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[conf] update CDW airframe with chimu/cam

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This commit is contained in:
Felix Ruess
2014-10-07 20:26:01 +02:00
parent 8232ce06b0
commit 20c54f5f91
1 changed files with 15 additions and 14 deletions
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conf/airframes/CDW/tiny2_chimu_spi_pt.xml
+15 -14
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@@ -1,7 +1,7 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
YAPA + XSens + XBee
YAPA + XSens + XBee
-->
<airframe name="Yapa v1">
@@ -22,10 +22,10 @@
<axis name="CAM_TILT" failsafe_value="0"/>
</commands>
<ap_only_commands>
<copy command="CAM_PAN"/>
<copy command="CAM_TILT"/>
</ap_only_commands>
<ap_only_commands>
<copy command="CAM_PAN"/>
<copy command="CAM_TILT"/>
</ap_only_commands>
<rc_commands>
@@ -59,14 +59,15 @@
</section>
<section name="PANTILT" prefix="CAM_">
<!-- these are in degrees, either specify both unit and code_unit or none -->
<define name="PAN_MIN" value="-45"/>
<define name="PAN_NEUTRAL" value="33"/>
<define name="PAN_MAX" value="156"/>
<define name="PAN0" value="0"/>
<define name="TILT_MIN" value="-62"/>
<define name="TILT_NEUTRAL" value="47"/>
<define name="TILT_MAX" value="122"/>
<define name="TILT0" value="90"/>
<define name="TILT_MIN" value="-62" unit="deg" code_unit="deg"/>
<define name="TILT_NEUTRAL" value="47" unit="deg" code_unit="deg"/>
<define name="TILT_MAX" value="122" unit="deg" code_unit="deg"/>
<define name="TILT0" value="90" unit="deg" code_unit="deg"/>
<define name="MODE0" value="1"/>
</section>
@@ -79,8 +80,8 @@
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<!-- <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
<define name="NO_XBEE_API_INIT" value="TRUE"/> -->
<!-- <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
<define name="NO_XBEE_API_INIT" value="TRUE"/> -->
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
@@ -156,7 +157,7 @@
<modules>
<load name="ins_chimu_spi.xml" >
<load name="ahrs_chimu_spi.xml" >
<define name="CHIMU_BIG_ENDIAN" />
</load>
<load name="cam_point.xml" />
@@ -173,7 +174,7 @@
<target name="ap" board="tiny_2.11">
</target>
<!-- <target name="sim" board="pc"/> -->
<!-- <target name="sim" board="pc"/> -->
<subsystem name="radio_control" type="ppm"/>
<subsystem name="gps" type="ublox" />
@@ -190,7 +191,7 @@
<subsystem name="navigation"/>
<subsystem name="spi_slave_hs"/>
<subsystem name="ins" type="alt_float"/>
</firmware>
</airframe>