mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 22:17:01 +08:00
[conf] flixr: convert subsystems to modules
This commit is contained in:
Felix Ruess
@@ -18,8 +18,8 @@
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/rotorcraft_basic.xml"
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settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_float_mlkf.xml settings/control/stabilization_att_int_quat.xml"
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gui_color="blue"
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settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/video_rtp_stream.xml"
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gui_color="blue"
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/>
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<aircraft
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name="demo_cc3d"
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@@ -28,28 +28,33 @@
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<define name="WIND_INFO"/>
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<!-- Communication -->
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<subsystem name="telemetry" type="transparent"/>
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<subsystem name="radio_control" type="ppm"/>
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<!--subsystem name="settings" type="rc"/-->
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<module name="telemetry" type="transparent"/>
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<module name="radio_control" type="ppm"/>
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<!--module name="settings" type="rc"/-->
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<!-- Control -->
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<subsystem name="control" type="new"/>
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<subsystem name="navigation"/>
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<module name="control" type="new"/>
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<module name="navigation"/>
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<subsystem name="ahrs" type="int_cmpl_quat">
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<module name="ahrs" type="int_cmpl_quat">
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<configure name="USE_MAGNETOMETER" value="0"/>
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<define name="AHRS_USE_GPS_HEADING" value="1"/>
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</subsystem>
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<subsystem name="ins" type="alt_float"/>
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</module>
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<module name="ins" type="alt_float"/>
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<!-- Sensors -->
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<subsystem name="imu" type="b2_v1.0">
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<module name="imu" type="b2_v1.0">
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<configure name="NO_MAG" value="1"/>
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</subsystem>
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<subsystem name="gps" type="ublox"/>
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<subsystem name="current_sensor">
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</module>
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<module name="gps" type="ublox"/>
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<module name="current_sensor">
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<configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
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</subsystem>
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</module>
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<module name="servo_switch"/>
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<module name="sys_mon"/>
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<module name="adc_generic">
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<configure name="ADC_CHANNEL_GENERIC1" value="ADC_4"/> <!-- voltage sensor -->
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</module>
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</firmware>
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@@ -68,19 +73,6 @@
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</firmware>
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<!-- ******************* MODULES ********************************** -->
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<modules main_freq="60">
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<load name="servo_switch.xml"/>
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<load name="sys_mon.xml"/>
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<load name="adc_generic.xml">
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<configure name="ADC_CHANNEL_GENERIC1" value="ADC_4"/> <!-- voltage sensor -->
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</load>
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<!--load name="airspeed_ets.xml">
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<define name="AIRSPEED_ETS_SYNC_SEND"/>
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<define name="USE_AIRSPEED"/>
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</load-->
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</modules>
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<!-- Define here to which CONNECTOR NUMBER the servo is connected to, on the autopilot cicuit board -->
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<servos>
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<servo name="MOTOR" no="0" min="1100" neutral="1100" max="1900"/>
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@@ -10,27 +10,29 @@
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</target>
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<target name="nps" board="pc">
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<subsystem name="fdm" type="jsbsim"/>
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<module name="fdm" type="jsbsim"/>
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</target>
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<subsystem name="radio_control" type="spektrum">
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<module name="radio_control" type="spektrum">
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<define name="RADIO_MODE" value="RADIO_AUX1"/>
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<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
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<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
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</subsystem>
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<subsystem name="telemetry" type="transparent"/>
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</module>
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<module name="telemetry" type="transparent"/>
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<subsystem name="motor_mixing"/>
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<subsystem name="actuators" type="mkk"/>
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<module name="motor_mixing"/>
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<module name="actuators" type="mkk"/>
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<subsystem name="stabilization" type="int_quat"/>
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<module name="stabilization" type="int_quat"/>
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<subsystem name="gps" type="ublox"/>
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<subsystem name="imu" type="aspirin_v1.5"/>
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<subsystem name="ahrs" type="int_cmpl_quat">
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<module name="gps" type="ublox"/>
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<module name="imu" type="aspirin_v1.5"/>
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<module name="ahrs" type="int_cmpl_quat">
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<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
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</subsystem>
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<subsystem name="ins_extended"/>
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</module>
