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starting to merge booz, moving booz2_autopilot to firmwares/rotorcraft/autopilot

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This commit is contained in:
Felix Ruess
2010-09-27 22:54:54 +00:00
parent fdb6fdb5d4
commit 400c162ea7
15 changed files with 24 additions and 24 deletions
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conf/autopilot/rotorcraft.makefile
+2 -2
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@@ -44,7 +44,7 @@ SRC_ARCH=arch/$(ARCH)
CFG_BOOZ=$(PAPARAZZI_SRC)/conf/autopilot/ CFG_BOOZ=$(PAPARAZZI_SRC)/conf/autopilot/
BOOZ_INC = -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -I$(SRC_BOARD) BOOZ_INC = -I$(SRC_FIRMWARE) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -I$(SRC_BOARD)
ap.ARCHDIR = $(ARCH) ap.ARCHDIR = $(ARCH)
@@ -178,7 +178,7 @@ endif
# include subsystems/rotorcraft/ahrs_lkf.makefile # include subsystems/rotorcraft/ahrs_lkf.makefile
# #
ap.srcs += $(SRC_BOOZ)/booz2_autopilot.c ap.srcs += $(SRC_FIRMWARE)/autopilot.c
ap.srcs += math/pprz_trig_int.c ap.srcs += math/pprz_trig_int.c
ap.srcs += $(SRC_BOOZ)/booz_stabilization.c ap.srcs += $(SRC_BOOZ)/booz_stabilization.c
conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
+1 -1
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@@ -86,7 +86,7 @@ sim.srcs += $(SRC_BOOZ)/booz2_analog.c $(SRC_BOOZ_SIM)/booz2_analog_hw.c
#sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\" #sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
#sim.CFLAGS += -DIMU_B2_VERSION_1_1 #sim.CFLAGS += -DIMU_B2_VERSION_1_1
sim.srcs += $(SRC_BOOZ)/booz2_autopilot.c sim.srcs += $(SRC_FIRMWARE)/autopilot.c
# #
# in makefile section of airframe xml # in makefile section of airframe xml
conf/flight_plans/booz_test_sim.xml
+1 -1
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@@ -2,7 +2,7 @@
<flight_plan alt="5" ground_alt="0" lat0="37.6136" lon0="-122.3569" max_dist_from_home="400" name="Booz Test Sim" security_height="2"> <flight_plan alt="5" ground_alt="0" lat0="37.6136" lon0="-122.3569" max_dist_from_home="400" name="Booz Test Sim" security_height="2">
<header> <header>
#include "booz2_autopilot.h" #include "autopilot.h"
</header> </header>
<waypoints> <waypoints>
<waypoint name="HOME" x="0.0" y="0.0"/> <waypoint name="HOME" x="0.0" y="0.0"/>
conf/settings/booz_dc.xml
+1 -1
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@@ -3,7 +3,7 @@
<settings> <settings>
<dl_settings> <dl_settings>
<dl_settings NAME="DC"> <dl_settings NAME="DC">
<dl_setting MAX="1" MIN="0" STEP="1" VAR="booz2_autopilot_power_switch" module="booz2_autopilot" handler="SetPowerSwitch" shortname="Shutter"> <dl_setting MAX="1" MIN="0" STEP="1" VAR="booz2_autopilot_power_switch" module="autopilot" handler="SetPowerSwitch" shortname="Shutter">
<strip_button name="Photo" icon="digital-camera.png" value="1"/> <strip_button name="Photo" icon="digital-camera.png" value="1"/>
<strip_button name="Photo Off" icon="digital-camera-off.png" value="0"/> <strip_button name="Photo Off" icon="digital-camera-off.png" value="0"/>
</dl_setting> </dl_setting>
conf/settings/settings_booz2.xml
+4 -4
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@@ -9,13 +9,13 @@
<key_press key="v" value="7"/> <key_press key="v" value="7"/>
<key_press key="h" value="8"/> <key_press key="h" value="8"/>
</dl_setting> </dl_setting>
<dl_setting var="booz2_autopilot_mode_auto2" min="0" step="1" max="12" module="booz2_autopilot" shortname="auto2" values="Fail|Kill|Rate|Att|Rate_rcC|Att_rcC|Att_C|Rate_Z|Att_Z|Hover|Hover_C|Hover_Z|Nav"/> <dl_setting var="booz2_autopilot_mode_auto2" min="0" step="1" max="12" module="autopilot" shortname="auto2" values="Fail|Kill|Rate|Att|Rate_rcC|Att_rcC|Att_C|Rate_Z|Att_Z|Hover|Hover_C|Hover_Z|Nav"/>
