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Autopilot refactor (#2009)

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* [autopilot] refactor autopilot API for both firmwares

With this, fixedwing and rotorcraft are mostly using the same interface
for the autopilot. Some specific code and messages handling are still
firmware dependent.
A large part of the autopilot logic of the fixedwing is moved from
main_ap to autopilot_static.
More getter/setter functions are provided.

* [autopilot] update the rest of the system and the conf

for using the refactored autopilot API

* [autopilot] fix some errors from CI servers

* [actuators] use dummy actuators module to prevent autoloading

* Rename Bart_heliDD_INDI.xml to tudelft_bs_helidd_indi.xml

* Rename Bart_heliDD_pid.xml to tudelft_bs_helidd_pid.xml

* Delete tudelft_course2016_bebop_colorfilter.xml

* Delete tudelft_course2016_bebop_avoider.xml

* [actuators] don't autoload actuators when set to 'none'

* [gcs] autodetect firmware for strip mode button
This commit is contained in:
Gautier Hattenberger
2017-02-19 11:45:57 +01:00
committed by Felix Ruess
parent ded925a851
commit 363dec8693
275 changed files with 1931 additions and 1380 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/AGGIEAIR/aggieair_ark_quad_lisa_mx.xml
+1 -1
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@@ -90,7 +90,7 @@
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FL" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="FR" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BR" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
conf/airframes/AGGIEAIR/ark_hexa_1-8.xml
+1 -1
View File
@@ -88,7 +88,7 @@ ARK RT
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FRONT" value="motor_mixing.commands[SERVO_FRONT]"/>
<set servo="FRONT_RIGHT" value="motor_mixing.commands[SERVO_FRONT_RIGHT]"/>
<set servo="BACK_RIGHT" value="motor_mixing.commands[SERVO_BACK_RIGHT]"/>
conf/airframes/BR/DelFlyDualPWMservo.xml
+2 -2
View File
@@ -35,7 +35,7 @@
<axis name="THRUST" failsafe_value="0"/>
</commands>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="TOUW1" value="+@ROLL-@PITCH+@YAW"/>
<set servo="TOUW2" value="-@ROLL-@PITCH-@YAW"/>
<set servo="TOUW3" value="@PITCH-@ROLL+@YAW"/>
@@ -44,7 +44,7 @@
</command_laws>
<!--
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="TOUW1" value="motor_mixing.commands[0]"/>
<set servo="TOUW2" value="motor_mixing.commands[1]"/>
<set servo="TOUW3" value="motor_mixing.commands[2]"/>
conf/airframes/BR/DreamCacher_bart.xml
+1 -1
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@@ -48,7 +48,7 @@
</commands>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="NE" value="motor_mixing.commands[0]"/>
<set servo="SE" value="motor_mixing.commands[1]"/>
<set servo="SW" value="motor_mixing.commands[2]"/>
conf/airframes/BR/asctec_br.xml
+1 -1
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@@ -72,7 +72,7 @@
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FRONT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BACK" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
conf/airframes/BR/bebop_default.xml
+1 -1
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@@ -77,7 +77,7 @@
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
conf/airframes/BR/bebop_indi.xml
+1 -1
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@@ -86,7 +86,7 @@
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
conf/airframes/BR/bebop_indi_frog.xml
+1 -1
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@@ -88,7 +88,7 @@
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
conf/airframes/BR/bebop_indi_frog_flip.xml
+1 -1
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@@ -80,7 +80,7 @@
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
conf/airframes/BR/ladybird_kit_bart.xml
+1 -1
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@@ -48,7 +48,7 @@
</commands>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="NE" value="motor_mixing.commands[0]"/>
<set servo="SE" value="motor_mixing.commands[1]"/>
<set servo="SW" value="motor_mixing.commands[2]"/>
conf/airframes/BR/ladybird_kit_bart_bluegiga.xml
+1 -1
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@@ -48,7 +48,7 @@
