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booz_pwm is now a module

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This commit is contained in:
Gautier Hattenberger
2011-01-13 16:01:13 +01:00
parent 685d0a25bd
commit 45df8092b6
6 changed files with 32 additions and 43 deletions
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conf/airframes/ENAC/quadrotor/blender.xml
+14 -19
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@@ -1,19 +1,32 @@
<airframe name="Blender">
<modules main_freq="512">
<load name="booz_pwm.xml">
<define name="USE_PWM1"/>
</load>
<load name="booz_drop.xml"/>
<load name="booz_cam.xml"/>
<!--load name="sonar_maxbotix_booz.xml"/-->
</modules>
<firmware name="rotorcraft">
<define name="USE_INS_NAV_INIT"/>
<define name="USE_ADAPT_HOVER"/>
<define name="NO_FUCKING_STARTUP_DELAY"/>
<!--define name="GUIDANCE_H_USE_REF"/-->
<target name="ap" board="booz_1.0">
<define name="FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R"/>
<define name="BOOZ_START_DELAY" value="3"/>
<!--define name="BOOZ_ACTUATORS_MAX_THRUST" value="160"/-->
<!--define name="BOOZ_THRUST_LOWPASS" value="17"/-->
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<!--define name="NPS_NO_SUPERVISION"/-->
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="asctec"/>
<subsystem name="imu" type="b2_v1.1"/>
@@ -218,7 +231,7 @@
<define name="BOOZ_ANALOG_BARO_THRESHOLD" value="800"/>
<define name="FACE_REINJ_1" value="1024"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
<define name="BoozDropPwm(_v)" value="Booz2SetPwm1Value(_v)"/>
<define name="BoozDropPwm(_v)" value="BoozSetPwm1Value(_v)"/>
<define name="IMU_MAG_OFFSET" value="-9."/>
</section>
@@ -228,22 +241,4 @@
<define name="ALT_SHIFT_MINUS" value="-1"/>
</section>
<makefile location="after">
ap.CFLAGS += -DGUIDANCE_H_USE_REF
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3 -DUSE_PWM1
ap.CFLAGS += -DBOOZ_ACTUATORS_MAX_THRUST=160 -DBOOZ_THRUST_LOWPASS=17
ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
sim.CFLAGS += -DNPS_NO_SUPERVISION
sim.CFLAGS += -DGUIDANCE_H_USE_REF
sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
sim.srcs += $(SRC_BOOZ_SIM)/booz2_pwm_hw.c
</makefile>
</airframe>