<dl_setting var="kill_throttle" min="0" step="1" max="1" module="booz2_autopilot" values="Resurrect|Kill" handler="KillThrottle"/> <dl_setting var="kill_throttle" min="0" step="1" max="1" module="autopilot" values="Resurrect|Kill" handler="KillThrottle"/>
<dl_setting var="booz2_autopilot_power_switch" min="0" step="1" max="1" module="booz2_autopilot" values="OFF|ON" handler="SetPowerSwitch"> <dl_setting var="booz2_autopilot_power_switch" min="0" step="1" max="1" module="autopilot" values="OFF|ON" handler="SetPowerSwitch">
<strip_button name="POWER ON" icon="on.png" value="1"/> <strip_button name="POWER ON" icon="on.png" value="1"/>
<strip_button name="POWER OFF" icon="off.png" value="0"/> <strip_button name="POWER OFF" icon="off.png" value="0"/>
</dl_setting> </dl_setting>
<dl_setting var="booz2_autopilot_rc" min="0" step="1" max="1" module="booz2_autopilot" values="RC OFF|RC ON"> <dl_setting var="booz2_autopilot_rc" min="0" step="1" max="1" module="autopilot" values="RC OFF|RC ON">
<strip_button name="RC ON" value="1"/> <strip_button name="RC ON" value="1"/>
<strip_button name="RC OFF" value="0"/> <strip_button name="RC OFF" value="0"/>
</dl_setting> </dl_setting>
sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_spektrum_arch.c
+1 -1
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@@ -30,7 +30,7 @@
#include "uart.h" #include "uart.h"
#include "booz_radio_control.h" #include "booz_radio_control.h"
#include "booz_radio_control_spektrum_arch.h" #include "booz_radio_control_spektrum_arch.h"
#include "booz2_autopilot.h" #include "autopilot.h"
#define SPEKTRUM_CHANNELS_PER_FRAME 7 #define SPEKTRUM_CHANNELS_PER_FRAME 7
sw/airborne/booz/booz2_navigation.c
+1 -1
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@@ -29,7 +29,7 @@
#include "booz_gps.h" #include "booz_gps.h"
#include "booz2_ins.h" #include "booz2_ins.h"
#include "booz2_autopilot.h" #include "autopilot.h"
#include "modules.h" #include "modules.h"
#include "flight_plan.h" #include "flight_plan.h"
sw/airborne/booz/booz2_telemetry.h
+1 -1
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@@ -34,7 +34,7 @@
#include "booz_radio_control.h" #include "booz_radio_control.h"
#endif #endif
#include "booz2_autopilot.h" #include "autopilot.h"
#include "booz_guidance.h" #include "booz_guidance.h"
#include "actuators.h" #include "actuators.h"
sw/airborne/booz/booz_fms.h
+1 -1
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@@ -26,7 +26,7 @@
#include "std.h" #include "std.h"
#include "math/pprz_algebra_int.h" #include "math/pprz_algebra_int.h"
#include "booz2_autopilot.h" #include "autopilot.h"
#include "booz_guidance.h" #include "booz_guidance.h"
struct Booz_fms_imu_info { struct Booz_fms_imu_info {
sw/airborne/csc/mercury_ap.c
+1 -1
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@@ -26,7 +26,7 @@
#include <inttypes.h> #include <inttypes.h>
#include "commands.h" #include "commands.h"
#include "mercury_xsens.h" #include "mercury_xsens.h"
#include "booz2_autopilot.h" #include "autopilot.h"
#include "booz_stabilization.h" #include "booz_stabilization.h"
#include "stabilization/booz_stabilization_attitude.h" #include "stabilization/booz_stabilization_attitude.h"
#include "led.h" #include "led.h"
sw/airborne/autopilot.h → sw/airborne/firmwares/fixedwing/autopilot.h
+2 -2
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@@ -1,6 +1,6 @@
/* /*
* $Id$ * $Id$
* *
* Copyright (C) 2003 Pascal Brisset, Antoine Drouin * Copyright (C) 2003 Pascal Brisset, Antoine Drouin
* *
* This file is part of paparazzi. * This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to * along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330, * the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA. * Boston, MA 02111-1307, USA.