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<module name="ins_extended"/>
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<module name="gps_ubx_ucenter"/>
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<module name="sys_mon"/>
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<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
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</firmware>
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@@ -53,15 +55,10 @@
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<target name="test_baro_board" board="lisa_m_1.0"/>
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<target name="test_adc" board="lisa_m_1.0"/>
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<target name="test_imu" board="lisa_m_1.0">
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<subsystem name="imu" type="aspirin_v1.5"/>
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<module name="imu" type="aspirin_v1.5"/>
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</target>
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</firmware>
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<modules main_freq="512">
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<load name="sys_mon.xml"/>
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<load name="gps_ubx_ucenter.xml"/>
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</modules>
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<commands>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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@@ -35,7 +35,7 @@
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<firmware name="rotorcraft">
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<target name="ap" board="lisa_s_1.0">
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<subsystem name="radio_control" type="superbitrf_rc">
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<module name="radio_control" type="superbitrf_rc">
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<!-- To store the binding parameters for the superbit radio in your
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airframe file uncomment the following three lines and set the
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correct values based on the output of the superbitrf telemetry
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@@ -45,19 +45,19 @@
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<!--define name="RADIO_TRANSMITTER_PROTOCOL" value="0x01"/-->
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<define name="RADIO_MODE" value="RADIO_FLAP"/>
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<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
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</subsystem>
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</module>
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<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
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<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
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</target>
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<target name="nps" board="pc">
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<subsystem name="fdm" type="jsbsim"/>
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<subsystem name="radio_control" type="spektrum"/>
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<module name="fdm" type="jsbsim"/>
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<module name="radio_control" type="spektrum"/>
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</target>
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<subsystem name="motor_mixing"/>
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<subsystem name="actuators" type="pwm">
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<module name="motor_mixing"/>
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<module name="actuators" type="pwm">
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<!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
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With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
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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.
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@@ -67,27 +67,24 @@
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<!-- Setting the PWM interval to 36KHz -->
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<define name="SERVO_HZ" value="36000"/>
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<define name="USE_SERVOS_1AND2"/>
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</subsystem>
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</module>
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<subsystem name="telemetry" type="superbitrf"/>
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<module name="telemetry" type="superbitrf"/>
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<!-- Comment the previous line and uncomment the following one if you need
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to use the debug serial interface for telemetry. -->
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<!--subsystem name="telemetry" type="transparent"/-->
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<subsystem name="imu" type="lisa_s_v1.0">
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<!--module name="telemetry" type="transparent"/-->
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<module name="imu" type="lisa_s_v1.0">
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<define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
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</subsystem>
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<subsystem name="gps" type="ublox"/>
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<subsystem name="stabilization" type="int_quat"/>
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<subsystem name="ahrs" type="int_cmpl_quat"/>
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<subsystem name="ins"/>
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</module>
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<module name="gps" type="ublox"/>
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<module name="stabilization" type="int_quat"/>
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<module name="ahrs" type="int_cmpl_quat"/>
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<module name="ins"/>
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<module name="gps_ubx_ucenter"/>
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<module name="send_imu_mag_current"/>
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<module name="geo_mag"/>
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</firmware>
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<modules main_freq="512">
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<load name="gps_ubx_ucenter.xml"/>
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<load name="send_imu_mag_current.xml"/>
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<load name="geo_mag.xml"/>
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</modules>
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<servos driver="Pwm">
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<servo name="FL" no="3" min="0" neutral="50" max="1000"/>
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<servo name="FR" no="0" min="0" neutral="50" max="1000"/>
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@@ -21,29 +21,41 @@
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</target>
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<target name="nps" board="pc">
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<subsystem name="fdm" type="jsbsim"/>
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<module name="fdm" type="jsbsim"/>
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</target>
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<subsystem name="radio_control" type="spektrum">
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<module name="radio_control" type="spektrum">
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<define name="RADIO_MODE" value="RADIO_AUX1"/>
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<define name="RADIO_KILL_SWITCH" value="RADIO_AUX2"/>
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</subsystem>
