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[conf] cleaning some airframe files for CI builds (#2547)

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mostly by moving modules from 'modules' to 'firmware' section, which
should be done in all airframe files now.
This commit is contained in:
Gautier Hattenberger
2020-07-07 15:24:44 +02:00
committed by GitHub
parent 1d966d1c1f
commit 4575375876
12 changed files with 231 additions and 255 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/AGGIEAIR/aggieair_iris_indi.xml
+40 -42
View File
@@ -90,6 +90,45 @@
<define name="SERVO_HZ" value="200" />
</module>
<!-- allow flashing FBW target through AP -->
<module name="px4_flash"/>
<!-- CPU utilization monitor -->
<module name="sys_mon"/>
<!-- optical flow camera over i2c-->
<module name="px4flow_i2c">
<configure name="USE_PX4FLOW_AGL" value="0" description="don't send AGL measurements"/>
<comment>compensate AGL for body rotation</comment>
<configure name="PX4FLOW_COMPENSATE_ROTATION" value="1"/>
<configure name="PX4FLOW_NOISE_STDDEV" value="10.0"/> <!-- standard deviation of the optical flow measurements-->
</module>
<!-- laser range finder for precise AGL measurement -->
<module name="lidar_lite">
<configure name="USE_LIDAR_LITE_AGL" value="1"/> <!-- send AGL measurements -->
<configure name="LIDAR_LITE_COMPENSATE_ROTATION" value="1" /> <!-- compensate AGL for body rotation -->
</module>
<!-- laser range finder for precise AGL measurement -->
<module name="lidar_sf11">
<configure name="USE_LIDAR_SF11_AGL" value="0"/> <!-- dont send AGL measurements -->
<configure name="LIDAR_SF11_COMPENSATE_ROTATION" value="1" /> <!-- compensate AGL for body rotation -->
</module>
<!-- external mag for better heading estimate -->
<module name="mag" type="hmc58xx">
<configure name="MAG_HMC58XX_I2C_DEV" value="i2c1"/>
<define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
<define name="HMC58XX_CHAN_X" value="1"/>
<define name="HMC58XX_CHAN_Y" value="0"/>
<define name="HMC58XX_CHAN_Z" value="2"/>
<define name="HMC58XX_CHAN_X_SIGN" value="-"/>
<define name="HMC58XX_CHAN_Y_SIGN" value="+"/>
<define name="HMC58XX_CHAN_Z_SIGN" value="+"/>
</module>
<module name="air_data"/>
<!--
<module name="tlsf"/>
<module name="pprzlog"/>
@@ -120,50 +159,9 @@
<configure name="INTERMCU_BAUD" value="B1500000" />
</module>
</target>
</firmware>
<modules main_freq="PERIODIC_FREQUENCY">
<!-- allow flashing FBW target through AP -->
<module name="px4_flash"/>
<!-- CPU utilization monitor -->
<module name="sys_mon"/>
<!-- optical flow camera over i2c-->
<module name="px4flow_i2c">
<configure name="USE_PX4FLOW_AGL" value="0" description="don't send AGL measurements"/>
<comment>compensate AGL for body rotation</comment>
<configure name="PX4FLOW_COMPENSATE_ROTATION" value="1"/>
<configure name="PX4FLOW_NOISE_STDDEV" value="10.0"/> <!-- standard deviation of the optical flow measurements-->
</module>
<!-- laser range finder for precise AGL measurement -->
<module name="lidar_lite">
<configure name="USE_LIDAR_LITE_AGL" value="1"/> <!-- send AGL measurements -->
<configure name="LIDAR_LITE_COMPENSATE_ROTATION" value="1" /> <!-- compensate AGL for body rotation -->
</module>
<!-- laser range finder for precise AGL measurement -->
<module name="lidar_sf11">
<configure name="USE_LIDAR_SF11_AGL" value="0"/> <!-- dont send AGL measurements -->
<configure name="LIDAR_SF11_COMPENSATE_ROTATION" value="1" /> <!-- compensate AGL for body rotation -->
</module>
<!-- external mag for better heading estimate -->
<module name="mag" type="hmc58xx">