* *
*/ */
sw/airborne/booz/booz2_autopilot.c → sw/airborne/firmwares/rotorcraft/autopilot.c
+1 -1
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@@ -22,7 +22,7 @@
* *
*/ */
#include "booz2_autopilot.h" #include "autopilot.h"
#include "booz_radio_control.h" #include "booz_radio_control.h"
#include "booz2_commands.h" #include "booz2_commands.h"
sw/airborne/booz/booz2_autopilot.h → sw/airborne/firmwares/rotorcraft/autopilot.h
+5 -5
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@@ -22,8 +22,8 @@
* *
*/ */
#ifndef BOOZ2_AUTOPILOT_H #ifndef AUTOPILOT_H
#define BOOZ2_AUTOPILOT_H #define AUTOPILOT_H
#include "std.h" #include "std.h"
@@ -89,13 +89,13 @@ extern uint16_t booz2_autopilot_flight_time;
_booz_mode = BOOZ2_MODE_MANUAL; \ _booz_mode = BOOZ2_MODE_MANUAL; \
} }
#define booz2_autopilot_KillThrottle(_v) { \ #define autopilot_KillThrottle(_v) { \
kill_throttle = _v; \ kill_throttle = _v; \
if (kill_throttle) booz2_autopilot_motors_on = FALSE; \ if (kill_throttle) booz2_autopilot_motors_on = FALSE; \
else booz2_autopilot_motors_on = TRUE; \ else booz2_autopilot_motors_on = TRUE; \
} }
#define booz2_autopilot_SetPowerSwitch(_v) { \ #define autopilot_SetPowerSwitch(_v) { \
booz2_autopilot_power_switch = _v; \ booz2_autopilot_power_switch = _v; \
if (_v) { LED_OFF(POWER_SWITCH_LED); } \ if (_v) { LED_OFF(POWER_SWITCH_LED); } \
else { LED_ON(POWER_SWITCH_LED); } \ else { LED_ON(POWER_SWITCH_LED); } \
@@ -114,4 +114,4 @@ static inline void BoozDetectGroundEvent(void) {
} }
} }
#endif /* BOOZ2_AUTOPILOT_H */ #endif /* AUTOPILOT_H */
sw/airborne/firmwares/rotorcraft/main.c
+1 -1
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@@ -47,7 +47,7 @@
#include "booz2_battery.h" #include "booz2_battery.h"
#include "booz_fms.h" #include "booz_fms.h"
#include "booz2_autopilot.h" #include "autopilot.h"
#include "booz_stabilization.h" #include "booz_stabilization.h"
#include "booz_guidance.h" #include "booz_guidance.h"
sw/airborne/modules/vehicle_interface/vi.h
+1 -1
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@@ -30,7 +30,7 @@
#include "std.h" #include "std.h"
#include "math/pprz_algebra_int.h" #include "math/pprz_algebra_int.h"
#include "booz/booz2_autopilot.h" #include "autopilot.h"
#include "booz/booz_stabilization.h" #include "booz/booz_stabilization.h"
#include "booz/booz_guidance.h" #include "booz/booz_guidance.h"
#include "booz/booz2_navigation.h" #include "booz/booz2_navigation.h"