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</module>
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<subsystem name="motor_mixing"/>
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<subsystem name="actuators" type="pwm">
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<module name="motor_mixing"/>
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<module name="actuators" type="pwm">
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<define name="SERVO_HZ" value="400"/>
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</subsystem>
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</module>
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<subsystem name="telemetry" type="transparent"/>
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<subsystem name="imu" type="aspirin_v2.2"/>
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<subsystem name="gps" type="ublox"/>
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<subsystem name="stabilization" type="int_quat"/>
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<subsystem name="ahrs" type="float_mlkf"/>
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<subsystem name="ahrs" type="int_cmpl_quat">
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<module name="telemetry" type="transparent"/>
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<module name="imu" type="aspirin_v2.2"/>
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<module name="gps" type="ublox"/>
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<module name="stabilization" type="int_quat"/>
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<module name="ahrs" type="float_mlkf"/>
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<module name="ahrs" type="int_cmpl_quat">
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<configure name="SECONDARY_AHRS" value="int_cmpl_quat"/>
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</subsystem>
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</module>
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<subsystem name="ins" type="hff"/>
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<module name="ins" type="hff"/>
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<module name="adc_generic.xml">
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<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
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<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
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</module>
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<module name="gps_ubx_ucenter"/>
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<module name="geo_mag"/>
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<module name="sys_mon"/>
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<module name="air_data">
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<define name="AIR_DATA_TEMPERATURE_ID" value="IMU_ASPIRIN2_ID"/>
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</module>
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<module name="mission_rotorcraft"/>
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<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
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<!--define name="FAILSAFE_ON_BAT_CRITICAL" value="TRUE"/-->
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@@ -56,7 +68,7 @@
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<configure name="TUNNEL_BAUD" value="B38400"/>
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</target>
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<target name="setup_actuators" board="lisa_mx_2.0">
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<subsystem name="actuators" type="pwm"/>
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<module name="actuators" type="pwm"/>
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<define name="SERVO_HZ" value="400"/>
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<define name="USE_SERVOS_7AND8"/>
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</target>
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@@ -70,18 +82,18 @@
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<configure name="BARO_LED" value="5"/>
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</target>
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<target name="test_radio_control" board="lisa_mx_2.0">
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<subsystem name="radio_control" type="spektrum">
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<module name="radio_control" type="spektrum">
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<define name="RADIO_MODE" value="RADIO_AUX1"/>
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<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="0"/>
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</subsystem>
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</module>
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</target>
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<target name="test_imu" board="lisa_mx_2.0">
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<!--subsystem name="spi_master"/-->
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<subsystem name="imu" type="aspirin_v2.2"/>
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<!--module name="spi_master"/-->
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<module name="imu" type="aspirin_v2.2"/>
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</target>
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<target name="test_ahrs" board="lisa_mx_2.0">
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<subsystem name="imu" type="aspirin_v2.2"/>
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<subsystem name="ahrs" type="int_cmpl_quat"/>
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<module name="imu" type="aspirin_v2.2"/>
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<module name="ahrs" type="int_cmpl_quat"/>
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</target>
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<target name="test_module" board="lisa_mx_2.0">
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</target>
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@@ -89,20 +101,6 @@
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<autopilot name="rotorcraft_autopilot.xml" freq="512"/>
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<modules>
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<load name="adc_generic.xml">
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<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
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<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
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</load>
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<load name="gps_ubx_ucenter.xml"/>
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<load name="geo_mag.xml"/>
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<load name="sys_mon.xml"/>
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<load name="air_data.xml">
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<define name="AIR_DATA_TEMPERATURE_ID" value="IMU_ASPIRIN2_ID"/>
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</load>
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<load name="mission_rotorcraft.xml"/>
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</modules>
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<servos driver="Pwm">
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<servo name="FL" no="0" min="1000" neutral="1100" max="1900"/>
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<servo name="FR" no="1" min="1000" neutral="1100" max="1900"/>
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@@ -16,16 +16,16 @@
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<configure name="SEPARATE_FBW" value="1"/>
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<define name="LINK_MCU_LED" value="4"/>
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<!-- FBW -->
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<subsystem name="actuators" type="dummy"/>
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<subsystem name="intermcu" type="uart">
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<module name="actuators" type="dummy"/>
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<module name="intermcu" type="uart">
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<configure name="INTERMCU_PORT" value="UART2"/>