<configure name="MAG_HMC58XX_I2C_DEV" value="i2c1"/>
<define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
<define name="HMC58XX_CHAN_X" value="1"/>
<define name="HMC58XX_CHAN_Y" value="0"/>
<define name="HMC58XX_CHAN_Z" value="2"/>
<define name="HMC58XX_CHAN_X_SIGN" value="-"/>
<define name="HMC58XX_CHAN_Y_SIGN" value="+"/>
<define name="HMC58XX_CHAN_Z_SIGN" value="+"/>
</module>
<module name="air_data"/>
</modules>
<section name="MISC">
<define name="MilliAmpereOfAdc(adc)" value="((float)adc) * (3.3f / 4096.0f) * (90.0f / 5.0f)" />
<!-- 100Amp = 2Volt -> 2482,42 tick/100Amp"(0.0402832*adc)" -->
conf/airframes/BR/quadshot_asp21_FutabaPPMonUart1.xml
+35 -37
View File
@@ -306,44 +306,9 @@
<define name="ADAPTIVE_INDI" value="FALSE"/>
</section>
<modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/>
<!-- The the led_safety_status module will make the Quadshot LEDs blink in certain patterns when there are safety violations-->
<load name="led_safety_status.xml">
<define name="USE_LED_BODY" value="1"/>
<define name="SAFETY_WARNING_LED" value="BODY"/>
</load>
<load name="sonar_adc.xml">
<configure name="ADC_SONAR" value="ADC_2"/>
<!-- <define name="USE_SONAR"/> -->
<define name="SENSOR_SYNC_SEND_SONAR"/>
<define name="SONAR_SCALE" value="0.0032"/>
</load>
<!--Use an airspeed sensor and get the measured airspeed in the messages-->
<!-- <load name="airspeed_ets.xml">
<define name="AIRSPEED_ETS_SYNC_SEND"/>
</load>-->
<module name="logger_spi_link"/>
<!-- <load name="AOA_adc.xml">
<configure name="ADC_AOA" value="ADC_2"/>
<define name="AOA_OFFSET" value="0"/>
<define name="AOA_FILTER" value="0"/>
<define name="USE_AOA"/>
<define name="AOA_SENS" value="2.0*M_PI/1024/4"/>
</load>-->
<!-- Load this module to use multiple gain sets, which have to be specified in the gain sets section. Does not work with INDI -->
<!-- <module name="gain_scheduling"/> -->
</modules>
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0">
<module name="radio_control" type="ppm">
<module name="radio_control" type="ppm">
<configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/>
@@ -358,7 +323,7 @@
<configure name="FLASH_MODE" value="SWD"/>
<configure name="BMP_PORT" value="/dev/ttyACM0" />
<!-- To use an airspeed sensor on I2C, enable I2C2-->
<!-- To use an airspeed sensor on I2C, enable I2C2-->
<!-- <define name="USE_I2C2"/> -->
@@ -387,5 +352,38 @@
</module>
<module name="ins"/>
<module name="gps_ubx_ucenter"/>
<!-- The the led_safety_status module will make the Quadshot LEDs blink in certain patterns when there are safety violations-->
<module name="led_safety_status">
<define name="USE_LED_BODY" value="1"/>
<define name="SAFETY_WARNING_LED" value="BODY"/>
</module>
<module name="sonar_adc">
<configure name="ADC_SONAR" value="ADC_2"/>
<!-- <define name="USE_SONAR"/> -->
<define name="SENSOR_SYNC_SEND_SONAR"/>
<define name="SONAR_SCALE" value="0.0032"/>
</module>
<!--Use an airspeed sensor and get the measured airspeed in the messages-->
<!-- <module name="airspeed_ets">
<define name="AIRSPEED_ETS_SYNC_SEND"/>
</module>-->
<module name="logger_spi_link"/>
<!-- <module name="AOA_adc">
<configure name="ADC_AOA" value="ADC_2"/>
<define name="AOA_OFFSET" value="0"/>
<define name="AOA_FILTER" value="0"/>
<define name="USE_AOA"/>
<define name="AOA_SENS" value="2.0*M_PI/1024/4"/>
</module>-->
<!-- Load this module to use multiple gain sets, which have to be specified in the gain sets section. Does not work with INDI -->
<!-- <module name="gain_scheduling"/> -->
</firmware>
</airframe>
conf/airframes/ENAC/quadrotor/ard2_base_digit.xml
-2
View File
@@ -43,8 +43,6 @@
