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[conf] convert quadrotor_lisa_mx_mavlink to modules only

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This commit is contained in:
Felix Ruess
2016-03-23 16:49:44 +01:00
parent 0d4c628b91
commit 2da743bb95
1 changed files with 28 additions and 33 deletions
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conf/airframes/examples/quadrotor_lisa_mx_mavlink.xml
+28 -33
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@@ -23,34 +23,44 @@
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<module name="fdm" type="jsbsim"/>
<configure name="MAVLINK_PORT" value="UDP1"/>
<define name="UDP1_PORT_OUT" value="14550"/>
<define name="UDP1_PORT_IN" value="14555"/>
<define name="MAVLINK_DEBUG" value="printf"/>
</target>
<subsystem name="radio_control" type="spektrum">
<module name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_AUX1"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</subsystem>
</module>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
</subsystem>
</module>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="lisa_mx_v2.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="float_mlkf"/>
<subsystem name="ahrs" type="int_cmpl_quat">
<module name="telemetry" type="transparent"/>
<module name="imu" type="lisa_mx_v2.1"/>
<module name="gps" type="ublox"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="float_mlkf"/>
<module name="ahrs" type="int_cmpl_quat">
<configure name="SECONDARY_AHRS" value="int_cmpl_quat"/>
</subsystem>
<subsystem name="ins" type="hff"/>
</module>
<module name="ins" type="hff"/>
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
<!-- optional modules -->
<module name="adc_generic">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
</module>
<module name="gps_ubx_ucenter"/>
<module name="geo_mag"/>
<module name="air_data"/>
<module name="mavlink">
<!--configure name="MAVLINK_PORT" value="UsbS"/-->
</module>
</firmware>
<firmware name="test_progs">
@@ -61,31 +71,16 @@
<configure name="BARO_LED" value="5"/>
</target>
<target name="test_radio_control" board="lisa_mx_2.1">
<subsystem name="radio_control" type="spektrum">
<module name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_AUX1"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="0"/>
</subsystem>
</module>
</target>
<target name="test_imu" board="lisa_mx_2.1">
<subsystem name="imu" type="lisa_mx_v2.1"/>
<module name="imu" type="lisa_mx_v2.1"/>
</target>
</firmware>
<autopilot name="rotorcraft_autopilot.xml" freq="512"/>
<modules>
<load name="adc_generic.xml">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
</load>
<load name="gps_ubx_ucenter.xml"/>
<load name="geo_mag.xml"/>
<load name="air_data.xml"/>
<load name="mavlink.xml">
<!--configure name="MAVLINK_PORT" value="UsbS"/-->
</load>
</modules>
<servos driver="Pwm">
<servo name="FL" no="0" min="1000" neutral="1100" max="1900"/>
<servo name="FR" no="1" min="1000" neutral="1100" max="1900"/>