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[conf] flixr: convert subsystems to modules

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This commit is contained in:
Felix Ruess
2016-02-16 21:04:35 +01:00
parent 89560dc84f
commit 470311987f
7 changed files with 132 additions and 154 deletions
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conf/airframes/FLIXR/flixr_conf.xml
+1 -1
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@@ -18,8 +18,8 @@
telemetry="telemetry/default_rotorcraft.xml" telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml" flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_float_mlkf.xml settings/control/stabilization_att_int_quat.xml" settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_float_mlkf.xml settings/control/stabilization_att_int_quat.xml"
gui_color="blue"
settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/video_rtp_stream.xml" settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/video_rtp_stream.xml"
gui_color="blue"
/> />
<aircraft <aircraft
name="demo_cc3d" name="demo_cc3d"
conf/airframes/FLIXR/flixr_discovery.xml
+18 -26
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@@ -28,28 +28,33 @@
<define name="WIND_INFO"/> <define name="WIND_INFO"/>
<!-- Communication --> <!-- Communication -->
<subsystem name="telemetry" type="transparent"/> <module name="telemetry" type="transparent"/>
<subsystem name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
<!--subsystem name="settings" type="rc"/--> <!--module name="settings" type="rc"/-->
<!-- Control --> <!-- Control -->
<subsystem name="control" type="new"/> <module name="control" type="new"/>
<subsystem name="navigation"/> <module name="navigation"/>
<subsystem name="ahrs" type="int_cmpl_quat"> <module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="0"/> <configure name="USE_MAGNETOMETER" value="0"/>
<define name="AHRS_USE_GPS_HEADING" value="1"/> <define name="AHRS_USE_GPS_HEADING" value="1"/>
</subsystem> </module>
<subsystem name="ins" type="alt_float"/> <module name="ins" type="alt_float"/>
<!-- Sensors --> <!-- Sensors -->
<subsystem name="imu" type="b2_v1.0"> <module name="imu" type="b2_v1.0">
<configure name="NO_MAG" value="1"/> <configure name="NO_MAG" value="1"/>
</subsystem> </module>
<subsystem name="gps" type="ublox"/> <module name="gps" type="ublox"/>
<subsystem name="current_sensor"> <module name="current_sensor">
<configure name="ADC_CURRENT_SENSOR" value="ADC_3"/> <configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
</subsystem> </module>
<module name="servo_switch"/>
<module name="sys_mon"/>
<module name="adc_generic">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_4"/> <!-- voltage sensor -->
</module>
</firmware> </firmware>
@@ -68,19 +73,6 @@
</firmware> </firmware>
<!-- ******************* MODULES ********************************** -->
<modules main_freq="60">
<load name="servo_switch.xml"/>
<load name="sys_mon.xml"/>
<load name="adc_generic.xml">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_4"/> <!-- voltage sensor -->
</load>
<!--load name="airspeed_ets.xml">
<define name="AIRSPEED_ETS_SYNC_SEND"/>
<define name="USE_AIRSPEED"/>
</load-->
</modules>
<!-- Define here to which CONNECTOR NUMBER the servo is connected to, on the autopilot cicuit board --> <!-- Define here to which CONNECTOR NUMBER the servo is connected to, on the autopilot cicuit board -->
<servos> <servos>
<servo name="MOTOR" no="0" min="1100" neutral="1100" max="1900"/> <servo name="MOTOR" no="0" min="1100" neutral="1100" max="1900"/>
conf/airframes/FLIXR/flixr_fraser_lisa_m_rotorcraft.xml
+15 -18
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@@ -10,27 +10,29 @@
</target> </target>
<target name="nps" board="pc"> <target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
</target> </target>