<module name="bat_voltage_ardrone2"/>
</firmware>
<modules main_freq="512"/>
<!-- include common control -->
<include href="conf/airframes/ENAC/quadrotor/ard2_base_control.xml"/>
<!-- include arframe calibration -->
conf/airframes/ENAC/quadrotor/ard2_base_vision.xml
-2
View File
@@ -45,8 +45,6 @@
<module name="rotorcraft_cam"/>
</firmware>
<modules main_freq="512"/>
<!-- include common control -->
<include href="conf/airframes/ENAC/quadrotor/ard2_base_control.xml"/>
<!-- include arframe calibration -->
conf/airframes/ENAC/quadrotor/ard2_basic.xml
-2
View File
@@ -35,8 +35,6 @@
<module name="bat_voltage_ardrone2"/>
</firmware>
<modules main_freq="512"/>
<!-- include common control -->
<include href="conf/airframes/ENAC/quadrotor/ard2_base_control.xml"/>
<!-- include arframe calibration -->
conf/airframes/ENAC/quadrotor/ard2_basic_adhoc.xml
-2
View File
@@ -37,8 +37,6 @@
<module name="bat_voltage_ardrone2"/>
</firmware>
<modules main_freq="512"/>
<!-- include common control -->
<include href="conf/airframes/ENAC/quadrotor/ard2_base_control.xml"/>
<!-- include arframe calibration -->
conf/airframes/ENAC/quadrotor/booz2_g1.xml
-2
View File
@@ -1,7 +1,5 @@
<airframe name="BOOZ2_G1">
<modules main_freq="512"/>
<firmware name="rotorcraft">
<define name="DEBUG_VFF_EXTENDED"/>
<define name="USE_INS_NAV_INIT"/>
conf/airframes/OPENUAS/openuas_eflite_t28.xml
+72 -75
View File
@@ -195,81 +195,7 @@ NOTES:
<configure name="GPS_BAUD" value="B57600"/>
<!-- <configure name="GPS_PORT" value="UARTx"/>--><!-- Now uses the default GPS port on pixracer -->
</module>
</firmware>
<!-- Handy to toy with toying around with settings on a uBlox or a modem e.g via AT commands serial device -->
<!-- <firmware name="setup">
<target name="GPS tunnel" board="px4fmu_4.0">
USE UART? for GPS
</target>
<target name="Datamodem tunnel" board="px4fmu_4.0">
USE UART? for Si1000 based modem
</target>
</firmware> -->
<!-- To test various things for the new board -->
<firmware name="test_progs">
<!--
<target name="test_module" board="px4fmu_4.0">
<module name="usb_serial_stm32_example1"/>
</target>
<target name="test_sys_time_timer" board="px4fmu_4.0">
<configure name="SYS_TIME_LED" value="none"/>
<configure name="LED_DEFINES" value="-DLED_RED=1"/>
</target>
<target name="test_sys_time_usleep" board="px4fmu_4.0">
<configure name="SYS_TIME_LED" value="none"/>
<configure name="LED_DEFINES" value="-DLED_GREEN=2"/>
</target>
<target name="test_telemetry" board="px4fmu_4.0">
<configure name="SYS_TIME_LED" value="none"/>
<define name="UART_TX_LED" value="3"/>
</target>
<target name="test_imu" board="px4fmu_4.0">
<module name="imu" type="mpu9250_spi">
<configure name="IMU_MPU9250_SPI_DEV" value="spi1"/>
<configure name="IMU_MPU9250_SPI_SLAVE_IDX" value="SPI_SLAVE2"/>
</module>
<configure name="PERIODIC_FREQUENCY" value="120"/>
</target>
<target name="test_actuators_pwm_sin" board="px4fmu_4.0">
</target>
<target name="test_baro_board" board="px4fmu_4.0">
<configure name="BARO_LED" value="2"/>
</target>
-->
<target name="test_adc" board="px4fmu_4.0"/>
<!--
<target name="test_uart" board="px4fmu_4.0">
<define name="USE_UART1"/>
<define name="UART1_BAUD" value="B57600"/>
<define name="USE_UART2"/>
<define name="UART2_BAUD" value="B57600"/>
<define name="USE_UART3"/>
<define name="UART3_BAUD" value="B57600"/>
<define name="USE_UART4"/>
<define name="UART4_BAUD" value="B57600"/>
<define name="USE_UART7"/>
<define name="UART7_BAUD" value="B57600"/>
<define name="USE_UART8"/> % FRSky
<define name="UART8_BAUD" value="B115200"/>
</target>
-->
<!-- FIXME <target name="test_can" board="px4fmu_4.0"/> -->
