From 420214a003265728eee5db60c4c15e4f3fa0a4c8 Mon Sep 17 00:00:00 2001 From: Martin Mueller Date: Sun, 1 Apr 2012 09:00:10 +0000 Subject: [PATCH] Change transmitter roll direction, adjust aspirin2, add Trojan T-28. --- conf/airframes/mm/fixed-wing/trojan.xml | 250 +++++++++++++++++++++ conf/radios/mc24r.xml | 2 +- sw/airborne/modules/sensors/imu_aspirin2.c | 8 +- 3 files changed, 255 insertions(+), 5 deletions(-) create mode 100644 conf/airframes/mm/fixed-wing/trojan.xml diff --git a/conf/airframes/mm/fixed-wing/trojan.xml b/conf/airframes/mm/fixed-wing/trojan.xml new file mode 100644 index 0000000000..bad7f72dea --- /dev/null +++ b/conf/airframes/mm/fixed-wing/trojan.xml @@ -0,0 +1,250 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ +
+ + +
+ +
+ + +
+ +
+ + + + + + + +
+ +
+ + + + + + + + + + +
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + +
+ +
+ + + + + + + + + + + + + + +
+ +
+ + +
+ +
+ + + + + + + + +
+ +
+ + + + + +
+ diff --git a/conf/radios/mc24r.xml b/conf/radios/mc24r.xml index 0c350e7607..ed1856e6dc 100644 --- a/conf/radios/mc24r.xml +++ b/conf/radios/mc24r.xml @@ -47,7 +47,7 @@ - + diff --git a/sw/airborne/modules/sensors/imu_aspirin2.c b/sw/airborne/modules/sensors/imu_aspirin2.c index 3290d7e0f9..6168b68b89 100644 --- a/sw/airborne/modules/sensors/imu_aspirin2.c +++ b/sw/airborne/modules/sensors/imu_aspirin2.c @@ -26,7 +26,7 @@ // Downlink #include "mcu_periph/uart.h" #include "messages.h" -#include "downlink.h" +#include "subsystems/datalink/downlink.h" #ifndef DOWNLINK_DEVICE #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE @@ -195,9 +195,9 @@ void imu_periodic( void ) void aspirin2_subsystem_downlink_raw( void ) { - DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel,&imu.gyro_unscaled.p,&imu.gyro_unscaled.q,&imu.gyro_unscaled.r); - DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel,&imu.accel_unscaled.x,&imu.accel_unscaled.y,&imu.accel_unscaled.z); - DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel,&imu.mag_unscaled.x,&imu.mag_unscaled.y,&imu.mag_unscaled.z); + DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel,DefaultDevice,&imu.gyro_unscaled.p,&imu.gyro_unscaled.q,&imu.gyro_unscaled.r); + DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel,DefaultDevice,&imu.accel_unscaled.x,&imu.accel_unscaled.y,&imu.accel_unscaled.z); + DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel,DefaultDevice,&imu.mag_unscaled.x,&imu.mag_unscaled.y,&imu.mag_unscaled.z); } void aspirin2_subsystem_event( void )