<subsystem name="radio_control" type="spektrum"> <module name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_AUX1"/> <define name="RADIO_MODE" value="RADIO_AUX1"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/> <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/> <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</subsystem> </module>
<subsystem name="telemetry" type="transparent"/> <module name="telemetry" type="transparent"/>
<subsystem name="motor_mixing"/> <module name="motor_mixing"/>
<subsystem name="actuators" type="mkk"/> <module name="actuators" type="mkk"/>
<subsystem name="stabilization" type="int_quat"/> <module name="stabilization" type="int_quat"/>
<subsystem name="gps" type="ublox"/> <module name="gps" type="ublox"/>
<subsystem name="imu" type="aspirin_v1.5"/> <module name="imu" type="aspirin_v1.5"/>
<subsystem name="ahrs" type="int_cmpl_quat"> <module name="ahrs" type="int_cmpl_quat">
<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/> <define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
</subsystem> </module>
<subsystem name="ins_extended"/> <module name="ins_extended"/>
<module name="gps_ubx_ucenter"/>
<module name="sys_mon"/>
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/--> <!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
</firmware> </firmware>
@@ -53,15 +55,10 @@
<target name="test_baro_board" board="lisa_m_1.0"/> <target name="test_baro_board" board="lisa_m_1.0"/>
<target name="test_adc" board="lisa_m_1.0"/> <target name="test_adc" board="lisa_m_1.0"/>
<target name="test_imu" board="lisa_m_1.0"> <target name="test_imu" board="lisa_m_1.0">
<subsystem name="imu" type="aspirin_v1.5"/> <module name="imu" type="aspirin_v1.5"/>
</target> </target>
</firmware> </firmware>
<modules main_freq="512">
<load name="sys_mon.xml"/>
<load name="gps_ubx_ucenter.xml"/>
</modules>
<commands> <commands>
<axis name="PITCH" failsafe_value="0"/> <axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/> <axis name="ROLL" failsafe_value="0"/>
conf/airframes/FLIXR/flixr_ladybird_lisa_s.xml
+18 -21
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@@ -35,7 +35,7 @@
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0"> <target name="ap" board="lisa_s_1.0">
<subsystem name="radio_control" type="superbitrf_rc"> <module name="radio_control" type="superbitrf_rc">
<!-- To store the binding parameters for the superbit radio in your <!-- To store the binding parameters for the superbit radio in your
airframe file uncomment the following three lines and set the airframe file uncomment the following three lines and set the
correct values based on the output of the superbitrf telemetry correct values based on the output of the superbitrf telemetry
@@ -45,19 +45,19 @@
<!--define name="RADIO_TRANSMITTER_PROTOCOL" value="0x01"/--> <!--define name="RADIO_TRANSMITTER_PROTOCOL" value="0x01"/-->
<define name="RADIO_MODE" value="RADIO_FLAP"/> <define name="RADIO_MODE" value="RADIO_FLAP"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/> <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
</subsystem> </module>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/> <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/> <define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
</target> </target>
<target name="nps" board="pc"> <target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="spektrum"/> <module name="radio_control" type="spektrum"/>
</target> </target>
<subsystem name="motor_mixing"/> <module name="motor_mixing"/>
<subsystem name="actuators" type="pwm"> <module name="actuators" type="pwm">
<!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors. <!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range. With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors. If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors.