<!-- Since it is not implemented yet, idea is to just write and read a block and check data -->
<!-- FIXME <target name="test_sdcard" board="px4fmu_4.0"/>-->
<!-- <target name="test_icm20608g" board="px4fmu_4.0"/> --><!-- TODO -->
<!-- <target name="test_hcm5983" board="px4fmu_4.0"/> --><!-- TODO -->
<!-- <target name="test_actuators_pwm" board="px4fmu_4.0">-->
<!-- <define name="SERVO_HZ" value="40"/> -->
<!-- </target>-->
</firmware>
<!-- ************************* MODULES ************************* -->
<modules>
<module name="auto1_commands"/><!-- NOT finished for NON intermcu to be able to set GEAR and FLAP etc. in stabiized mode for easier testflights -->
<module name="baro_ms5611_spi" >
@@ -373,7 +299,78 @@ NOTES:
<define name="MAG_TO_IMU_THETA" value="0.0" unit="deg"/>
-->
</module>
</modules>
</firmware>
<!-- Handy to toy with toying around with settings on a uBlox or a modem e.g via AT commands serial device -->
<!-- <firmware name="setup">
<target name="GPS tunnel" board="px4fmu_4.0">
USE UART? for GPS
</target>
<target name="Datamodem tunnel" board="px4fmu_4.0">
USE UART? for Si1000 based modem
</target>
</firmware> -->
<!-- To test various things for the new board -->
<firmware name="test_progs">
<!--
<target name="test_module" board="px4fmu_4.0">
<module name="usb_serial_stm32_example1"/>
</target>
<target name="test_sys_time_timer" board="px4fmu_4.0">
<configure name="SYS_TIME_LED" value="none"/>
<configure name="LED_DEFINES" value="-DLED_RED=1"/>
</target>
<target name="test_sys_time_usleep" board="px4fmu_4.0">
<configure name="SYS_TIME_LED" value="none"/>
<configure name="LED_DEFINES" value="-DLED_GREEN=2"/>
</target>
<target name="test_telemetry" board="px4fmu_4.0">
<configure name="SYS_TIME_LED" value="none"/>
<define name="UART_TX_LED" value="3"/>
</target>
<target name="test_imu" board="px4fmu_4.0">
<module name="imu" type="mpu9250_spi">
<configure name="IMU_MPU9250_SPI_DEV" value="spi1"/>
<configure name="IMU_MPU9250_SPI_SLAVE_IDX" value="SPI_SLAVE2"/>
</module>
<configure name="PERIODIC_FREQUENCY" value="120"/>
</target>
<target name="test_actuators_pwm_sin" board="px4fmu_4.0">
</target>
<target name="test_baro_board" board="px4fmu_4.0">
<configure name="BARO_LED" value="2"/>
</target>
-->
<target name="test_adc" board="px4fmu_4.0"/>
<!--
<target name="test_uart" board="px4fmu_4.0">
<define name="USE_UART1"/>
<define name="UART1_BAUD" value="B57600"/>
<define name="USE_UART2"/>
<define name="UART2_BAUD" value="B57600"/>
<define name="USE_UART3"/>
<define name="UART3_BAUD" value="B57600"/>
<define name="USE_UART4"/>
<define name="UART4_BAUD" value="B57600"/>
<define name="USE_UART7"/>
<define name="UART7_BAUD" value="B57600"/>
<define name="USE_UART8"/> % FRSky
<define name="UART8_BAUD" value="B115200"/>
</target>
-->
<!-- FIXME <target name="test_can" board="px4fmu_4.0"/> -->
<!-- Since it is not implemented yet, idea is to just write and read a block and check data -->
<!-- FIXME <target name="test_sdcard" board="px4fmu_4.0"/>-->
<!-- <target name="test_icm20608g" board="px4fmu_4.0"/> --><!-- TODO -->
<!-- <target name="test_hcm5983" board="px4fmu_4.0"/> --><!-- TODO -->
<!-- <target name="test_actuators_pwm" board="px4fmu_4.0">-->
<!-- <define name="SERVO_HZ" value="40"/> -->
<!-- </target>-->
</firmware>
<!-- ************************* ACTUATORS ************************* -->
conf/airframes/OPENUAS/openuas_vivify.xml
+9 -13
View File
@@ -179,18 +179,6 @@
<!-- **************************** set for all *******************************-->
<define name="RADIO_CONTROL_AUTO1"/>