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</subsystem>
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</module>
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<!-- AP -->
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<subsystem name="control"/>
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<subsystem name="navigation"/>
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<subsystem name="telemetry" type="transparent"/>
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<subsystem name="ins" type="alt_float"/>
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<subsystem name="gps" type="ublox"/>
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<module name="control"/>
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<module name="navigation"/>
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<module name="telemetry" type="transparent"/>
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<module name="ins" type="alt_float"/>
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<module name="gps" type="ublox"/>
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</target>
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<target name="fbw" board="lisa_mx_2.0">
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@@ -34,30 +34,40 @@
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<define name="LINK_MCU_LED" value="1"/>
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<!-- no usb -->
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<!-- FBW <-> AP -->
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<subsystem name="intermcu" type="uart">
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<module name="intermcu" type="uart">
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<configure name="INTERMCU_PORT" value="UART1"/>
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</subsystem>
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</module>
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<!-- SERVO'S -->
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<subsystem name="actuators" type="pwm">
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<module name="actuators" type="pwm">
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<define name="USE_SERVOS_7AND8"/>
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</subsystem>
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<!--subsystem name="fbw_datalink"/-->
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<subsystem name="telemetry" type="transparent"/>
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</module>
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<!--module name="fbw_datalink"/-->
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<module name="telemetry" type="transparent"/>
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</target>
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<target name="sim" board="pc">
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<!-- AP -->
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<subsystem name="control"/>
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<subsystem name="navigation"/>
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<module name="control"/>
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<module name="navigation"/>
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<!-- Communication -->
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<subsystem name="telemetry" type="transparent"/>
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<subsystem name="ins" type="alt_float"/>
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<module name="telemetry" type="transparent"/>
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<module name="ins" type="alt_float"/>
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</target>
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<!-- common subsystems -->
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<subsystem name="radio_control" type="spektrum">
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<!-- common modules -->
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<module name="radio_control" type="spektrum">
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<define name="RADIO_CONTROL_NB_CHANNEL" value="8" />
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</subsystem>
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</module>
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<!-- extra modules -->
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<module name="light">
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<define name="LIGHT_LED_STROBE" value="6"/>
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<!-- <define name="LIGHT_LED_NAV" value="2"/> -->
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<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
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<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
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</module>
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<module name="nav_line"/>
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<module name="air_data"/>
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<define name="AGR_CLIMB"/>
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<define name="LOITER_TRIM"/>
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@@ -68,19 +78,6 @@
|
||||
<define name="RADIO_CONTROL_AUTO1"/>
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||||
</firmware>
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||||
|
||||
<!-- ************************* MODULES ************************* -->
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<modules>
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<load name="light.xml">
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||||
<define name="LIGHT_LED_STROBE" value="6"/>
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<!-- <define name="LIGHT_LED_NAV" value="2"/> -->
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<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
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<define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
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||||
</load>
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||||
<load name="nav_line.xml"/>
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<load name="air_data.xml"/>
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</modules>
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||||
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||||
<!-- ************************* ACTUATORS ************************* -->
|
||||
|
||||
<servos>
|
||||
|
||||
@@ -15,40 +15,37 @@
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<subsystem name="fdm" type="jsbsim"/>
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="radio_control" type="spektrum">
|
||||
<module name="radio_control" type="spektrum">
|
||||
<define name="RADIO_MODE" value="RADIO_FLAP"/>
|
||||
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<subsystem name="motor_mixing"/>
|
||||
<subsystem name="actuators" type="pwm">
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="pwm">
|
||||
<define name="SERVO_HZ" value="400"/>
|
||||
</subsystem>
|
||||
</module>
|
||||
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<subsystem name="imu" type="elle0"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="int_quat"/>
|
||||
<subsystem name="ahrs" type="float_mlkf">
|
||||
<module name="telemetry" type="transparent"/>
|
||||
<module name="imu" type="elle0"/>
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="float_mlkf">
|
||||
<!-- Uncomment to enable all axis update from the Magnetometer. Do
|
||||
it only if you have a very well calibrated and tested
|
||||
magnetometer otherwise your attitude will drift. -->
|
||||
<!--define name="AHRS_MAG_UPDATE_ALL_AXES" value="1"/-->
|
||||
</subsystem>
|
||||
<subsystem name="ins" type="hff"/>
|
||||
</module>
|
||||
<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"/-->
|
||||
</firmware>
|
||||
|
||||
<modules>
|
||||
<load name="gps_ubx_ucenter.xml"/>
|
||||
<load name="geo_mag.xml"/>
|
||||
<load name="air_data.xml"/>
|
||||
</modules>
|
||||
|
||||
<servos driver="Pwm">
|
||||
<servo name="FL" no="0" min="1000" neutral="1100" max="2000"/>
|
||||
<servo name="FR" no="1" min="1000" neutral="1100" max="2000"/>
|
||||
|
||||
Reference in New Issue
Block a user