@@ -67,27 +67,24 @@
<!-- Setting the PWM interval to 36KHz --> <!-- Setting the PWM interval to 36KHz -->
<define name="SERVO_HZ" value="36000"/> <define name="SERVO_HZ" value="36000"/>
<define name="USE_SERVOS_1AND2"/> <define name="USE_SERVOS_1AND2"/>
</subsystem> </module>
<subsystem name="telemetry" type="superbitrf"/> <module name="telemetry" type="superbitrf"/>
<!-- Comment the previous line and uncomment the following one if you need <!-- Comment the previous line and uncomment the following one if you need
to use the debug serial interface for telemetry. --> to use the debug serial interface for telemetry. -->
<!--subsystem name="telemetry" type="transparent"/--> <!--module name="telemetry" type="transparent"/-->
<subsystem name="imu" type="lisa_s_v1.0"> <module name="imu" type="lisa_s_v1.0">
<define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) --> <define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
</subsystem> </module>
<subsystem name="gps" type="ublox"/> <module name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/> <module name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/> <module name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins"/> <module name="ins"/>
<module name="gps_ubx_ucenter"/>
<module name="send_imu_mag_current"/>
<module name="geo_mag"/>
</firmware> </firmware>
<modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/>
<load name="send_imu_mag_current.xml"/>
<load name="geo_mag.xml"/>
</modules>
<servos driver="Pwm"> <servos driver="Pwm">
<servo name="FL" no="3" min="0" neutral="50" max="1000"/> <servo name="FL" no="3" min="0" neutral="50" max="1000"/>
<servo name="FR" no="0" min="0" neutral="50" max="1000"/> <servo name="FR" no="0" min="0" neutral="50" max="1000"/>
conf/airframes/FLIXR/flixr_lisa_mx.xml
+33 -35
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@@ -21,29 +21,41 @@
</target> </target>
<target name="nps" board="pc"> <target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
</target> </target>
<subsystem name="radio_control" type="spektrum"> <module name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_AUX1"/> <define name="RADIO_MODE" value="RADIO_AUX1"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_AUX2"/> <define name="RADIO_KILL_SWITCH" value="RADIO_AUX2"/>
</subsystem> </module>
<subsystem name="motor_mixing"/> <module name="motor_mixing"/>
<subsystem name="actuators" type="pwm"> <module name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/> <define name="SERVO_HZ" value="400"/>
</subsystem> </module>
<subsystem name="telemetry" type="transparent"/> <module name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.2"/> <module name="imu" type="aspirin_v2.2"/>
<subsystem name="gps" type="ublox"/> <module name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/> <module name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="float_mlkf"/> <module name="ahrs" type="float_mlkf"/>
<subsystem name="ahrs" type="int_cmpl_quat"> <module name="ahrs" type="int_cmpl_quat">
<configure name="SECONDARY_AHRS" value="int_cmpl_quat"/> <configure name="SECONDARY_AHRS" value="int_cmpl_quat"/>
</subsystem> </module>
<subsystem name="ins" type="hff"/> <module name="ins" type="hff"/>
<module name="adc_generic.xml">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
</module>
<module name="gps_ubx_ucenter"/>
<module name="geo_mag"/>
<module name="sys_mon"/>
<module name="air_data">
<define name="AIR_DATA_TEMPERATURE_ID" value="IMU_ASPIRIN2_ID"/>
</module>
<module name="mission_rotorcraft"/>
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/--> <!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
<!--define name="FAILSAFE_ON_BAT_CRITICAL" value="TRUE"/--> <!--define name="FAILSAFE_ON_BAT_CRITICAL" value="TRUE"/-->
@@ -56,7 +68,7 @@
<configure name="TUNNEL_BAUD" value="B38400"/> <configure name="TUNNEL_BAUD" value="B38400"/>
</target> </target>
<target name="setup_actuators" board="lisa_mx_2.0"> <target name="setup_actuators" board="lisa_mx_2.0">
