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converted slowfly 1 and 2 to xml less airframes

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This commit is contained in:
Antoine Drouin
2010-11-11 10:24:08 +00:00
committed by Felix Ruess
parent d4e20809c6
commit 3f13f4243b
5 changed files with 58 additions and 8 deletions
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conf/airframes/Poine/funjet42.xml
+23
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@@ -20,6 +20,29 @@
<subsystem name="navigation"/> <subsystem name="navigation"/>
</firmware> </firmware>
<firmware name="lisa_l_test_progs">
<target name="test_led" board="lisa_l_1.0"/>
<target name="test_uart" board="lisa_l_1.0"/>
<target name="test_servos" board="lisa_l_1.0"/>
<target name="test_telemetry" board="lisa_l_1.0"/>
<target name="test_baro" board="lisa_l_1.0"/>
<target name="test_imu_b2" board="lisa_l_1.0"/>
<target name="test_imu_b2_2" board="lisa_l_1.0"/>
<target name="test_imu_aspirin" board="lisa_l_1.0"/>
<target name="test_rc_spektrum" board="lisa_l_1.0"/>
<target name="test_rc_ppm" board="lisa_l_1.0"/>
<target name="test_adc" board="lisa_l_1.0"/>
<target name="test_hmc5843" board="lisa_l_1.0"/>
<target name="test_itg3200" board="lisa_l_1.0"/>
<target name="test_adxl345" board="lisa_l_1.0"/>
<target name="test_esc_mkk_simple" board="lisa_l_1.0"/>
<target name="test_esc_asctecv1_simple" board="lisa_l_1.0"/>
<target name="test_actuators_mkk" board="lisa_l_1.0"/>
<target name="test_actuators_asctecv1" board="lisa_l_1.0"/>
</firmware>
<servos> <servos>
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/> <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILEVON_LEFT" no="1" min="1900" neutral="1521" max="1100"/> <servo name="AILEVON_LEFT" no="1" min="1900" neutral="1521" max="1100"/>
conf/airframes/mm/fixed-wing/slowfast.xml
+16
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@@ -196,6 +196,8 @@
<define name="DEVICE_ADDRESS" value="...."/> <define name="DEVICE_ADDRESS" value="...."/>
</section> </section>
<!--
<makefile> <makefile>
CONFIG = \"tiny_2_1.h\" CONFIG = \"tiny_2_1.h\"
@@ -251,4 +253,18 @@ sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += nav_line.c nav_survey_rectangle.c sim.srcs += nav_line.c nav_survey_rectangle.c
</makefile> </makefile>
-->
<firmware name="fixedwing">
<target name="sim" board="pc"/>
<target name="ap" board="tiny_2.1"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="navigation"/>
</firmware>
</airframe> </airframe>
conf/airframes/mm/fixed-wing/slowfast2.xml
+15
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@@ -196,6 +196,7 @@
<define name="DEVICE_ADDRESS" value="...."/> <define name="DEVICE_ADDRESS" value="...."/>
</section> </section>
<!--
<makefile> <makefile>
CONFIG = \"tiny_2_1.h\" CONFIG = \"tiny_2_1.h\"
@@ -251,4 +252,18 @@ sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += nav_line.c nav_survey_rectangle.c sim.srcs += nav_line.c nav_survey_rectangle.c
</makefile> </makefile>
-->
<firmware name="fixedwing">
<target name="sim" board="pc"/>
<target name="ap" board="tiny_2.1"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/>
<subsystem name="navigation"/>
</firmware>
</airframe> </airframe>
conf/settings/tuning.xml
+3 -2
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@@ -75,8 +75,9 @@
<dl_setting MAX="0.00" MIN="-0.05" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain" param="V_CTL_AUTO_THROTTLE_PGAIN"/> <dl_setting MAX="0.00" MIN="-0.05" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain" param="V_CTL_AUTO_THROTTLE_IGAIN"/> <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
<dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/> <dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
<dl_setting MAX="0" MIN="-4000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/> <!-- commented by poine - does anybody use that ?at all ? -->
<dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim" param="V_CTL_AUTO_THROTTLE_LOITER_TRIM"/> <!-- <dl_setting MAX="0" MIN="-4000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/> -->
<!-- <dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim" param="V_CTL_AUTO_THROTTLE_LOITER_TRIM"/> -->
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/> <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/> <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
<dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/> <dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
sw/airborne/firmwares/fixedwing/main_ap.c
+1 -6
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@@ -53,11 +53,8 @@
#include "flight_plan.h" #include "flight_plan.h"
#include "datalink.h" #include "datalink.h"
#include "xbee.h" #include "xbee.h"
#ifdef STM32
#include <stm32/gpio.h>
#else
#include "gpio.h" #include "gpio.h"
#endif
#if defined RADIO_CONTROL || defined RADIO_CONTROL_AUTO1 #if defined RADIO_CONTROL || defined RADIO_CONTROL_AUTO1
#include "rc_settings.h" #include "rc_settings.h"
@@ -554,9 +551,7 @@ void init_ap( void ) {
int_enable(); int_enable();
/** wait 0.5s (historical :-) */ /** wait 0.5s (historical :-) */
#ifndef STM32
sys_time_usleep(500000); sys_time_usleep(500000);
#endif
#if defined GPS_CONFIGURE #if defined GPS_CONFIGURE
gps_configure_uart(); gps_configure_uart();