardrone.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
gui_color="red"
@@ -104,7 +104,7 @@
ac_id="191"
airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_ardrone.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
gui_color="red"
@@ -114,7 +114,7 @@
ac_id="192"
airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_ardrone.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
gui_color="red"
@@ -124,7 +124,7 @@
ac_id="193"
airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_ardrone.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
gui_color="red"
@@ -134,7 +134,7 @@
ac_id="194"
airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_ardrone.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
gui_color="red"
@@ -144,7 +144,7 @@
ac_id="195"
airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_ardrone.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft_vision.xml"
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
gui_color="red"
@@ -154,7 +154,7 @@
ac_id="196"
airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_ardrone.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml settings/modules/flight_time.xml"
gui_color="red"
conf/conf_example.xml
+1 -1
View File
@@ -202,7 +202,7 @@
ac_id="201"
airframe="airframes/ardrone2.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_ardrone.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
settings_modules="modules/gps_ubx_ucenter.xml"
conf/conf_tests.xml
+2 -2
View File
@@ -323,7 +323,7 @@
ac_id="2"
airframe="airframes/ardrone2_opticflow_hover.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_ardrone.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/cv_opticflow.xml"
@@ -334,7 +334,7 @@
ac_id="201"
airframe="airframes/ardrone2.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_ardrone.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
settings_modules="modules/gps_ubx_ucenter.xml"
conf/telemetry/default_ardrone.xml
-146
View File
@@ -1,146 +0,0 @@
<?xml version="1.0"?>
<!DOCTYPE telemetry SYSTEM "telemetry.dtd">
<telemetry>
<process name="Main">
<mode name="default" key_press="d">
<message name="AUTOPILOT_VERSION" period="11.1"/>
<message name="DL_VALUE" period="1.1"/>
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="ROTORCRAFT_FP" period="0.25"/>
<message name="ALIVE" period="2.1"/>
<message name="INS_REF" period="5.1"/>
<message name="ROTORCRAFT_NAV_STATUS" period="1.6"/>
<message name="WP_MOVED" period="1.3"/>
<message name="ROTORCRAFT_CAM" period="1."/>
<message name="GPS_INT" period=".25"/>
<message name="INS" period=".25"/>
<message name="I2C_ERRORS" period="4.1"/>
<message name="UART_ERRORS" period="3.1"/>
<message name="DATALINK_REPORT" period="5.1"/>
<message name="STATE_FILTER_STATUS" period="3.2"/>
<message name="OPTIC_FLOW_EST" period="0.25"/>
</mode>
<mode name="ppm">
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="2.1"/>
<message name="ROTORCRAFT_CMD" period=".05"/>
<message name="PPM" period="0.5"/>
<message name="RC" period="0.5"/>
<message name="ROTORCRAFT_RADIO_CONTROL" period="0.5"/>
<message name="ROTORCRAFT_STATUS" period="1"/>
</mode>
<mode name="raw_sensors">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="2.1"/>
<message name="IMU_ACCEL_RAW" period=".05"/>
<message name="IMU_GYRO_RAW" period=".05"/>
<message name="IMU_MAG_RAW" period=".05"/>
<message name="BARO_RAW" period=".1"/>
<message name="ARDRONE_NAVDATA" period=".05"/>
</mode>
<mode name="scaled_sensors">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="2.1"/>
<message name="IMU_GYRO_SCALED" period=".075"/>
<message name="IMU_ACCEL_SCALED" period=".075"/>
<message name="IMU_MAG_SCALED" period=".1"/>