<subsystem name="actuators" type="pwm"/> <module name="actuators" type="pwm"/>
<define name="SERVO_HZ" value="400"/> <define name="SERVO_HZ" value="400"/>
<define name="USE_SERVOS_7AND8"/> <define name="USE_SERVOS_7AND8"/>
</target> </target>
@@ -70,18 +82,18 @@
<configure name="BARO_LED" value="5"/> <configure name="BARO_LED" value="5"/>
</target> </target>
<target name="test_radio_control" board="lisa_mx_2.0"> <target name="test_radio_control" board="lisa_mx_2.0">
<subsystem name="radio_control" type="spektrum"> <module name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_AUX1"/> <define name="RADIO_MODE" value="RADIO_AUX1"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="0"/> <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="0"/>
</subsystem> </module>
</target> </target>
<target name="test_imu" board="lisa_mx_2.0"> <target name="test_imu" board="lisa_mx_2.0">
<!--subsystem name="spi_master"/--> <!--module name="spi_master"/-->
<subsystem name="imu" type="aspirin_v2.2"/> <module name="imu" type="aspirin_v2.2"/>
</target> </target>
<target name="test_ahrs" board="lisa_mx_2.0"> <target name="test_ahrs" board="lisa_mx_2.0">
<subsystem name="imu" type="aspirin_v2.2"/> <module name="imu" type="aspirin_v2.2"/>
<subsystem name="ahrs" type="int_cmpl_quat"/> <module name="ahrs" type="int_cmpl_quat"/>
</target> </target>
<target name="test_module" board="lisa_mx_2.0"> <target name="test_module" board="lisa_mx_2.0">
</target> </target>
@@ -89,20 +101,6 @@
<autopilot name="rotorcraft_autopilot.xml" freq="512"/> <autopilot name="rotorcraft_autopilot.xml" freq="512"/>
<modules>
<load name="adc_generic.xml">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
</load>
<load name="gps_ubx_ucenter.xml"/>
<load name="geo_mag.xml"/>
<load name="sys_mon.xml"/>
<load name="air_data.xml">
<define name="AIR_DATA_TEMPERATURE_ID" value="IMU_ASPIRIN2_ID"/>
</load>
<load name="mission_rotorcraft.xml"/>
</modules>
<servos driver="Pwm"> <servos driver="Pwm">
<servo name="FL" no="0" min="1000" neutral="1100" max="1900"/> <servo name="FL" no="0" min="1000" neutral="1100" max="1900"/>
<servo name="FR" no="1" min="1000" neutral="1100" max="1900"/> <servo name="FR" no="1" min="1000" neutral="1100" max="1900"/>
conf/airframes/FLIXR/flixr_lisamx_dual.xml
+31 -34
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@@ -16,16 +16,16 @@
<configure name="SEPARATE_FBW" value="1"/> <configure name="SEPARATE_FBW" value="1"/>
<define name="LINK_MCU_LED" value="4"/> <define name="LINK_MCU_LED" value="4"/>
<!-- FBW --> <!-- FBW -->
<subsystem name="actuators" type="dummy"/> <module name="actuators" type="dummy"/>
<subsystem name="intermcu" type="uart"> <module name="intermcu" type="uart">
<configure name="INTERMCU_PORT" value="UART2"/> <configure name="INTERMCU_PORT" value="UART2"/>
</subsystem> </module>
<!-- AP --> <!-- AP -->
<subsystem name="control"/> <module name="control"/>
<subsystem name="navigation"/> <module name="navigation"/>
<subsystem name="telemetry" type="transparent"/> <module name="telemetry" type="transparent"/>
<subsystem name="ins" type="alt_float"/> <module name="ins" type="alt_float"/>
<subsystem name="gps" type="ublox"/> <module name="gps" type="ublox"/>
</target> </target>
<target name="fbw" board="lisa_mx_2.0"> <target name="fbw" board="lisa_mx_2.0">
@@ -34,30 +34,40 @@
<define name="LINK_MCU_LED" value="1"/> <define name="LINK_MCU_LED" value="1"/>
<!-- no usb --> <!-- no usb -->
<!-- FBW <-> AP --> <!-- FBW <-> AP -->
<subsystem name="intermcu" type="uart"> <module name="intermcu" type="uart">
<configure name="INTERMCU_PORT" value="UART1"/> <configure name="INTERMCU_PORT" value="UART1"/>
</subsystem> </module>
<!-- SERVO'S --> <!-- SERVO'S -->
<subsystem name="actuators" type="pwm"> <module name="actuators" type="pwm">
<define name="USE_SERVOS_7AND8"/> <define name="USE_SERVOS_7AND8"/>
</subsystem> </module>
<!--subsystem name="fbw_datalink"/--> <!--module name="fbw_datalink"/-->
<subsystem name="telemetry" type="transparent"/> <module name="telemetry" type="transparent"/>
</target> </target>