</firmware>
<firmware name="test_progs">
<target name="test_can" board="lisa_m_2.0"/>
</firmware>
<firmware name="setup">
<target name="tunnel" board="lisa_m_2.0"/>
</firmware>
<!-- ************************* MODULES ************************* -->
<modules>
<module name="auto1_commands" />
<!-- Baro altitude -->
<module name="baro_ms5611_spi" >
@@ -271,7 +259,15 @@
<module name="nav" type="line_border"/>
<module name="nav" type="flower"/>
<module name="nav" type="bungee_takeoff"/>
</modules>
</firmware>
<firmware name="test_progs">
<target name="test_can" board="lisa_m_2.0"/>
</firmware>
<firmware name="setup">
<target name="tunnel" board="lisa_m_2.0"/>
</firmware>
<!-- ***************************** ACTUATORS ***************************** -->
<servos>
conf/airframes/tudelft/iris_indi.xml
+18 -20
View File
@@ -44,6 +44,24 @@
<module name="actuators" type="pwm"> <!-- gimbal and buzzer -->
<define name="SERVO_HZ" value="400" />
</module>
<module name="px4_flash">
<configure name="PX4IO_UART" value="uart6"/>
</module>
<module name="px4_gimbal" />
<module name="geo_mag" />
<module name="air_data" />
<module name="send_imu_mag_current" />
<module name="mag" type="hmc58xx">
<configure name="MAG_HMC58XX_I2C_DEV" value="i2c1"/>
<define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
<define name="HMC58XX_CHAN_X" value="1"/>
<define name="HMC58XX_CHAN_Y" value="0"/>
<define name="HMC58XX_CHAN_Z" value="2"/>
<define name="HMC58XX_CHAN_X_SIGN" value="-"/>
<define name="HMC58XX_CHAN_Y_SIGN" value="+"/>
<define name="HMC58XX_CHAN_Z_SIGN" value="+"/>
</module>
<!-- <module name="spektrum_soft_bind"/>-->
</firmware>
<firmware name="rotorcraft">
<target name="fbw" board="px4io_2.4" />
@@ -74,26 +92,6 @@
<configure name="INTERMCU_BAUD" value="B1500000" />
</module>
</firmware>
<modules main_freq="512">
<module name="px4_flash">
<configure name="PX4IO_UART" value="uart6"/>
</module>
<module name="px4_gimbal" />
<module name="geo_mag" />
<module name="air_data" />
<module name="send_imu_mag_current" />
<module name="mag" type="hmc58xx">
<configure name="MAG_HMC58XX_I2C_DEV" value="i2c1"/>
<define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
<define name="HMC58XX_CHAN_X" value="1"/>
<define name="HMC58XX_CHAN_Y" value="0"/>
<define name="HMC58XX_CHAN_Z" value="2"/>
<define name="HMC58XX_CHAN_X_SIGN" value="-"/>
<define name="HMC58XX_CHAN_Y_SIGN" value="+"/>
<define name="HMC58XX_CHAN_Z_SIGN" value="+"/>
</module>
<!-- <module name="spektrum_soft_bind"/>-->
</modules>
<section name="MISC">
<define name="MilliAmpereOfAdc(adc)" value="((float)adc) * (3.3f / 4096.0f) * (90.0f / 5.0f)" />
conf/airframes/tudelft/mentor.xml
+43 -42
View File
@@ -6,52 +6,53 @@
<description>Mentor</description>
<firmware name="fixedwing">
<target name="ap" board="px4fmu_5.0_chibios">
<configure name="PERIODIC_FREQUENCY" value="500"/>
<module name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="B115200"/>
</module>
<module name="imu" type="mpu6000"/>
<module name="gps" type="ublox">
<!--configure name="GPS_PORT" value="UART1"/-->
</module>
<module name="gps" type="ubx_ucenter"/>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="FALSE"/>
<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN"/>
</module>
<module name="ins" type="alt_float"/>
<module name="mag_ist8310">
<define name="MODULE_IST8310_UPDATE_AHRS" value="TRUE"/>
<configure name="MAG_IST8310_I2C_DEV" value="I2C3"/>
</module>
<!--module name="lidar" type="tfmini"/-->
<!--module name="airspeed" type="ms45xx_i2c">
<define name="USE_I2C4"/>
<define name="MS45XX_I2C_DEV" value="i2c4"/>
