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Switched to xbee and fixed servo order

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This commit is contained in:
kevindehecker
2017-01-11 17:27:51 +01:00
parent a900939a80
commit 296f9be484
3 changed files with 16 additions and 20 deletions
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conf/airframes/TUDELFT/tudelft_iris_indi.xml
+7 -7
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@@ -16,7 +16,7 @@
<!-- to avoid bat low spike detection when strong pullup withch draws short sudden power-->
<define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="80" />
<!-- in seconds-->
<module name="telemetry" type="transparent_usb" />
<module name="telemetry" type="xbee_api" />
<module name="imu" type="mpu9250_spi">
<configure name="IMU_MPU9250_SPI_DEV" value="spi1"/>
@@ -53,9 +53,9 @@
</firmware>
<modules main_freq="512">
<!--module name="px4_flash" >
<module name="px4_flash" >
<configure name="PX4IO_UART" value="UART3"/> <!-- TMP solution! How to undefine PX4IO to nothing in px4_flash.xml? -->
<!--/module-->
</module>
<module name="geo_mag" />
<module name="air_data" />
<module name="send_imu_mag_current" />
@@ -96,10 +96,10 @@
<set command="YAW" value="@YAW" />
</rc_commands>
<servos driver="Default">
<servo name="TOP_LEFT" no="2" min="1000" neutral="1100" max="2000" />
<servo name="TOP_RIGHT" no="0" min="1000" neutral="1100" max="2000" />
<servo name="BOTTOM_RIGHT" no="3" min="1000" neutral="1100" max="2000" />
<servo name="BOTTOM_LEFT" no="1" min="1000" neutral="1100" max="2000" />
<servo name="TOP_LEFT" no="0" min="1000" neutral="1100" max="2000" />
<servo name="TOP_RIGHT" no="1" min="1000" neutral="1100" max="2000" />
<servo name="BOTTOM_RIGHT" no="2" min="1000" neutral="1100" max="2000" />
<servo name="BOTTOM_LEFT" no="3" min="1000" neutral="1100" max="2000" />
</servos>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0" />
conf/boards/px4fmu_4.0.makefile
+1 -1
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@@ -42,7 +42,7 @@ SYS_TIME_LED ?= 1
RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART6
#RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT ?= UART7
MODEM_PORT ?= UART2
MODEM_PORT ?= UART1
MODEM_BAUD ?= B57600
GPS_PORT ?= UART4
sw/airborne/boards/px4fmu_4.0.h
+8 -12
View File
@@ -54,10 +54,6 @@
#define UART1_GPIO_RX GPIO7
#define UART1_GPIO_PORT_TX GPIOB
#define UART1_GPIO_TX GPIO6
//#define UART1_GPIO_PORT_CTS GPIOE
//#define UART1_GPIO_CTS GPIO10
//#define UART1_GPIO_PORT_CTS GPIOE
//#define UART1_GPIO_CTS GPIO8
/* -TELEM1 Connector */
#define UART2_GPIO_AF GPIO_AF7
@@ -65,10 +61,10 @@
#define UART2_GPIO_RX GPIO6
#define UART2_GPIO_PORT_TX GPIOD
#define UART2_GPIO_TX GPIO5
//#define UART1_GPIO_PORT_CTS GPIOE FIXME
//#define UART1_GPIO_CTS GPIO3 FIXME
//#define UART1_GPIO_PORT_CTS GPIOE FIXME
//#define UART1_GPIO_CTS GPIO4 FIXME
#define UART2_GPIO_PORT_CTS GPIOD
#define UART2_GPIO_CTS GPIO3
#define UART2_GPIO_PORT_RTS GPIOD
#define UART2_GPIO_RTS GPIO4
/* -TELEM2 Connector */
#define UART3_GPIO_AF GPIO_AF7
@@ -76,10 +72,10 @@
#define UART3_GPIO_RX GPIO9
#define UART3_GPIO_PORT_TX GPIOD
#define UART3_GPIO_TX GPIO8
//#define UART1_GPIO_PORT_CTS GPIOE FIXME
//#define UART1_GPIO_CTS GPIO11 FIXME
//#define UART1_GPIO_PORT_CTS GPIOE FIXME
//#define UART1_GPIO_CTS GPIO12 FIXME
#define UART3_GPIO_PORT_CTS GPIOD
#define UART3_GPIO_CTS GPIO11
#define UART3_GPIO_PORT_RTS GPIOD
#define UART3_GPIO_RTS GPIO12
/* -GPS Connector */
#define UART4_GPIO_AF GPIO_AF8