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continue analogimu integration

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This commit is contained in:
Felix Ruess
2010-12-09 20:14:33 +01:00
parent 3596726e86
commit 3c00ca3d71
4 changed files with 86 additions and 89 deletions
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conf/airframes/example_twog_analogimu.xml
+37 -30
View File
@@ -29,7 +29,7 @@
<set command="PITCH" value="@PITCH"/>
</rc_commands>
<command_laws>
<command_laws>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="AILERON" value="@ROLL"/>
<set servo="ELEVATOR" value="@PITCH"/>
@@ -45,22 +45,39 @@
<define name="GYRO_Q_NEUTRAL" value="512"/>
<define name="GYRO_R_NEUTRAL" value="512"/>
<define name="GYRO_P_SENS" value="0.017f" integer="16"/>
<define name="GYRO_Q_SENS" value="0.017f" integer="16"/>
<define name="GYRO_R_SENS" value="-0.017f" integer="16"/>
<define name="GYRO_P_SENS" value="0.017" integer="16"/>
<define name="GYRO_Q_SENS" value="0.017" integer="16"/>
<define name="GYRO_R_SENS" value="0.017" integer="16"/>
<define name="GYRO_P_SIGN" value="1" />
<define name="GYRO_Q_SIGN" value="1" />
<define name="GYRO_R_SIGN" value="-1" />
<!--
<define name="ACCEL_X_CHAN" value="3"/>
<define name="ACCEL_Y_CHAN" value="4"/>
<define name="ACCEL_Z_CHAN" value="5"/>
-->
<define name="ACCEL_X_SENS" value="0.1f" integer="16"/>
<define name="ACCEL_Y_SENS" value="-0.1f" integer="16"/>
<define name="ACCEL_Z_SENS" value="0.1f" integer="16"/>
<define name="ACCEL_X_SENS" value="0.1" integer="16"/>
<define name="ACCEL_Y_SENS" value="0.1" integer="16"/>
<define name="ACCEL_Z_SENS" value="0.1" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="512"/>
<define name="ACCEL_Y_NEUTRAL" value="512"/>
<define name="ACCEL_Z_NEUTRAL" value="512"/>
<define name="ACCEL_X_SIGN" value="1"/>
<define name="ACCEL_Y_SIGN" value="-1"/>
<define name="ACCEL_Z_SIGN" value="1"/>
<!-- this should not be needed if no mag is used -->
<define name="MAG_X_NEUTRAL" value="512"/>
<define name="MAG_Y_NEUTRAL" value="512"/>
<define name="MAG_Z_NEUTRAL" value="512"/>
<define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)" />
<define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)" />
<define name="BODY_TO_IMU_PSI" value="RadOfDeg(0.)" />
</section>
<section name="AUTO1" prefix="AUTO1_">
@@ -157,7 +174,7 @@
<define name="PITCH_PGAIN" value="-9000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
</section>
<section name="NAV">
@@ -177,46 +194,36 @@
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
<firmware name="fixedwing">
<target name="sim" board="pc"/>
<target name="ap" board="twog_1.0">
<target name="sim" board="pc"/>
<target name="ap" board="twog_1.0">
<define name="AGR_CLIMB" />
<define name="LOITER_TRIM" />
<define name="ALT_KALMAN" />
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="radio_control" type="ppm"/>
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<param name="MODEM_BAUD" value="B9600"/>
<subsystem name="telemetry" type="transparent">
<param name="MODEM_BAUD" value="B9600"/>
</subsystem>
<!-- Actuators are automatically chosen according to the board-->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="analogimu"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="attitude" type="analogimu"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="navigation"/>
</firmware>
<!-- Carefull: add the location after!! -->
<makefile location="after">
ap.CFLAGS += -DANALOGIMU_ROTATED
ap.CFLAGS += -DANALOGIMU_ZERO_AVERAGE
ap.CFLAGS += -DGPS_USE_LATLONG
//ap.CFLAGS += -DWIND_INFO -DSTRONG_WIND
//sim.CFLAGS += -DWIND_INFO -DSTRONG_WIND
</makefile>
</airframe>
conf/autopilot/subsystems/fixedwing/attitude_analogimu.makefile
+1 -1
View File
@@ -7,7 +7,7 @@ ap.CFLAGS += -DUSE_ANALOG_IMU -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_AD
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/dcm/dcm.c
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/dcm/analogimu.c
ap.srcs += $(SRC_SUBSYSTEMS)/imu/imu_analog.c
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/dcm/analogimu_util.c
ap.srcs += $(SRC_SUBSYSTEMS)/imu.c
endif