</module-->
<module name="air_data"/>
<module name="control" type="energy"/>
<module name="navigation"/>
<module name="actuators" type="pwm"/>
<module name="radio_control" type="sbus">
<configure name="SBUS_PORT" value="UART3"/>
</module>
<!-- Logger -->
<!--module name="tlsf"/>
<module name="pprzlog"/>
<module name="logger" type="sd_chibios"/>
<module name="flight_recorder"/-->
</target>
<target name="ap" board="px4fmu_5.0_chibios"/>
<target name="nps" board="pc">
<module name="radio_control" type="spektrum"/>
<module name="fdm" type="jsbsim"/>
</target>
<configure name="PERIODIC_FREQUENCY" value="500"/>
<module name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="B115200"/>
</module>
<module name="imu" type="mpu6000"/>
<module name="gps" type="ublox">
<!--configure name="GPS_PORT" value="UART1"/-->
</module>
<module name="gps" type="ubx_ucenter"/>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="FALSE"/>
<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN"/>
</module>
<module name="ins" type="alt_float"/>
<module name="mag_ist8310">
<define name="MODULE_IST8310_UPDATE_AHRS" value="TRUE"/>
<configure name="MAG_IST8310_I2C_DEV" value="I2C3"/>
</module>
<!--module name="lidar" type="tfmini"/-->
<!--module name="airspeed" type="ms45xx_i2c">
<define name="USE_I2C4"/>
<define name="MS45XX_I2C_DEV" value="i2c4"/>
</module-->
<module name="air_data"/>
<module name="control" type="energy"/>
<module name="navigation"/>
<module name="actuators" type="pwm"/>
<module name="radio_control" type="sbus">
<configure name="SBUS_PORT" value="UART3"/>
</module>
<!-- Logger -->
<!--module name="tlsf"/>
<module name="pprzlog"/>
<module name="logger" type="sd_chibios"/>
<module name="flight_recorder"/-->
</firmware>
<servos>
@@ -228,4 +229,4 @@
<define name="BYPASS_INS" value="TRUE"/>
</section>
</airframe>
</airframe>
conf/airframes/tudelft/robird.xml
+14 -16
View File
@@ -45,6 +45,20 @@ Flapping wing frame equiped with
<configure name="INTERMCU_PORT" value="UART6" />
<configure name="INTERMCU_BAUD" value="B1500000" /> <!-- This is only during first 10s start up, afterwards it is set to 230400-->
</module>
<module name="px4_flash"/>
<module name="geo_mag" />
<module name="air_data" />
<module name="send_imu_mag_current" />
<module name="mag" type="hmc58xx">
<configure name="MAG_HMC58XX_I2C_DEV" value="i2c1"/>
<define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
<define name="HMC58XX_CHAN_X" value="1"/>
<define name="HMC58XX_CHAN_Y" value="0"/>
<define name="HMC58XX_CHAN_Z" value="2"/>
<define name="HMC58XX_CHAN_X_SIGN" value="-"/>
<define name="HMC58XX_CHAN_Y_SIGN" value="+"/>
<define name="HMC58XX_CHAN_Z_SIGN" value="+"/>
</module>
</firmware>
<firmware name="rotorcraft">
<target name="fbw" board="px4io_2.4" />
@@ -69,22 +83,6 @@ Flapping wing frame equiped with
<configure name="INTERMCU_BAUD" value="B1500000" />
</module>
</firmware>
<modules main_freq="512">
<module name="px4_flash"/>
<module name="geo_mag" />
<module name="air_data" />
<module name="send_imu_mag_current" />
<module name="mag" type="hmc58xx">
<configure name="MAG_HMC58XX_I2C_DEV" value="i2c1"/>
<define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
<define name="HMC58XX_CHAN_X" value="1"/>
<define name="HMC58XX_CHAN_Y" value="0"/>
<define name="HMC58XX_CHAN_Z" value="2"/>
<define name="HMC58XX_CHAN_X_SIGN" value="-"/>
<define name="HMC58XX_CHAN_Y_SIGN" value="+"/>
<define name="HMC58XX_CHAN_Z_SIGN" value="+"/>
</module>
</modules>
<section name="MISC">
<define name="MilliAmpereOfAdc(adc)" value="((float)adc) * (3.3f / 4096.0f) * (90.0f / 5.0f)" />