</commands>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="NE" value="motor_mixing.commands[0]"/>
<set servo="SE" value="motor_mixing.commands[1]"/>
<set servo="SW" value="motor_mixing.commands[2]"/>
conf/airframes/BR/ladybird_kit_bart_bluegiga_optitrack.xml
+1 -1
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@@ -48,7 +48,7 @@
</commands>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="NE" value="motor_mixing.commands[0]"/>
<set servo="SE" value="motor_mixing.commands[1]"/>
<set servo="SW" value="motor_mixing.commands[2]"/>
conf/airframes/BR/ladybird_kit_indi_bart.xml
+1 -1
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@@ -48,7 +48,7 @@
</commands>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="NE" value="motor_mixing.commands[0]"/>
<set servo="SE" value="motor_mixing.commands[1]"/>
<set servo="SW" value="motor_mixing.commands[2]"/>
conf/airframes/BR/mavtec4_br.xml
+1 -1
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@@ -72,7 +72,7 @@
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FRONT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BACK" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
conf/airframes/CDW/cdw_asctec.xml
+1 -1
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@@ -76,7 +76,7 @@
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FRONT" value="motor_mixing.commands[0]"/>
<set servo="BACK" value="motor_mixing.commands[1]"/>
<set servo="LEFT" value="motor_mixing.commands[2]"/>
conf/airframes/CDW/cdw_bebop.xml
+1 -1
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@@ -86,7 +86,7 @@
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
conf/airframes/CDW/cdw_mavtec.xml
+1 -1
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@@ -94,7 +94,7 @@
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FRONT" value="motor_mixing.commands[0]"/>
<set servo="BACK" value="motor_mixing.commands[1]"/>
<set servo="LEFT" value="motor_mixing.commands[2]"/>
conf/airframes/CDW/cdw_tricopter.xml
+1 -1
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@@ -97,7 +97,7 @@ LiPo/LiIo-Zellen: 3
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FRONTRIGHT" value="motor_mixing.commands[0]"/>
<set servo="FRONTLEFT" value="motor_mixing.commands[1]"/>
<set servo="BACK" value="motor_mixing.commands[2]"/>
conf/airframes/CRIDEA/cridea_quadsuave.xml
+1 -1
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@@ -79,7 +79,7 @@
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FRONT" value="motor_mixing.commands[0]"/>
<set servo="BACK" value="motor_mixing.commands[1]"/>
<set servo="RIGHT" value="motor_mixing.commands[2]"/>
conf/airframes/ENAC/hoops_gen_ap.xml
+1 -1
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@@ -84,7 +84,7 @@
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FL" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="FR" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BR" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
conf/airframes/ENAC/quadrotor/ard2_base_control.xml
+1 -1
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@@ -31,7 +31,7 @@
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="TOP_LEFT" value="motor_mixing.commands[0]"/>
<set servo="TOP_RIGHT" value="motor_mixing.commands[1]"/>
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[2]"/>
conf/airframes/ENAC/quadrotor/bebop_201.xml
+1 -1
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@@ -78,7 +78,7 @@
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="TOP_LEFT" value="motor_mixing.commands[0]"/>
<set servo="TOP_RIGHT" value="motor_mixing.commands[1]"/>
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[2]"/>
conf/airframes/ENAC/quadrotor/blender.xml
+1 -1
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@@ -69,7 +69,7 @@
</commands>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FRONT" value="motor_mixing.commands[0]"/>
<set servo="BACK" value="motor_mixing.commands[1]"/>
<set servo="RIGHT" value="motor_mixing.commands[2]"/>
conf/airframes/ENAC/quadrotor/ladybird_lisa_s.xml
+1 -1
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@@ -48,7 +48,7 @@
</commands>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="NE" value="motor_mixing.commands[0]"/>