</mode>
<mode name="ahrs">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="2.1"/>
<message name="FILTER_ALIGNER" period="2.2"/>
<message name="FILTER" period=".5"/>
<message name="AHRS_GYRO_BIAS_INT" period="0.08"/>
<message name="AHRS_QUAT_INT" period=".25"/>
<!-- <message name="AHRS_EULER_INT" period=".1"/> -->
<!-- <message name="AHRS_RMAT_INT" period=".5"/> -->
</mode>
<mode name="rate_loop">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="2.1"/>
<message name="RATE_LOOP" period=".02"/>
</mode>
<mode name="attitude_setpoint_viz" key_press="v">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="0.9"/>
<message name="ROTORCRAFT_RADIO_CONTROL" period="0.1"/>
<message name="AHRS_REF_QUAT" period="0.05"/>
</mode>
<mode name="attitude_loop" key_press="a">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="0.9"/>
<message name="STAB_ATTITUDE" period=".03"/>
<message name="STAB_ATTITUDE_REF" period=".03"/>
</mode>
<mode name="vert_loop" key_press="v">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="0.9"/>
<message name="VFF_EXTENDED" period=".04"/>
<message name="VERT_LOOP" period=".05"/>
<message name="INS_Z" period=".05"/>
<message name="INS" period=".11"/>
<message name="INS_REF" period="5.1"/>
</mode>
<mode name="h_loop" key_press="h">
<message name="ALIVE" period="0.9"/>
<message name="HOVER_LOOP" period="0.062"/>
<message name="GUIDANCE_H_REF" period="0.062"/>
<message name="STAB_ATTITUDE" period="0.4"/>
<!--<message name="STAB_ATTITUDE_REF" period="0.4"/>-->
<message name="ROTORCRAFT_FP" period="0.8"/>
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="ROTORCRAFT_NAV_STATUS" period="1.6"/>
<message name="INS_REF" period="5.1"/>
<!-- HFF messages are only sent if USE_HFF -->
<message name="HFF" period=".05"/>
<message name="HFF_GPS" period=".03"/>
<message name="HFF_DBG" period=".2"/>
</mode>
<mode name="aligner">
<message name="ALIVE" period="0.9"/>
<message name="FILTER_ALIGNER" period="0.02"/>
</mode>
<mode name="tune_hover">
<message name="DL_VALUE" period="1.1"/>
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="ALIVE" period="2.1"/>
<message name="GUIDANCE_H_INT" period="0.05"/>
<!--<message name="ROTORCRAFT_TUNE_HOVER" period=".1"/>-->
<!-- <message name="GPS_INT" period=".20"/> -->
<!--<message name="INS2" period=".05"/>
<message name="INS3" period=".20"/>-->
<message name="INS_REF" period="5.1"/>
</mode>
<mode name="mag_current_calibration">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="2.1"/>
<message name="IMU_MAG_CURRENT_CALIBRATION" period="0.05"/>
</mode>
</process>
</telemetry>
conf/telemetry/default_rotorcraft.xml
+11 -1
View File
@@ -25,6 +25,7 @@
<message name="STATE_FILTER_STATUS" period="3.2"/>
<message name="AIR_DATA" period="1.3"/>
<message name="SURVEY" period="2.5"/>
<message name="OPTIC_FLOW_EST" period="0.25"/>
</mode>
<mode name="ppm">
@@ -46,6 +47,7 @@
<message name="IMU_GYRO_RAW" period=".05"/>
<message name="IMU_MAG_RAW" period=".05"/>
<message name="BARO_RAW" period=".1"/>
<message name="ARDRONE_NAVDATA" period=".05"/>
</mode>
<mode name="scaled_sensors">
@@ -101,7 +103,8 @@
<message name="VFF" period=".05"/>
<message name="VFF_EXTENDED" period=".05"/>
<message name="VERT_LOOP" period=".05"/>
<message name="INS" period=".05"/>
<message name="INS_Z" period=".05"/>
<message name="INS" period=".11"/>
<message name="INS_REF" period="5.1"/>
</mode>
@@ -138,6 +141,13 @@
<message name="INS_REF" period="5.1"/>
</mode>
<mode name="mag_current_calibration">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="2.1"/>
<message name="IMU_MAG_CURRENT_CALIBRATION" period="0.05"/>
</mode>
</process>
</telemetry>