<target name="sim" board="pc"> <target name="sim" board="pc">
<!-- AP --> <!-- AP -->
<subsystem name="control"/> <module name="control"/>
<subsystem name="navigation"/> <module name="navigation"/>
<!-- Communication --> <!-- Communication -->
<subsystem name="telemetry" type="transparent"/> <module name="telemetry" type="transparent"/>
<subsystem name="ins" type="alt_float"/> <module name="ins" type="alt_float"/>
</target> </target>
<!-- common subsystems --> <!-- common modules -->
<subsystem name="radio_control" type="spektrum"> <module name="radio_control" type="spektrum">
<define name="RADIO_CONTROL_NB_CHANNEL" value="8" /> <define name="RADIO_CONTROL_NB_CHANNEL" value="8" />
</subsystem> </module>
<!-- extra modules -->
<module name="light">
<define name="LIGHT_LED_STROBE" value="6"/>
<!-- <define name="LIGHT_LED_NAV" value="2"/> -->
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
</module>
<module name="nav_line"/>
<module name="air_data"/>
<define name="AGR_CLIMB"/> <define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/> <define name="LOITER_TRIM"/>
@@ -68,19 +78,6 @@
<define name="RADIO_CONTROL_AUTO1"/> <define name="RADIO_CONTROL_AUTO1"/>
</firmware> </firmware>
<!-- ************************* MODULES ************************* -->
<modules>
<load name="light.xml">
<define name="LIGHT_LED_STROBE" value="6"/>
<!-- <define name="LIGHT_LED_NAV" value="2"/> -->
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
</load>
<load name="nav_line.xml"/>
<load name="air_data.xml"/>
</modules>
<!-- ************************* ACTUATORS ************************* --> <!-- ************************* ACTUATORS ************************* -->
<servos> <servos>
conf/airframes/FLIXR/flixr_zmr250_elle0.xml
+16 -19
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@@ -15,40 +15,37 @@
</target> </target>
<target name="nps" board="pc"> <target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
</target> </target>
<subsystem name="radio_control" type="spektrum"> <module name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_FLAP"/> <define name="RADIO_MODE" value="RADIO_FLAP"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/> <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
</subsystem> </module>
<subsystem name="motor_mixing"/> <module name="motor_mixing"/>
<subsystem name="actuators" type="pwm"> <module name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/> <define name="SERVO_HZ" value="400"/>
</subsystem> </module>
<subsystem name="telemetry" type="transparent"/> <module name="telemetry" type="transparent"/>
<subsystem name="imu" type="elle0"/> <module name="imu" type="elle0"/>
<subsystem name="gps" type="ublox"/> <module name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/> <module name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="float_mlkf"> <module name="ahrs" type="float_mlkf">
<!-- Uncomment to enable all axis update from the Magnetometer. Do <!-- Uncomment to enable all axis update from the Magnetometer. Do
it only if you have a very well calibrated and tested it only if you have a very well calibrated and tested
magnetometer otherwise your attitude will drift. --> magnetometer otherwise your attitude will drift. -->
<!--define name="AHRS_MAG_UPDATE_ALL_AXES" value="1"/--> <!--define name="AHRS_MAG_UPDATE_ALL_AXES" value="1"/-->
</subsystem> </module>
<subsystem name="ins" type="hff"/> <module name="ins" type="hff"/>
<module name="gps_ubx_ucenter"/>
<module name="geo_mag"/>
<module name="air_data"/>
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/--> <!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
</firmware> </firmware>
<modules>
<load name="gps_ubx_ucenter.xml"/>
<load name="geo_mag.xml"/>
<load name="air_data.xml"/>
</modules>
<servos driver="Pwm"> <servos driver="Pwm">
<servo name="FL" no="0" min="1000" neutral="1100" max="2000"/> <servo name="FL" no="0" min="1000" neutral="1100" max="2000"/>
<servo name="FR" no="1" min="1000" neutral="1100" max="2000"/> <servo name="FR" no="1" min="1000" neutral="1100" max="2000"/>