<set servo="SE" value="motor_mixing.commands[1]"/>
<set servo="SW" value="motor_mixing.commands[2]"/>
conf/airframes/ESDEN/esden_cocto_lm2a2.xml
+1 -1
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@@ -66,7 +66,7 @@ B2L -> CW
</commands>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="A1U" value="motor_mixing.commands[0]"/>
<set servo="A1L" value="motor_mixing.commands[1]"/>
<set servo="A2U" value="motor_mixing.commands[2]"/>
conf/airframes/ESDEN/esden_gain_scheduling_example.xml
+1 -1
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@@ -23,7 +23,7 @@
</commands>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="A1" value="motor_mixing.commands[0]"/>
<set servo="A2" value="motor_mixing.commands[1]"/>
<set servo="B1" value="motor_mixing.commands[2]"/>
conf/airframes/ESDEN/esden_hexy_ll11a2pwm.xml
+1 -1
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@@ -29,7 +29,7 @@
</commands>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FRONT_LEFT" value="motor_mixing.commands[0]"/>
<set servo="FRONT_RIGHT" value="motor_mixing.commands[1]"/>
<set servo="RIGHT" value="motor_mixing.commands[2]"/>
conf/airframes/ESDEN/esden_hexy_lm2a2pwm.xml
+1 -1
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@@ -29,7 +29,7 @@
</commands>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FRONT_LEFT" value="motor_mixing.commands[0]"/>
<set servo="FRONT_RIGHT" value="motor_mixing.commands[1]"/>
<set servo="RIGHT" value="motor_mixing.commands[2]"/>
conf/airframes/ESDEN/esden_lisa2_hex.xml
+1 -1
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@@ -29,7 +29,7 @@
</commands>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FRONT_LEFT" value="motor_mixing.commands[0]"/>
<set servo="FRONT_RIGHT" value="motor_mixing.commands[1]"/>
<set servo="RIGHT" value="motor_mixing.commands[2]"/>
conf/airframes/ESDEN/esden_qs_asp22.xml
+1 -1
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@@ -22,7 +22,7 @@
</commands>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="A1" value="motor_mixing.commands[0]"/>
<set servo="A2" value="motor_mixing.commands[1]"/>
<set servo="B1" value="motor_mixing.commands[2]"/>
conf/airframes/ESDEN/esden_quady_ll11a2pwm.xml
+1 -1
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@@ -27,7 +27,7 @@
</commands>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FRONT" value="motor_mixing.commands[0]"/>
<set servo="BACK" value="motor_mixing.commands[1]"/>
<set servo="RIGHT" value="motor_mixing.commands[2]"/>
conf/airframes/ESDEN/esden_quady_lm1a1pwm.xml
+1 -1
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@@ -27,7 +27,7 @@
</commands>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FRONT" value="motor_mixing.commands[0]"/>
<set servo="BACK" value="motor_mixing.commands[1]"/>
<set servo="RIGHT" value="motor_mixing.commands[2]"/>
conf/airframes/ESDEN/esden_quady_lm2a2pwm.xml
+1 -1
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@@ -27,7 +27,7 @@
</commands>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FRONT" value="motor_mixing.commands[0]"/>
<set servo="BACK" value="motor_mixing.commands[1]"/>
<set servo="RIGHT" value="motor_mixing.commands[2]"/>
conf/airframes/ESDEN/esden_quady_lm2a2pwmppm.xml
+1 -1
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@@ -27,7 +27,7 @@
</commands>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FRONT" value="motor_mixing.commands[0]"/>
<set servo="BACK" value="motor_mixing.commands[1]"/>
<set servo="RIGHT" value="motor_mixing.commands[2]"/>
conf/airframes/ESDEN/esden_quady_ls10pwm.xml
+1 -1
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@@ -27,7 +27,7 @@
</commands>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FRONT" value="motor_mixing.commands[0]"/>
<set servo="BACK" value="motor_mixing.commands[1]"/>
<set servo="RIGHT" value="motor_mixing.commands[2]"/>
conf/airframes/FLIXR/flixr_fraser_lisa_m_rotorcraft.xml
+1 -1
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@@ -94,7 +94,7 @@
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FRONT" value="motor_mixing.commands[0]"/>
<set servo="BACK" value="motor_mixing.commands[1]"/>
<set servo="RIGHT" value="motor_mixing.commands[2]"/>
conf/airframes/FLIXR/flixr_ladybird_lisa_s.xml
+1 -1
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@@ -100,7 +100,7 @@
</commands>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FL" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="FR" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BR" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
conf/airframes/FLIXR/flixr_lisa_mx.xml
+1 -1
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@@ -120,7 +120,7 @@
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FL" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="FR" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BR" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
conf/airframes/FLIXR/flixr_zmr250_elle0.xml
+1 -1
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@@ -66,7 +66,7 @@
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FL" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="FR" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BR" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
conf/airframes/HOOPERFLY/hooperfly_racerpex_hexa_lisa_mx_20.xml
+1 -1
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@@ -84,7 +84,7 @@
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FRONT_LEFT" value="motor_mixing.commands[0]"/>
<set servo="FRONT_RIGHT" value="motor_mixing.commands[1]"/>
<set servo="RIGHT" value="motor_mixing.commands[2]"/>
conf/airframes/HOOPERFLY/hooperfly_racerpex_octo_lisa_mx_20.xml
+1 -1
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@@ -85,7 +85,7 @@
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FL_1" value="motor_mixing.commands[0]"/>
<set servo="FR_2" value="motor_mixing.commands[1]"/>
<set servo="FR_3" value="motor_mixing.commands[2]"/>
conf/airframes/HOOPERFLY/hooperfly_racerpex_quad_lisa_mx_20.xml
+1 -1
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@@ -82,7 +82,7 @@
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FRONT_LEFT" value="motor_mixing.commands[0]"/>
<set servo="FRONT_RIGHT" value="motor_mixing.commands[1]"/>
<set servo="BACK_RIGHT" value="motor_mixing.commands[2]"/>
conf/airframes/HOOPERFLY/hooperfly_teensyfly_hexa_lisa_mx_20.xml
+1 -1
View File
@@ -84,7 +84,7 @@
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FRONT_LEFT" value="motor_mixing.commands[0]"/>
<set servo="FRONT_RIGHT" value="motor_mixing.commands[1]"/>
<set servo="RIGHT" value="motor_mixing.commands[2]"/>
conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0.xml
+1 -1
View File
@@ -76,7 +76,7 @@
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FRONT_LEFT" value="motor_mixing.commands[0]"/>
<set servo="FRONT_RIGHT" value="motor_mixing.commands[1]"/>
<set servo="BACK_RIGHT" value="motor_mixing.commands[2]"/>
conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2.xml
+1 -1
View File
@@ -76,7 +76,7 @@
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FRONT_LEFT" value="motor_mixing.commands[0]"/>
<set servo="FRONT_RIGHT" value="motor_mixing.commands[1]"/>
<set servo="BACK_RIGHT" value="motor_mixing.commands[2]"/>
conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_lisa_mx_20.xml
+1 -1
View File
@@ -82,7 +82,7 @@
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FRONT_LEFT" value="motor_mixing.commands[0]"/>
<set servo="FRONT_RIGHT" value="motor_mixing.commands[1]"/>
<set servo="BACK_RIGHT" value="motor_mixing.commands[2]"/>
conf/airframes/KS/ks_mavtec1.xml
+1 -1
View File
@@ -60,7 +60,7 @@
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="MOTOR_0" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="MOTOR_1" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="MOTOR_2" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
conf/airframes/OPENUAS/openuas_ardrone2.xml
+1 -1
View File
@@ -93,7 +93,7 @@
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
conf/airframes/OPENUAS/openuas_itsybitsy.xml
+1 -1
View File
@@ -50,7 +50,7 @@
</commands>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="NE" value="motor_mixing.commands[0]"/>
<set servo="SE" value="motor_mixing.commands[1]"/>
<set servo="SW" value="motor_mixing.commands[2]"/>
conf/airframes/OPENUAS/openuas_leapfrogeye.xml
+1 -1
View File
@@ -84,7 +84,7 @@
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>

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