mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-23 13:24:03 +08:00
Merge remote branch 'paparazzi/param-names'
This commit is contained in:
Felix Ruess
@@ -166,10 +166,10 @@
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<modules>
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<load name="light.xml">
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<param name="LIGHT_LED_STROBE" value="3"/>
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<param name="LIGHT_LED_NAV" value="4"/>
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<param name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
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<param name="NAV_LIGHT_MODE_DEFAULT" value="0"/>
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<define name="LIGHT_LED_STROBE" value="3"/>
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<define name="LIGHT_LED_NAV" value="4"/>
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<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
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<define name="NAV_LIGHT_MODE_DEFAULT" value="0"/>
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</load>
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</modules>
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@@ -185,8 +185,8 @@
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<!-- Communication -->
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<subsystem name="telemetry" type="transparent">
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<param name="MODEM_UART_NR" value="2"/>
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<param name="MODEM_BAUD" value="B57600"/>
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<configure name="MODEM_UART_NR" value="2"/>
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<configure name="MODEM_BAUD" value="B57600"/>
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</subsystem>
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<!-- Actuators -->
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@@ -194,14 +194,14 @@
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<!-- Sensors -->
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<subsystem name="radio_control" type="ppm"/>
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<!--<subsystem name="attitude" type="infrared">
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<param name="ADC_IR1" value="ADC_1"/>
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<param name="ADC_IR2" value="ADC_2"/>
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<param name="ADC_IR_TOP" value="ADC_0"/>
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<param name="ADC_IR_NB_SAMPLES" value="16"/>
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<configure name="ADC_IR1" value="ADC_1"/>
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<configure name="ADC_IR2" value="ADC_2"/>
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<configure name="ADC_IR_TOP" value="ADC_0"/>
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<configure name="ADC_IR_NB_SAMPLES" value="16"/>
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</subsystem>-->
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<subsystem name="gps" type="ublox_lea4p">
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<param name="GPS_UART_NR" value="1"/>
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<configure name="GPS_UART_NR" value="1"/>
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</subsystem>
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</firmware>
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@@ -161,10 +161,10 @@
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<modules>
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<load name="light.xml">
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<param name="LIGHT_LED_STROBE" value="3"/>
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<param name="LIGHT_LED_NAV" value="4"/>
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<param name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
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<param name="NAV_LIGHT_MODE_DEFAULT" value="0"/>
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<define name="LIGHT_LED_STROBE" value="3"/>
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<define name="LIGHT_LED_NAV" value="4"/>
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<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
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<define name="NAV_LIGHT_MODE_DEFAULT" value="0"/>
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</load>
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</modules>
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@@ -179,7 +179,7 @@
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<!-- Communication -->
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<subsystem name="telemetry" type="transparent">
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<param name="MODEM_BAUD" value="B9600"/>
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<configure name="MODEM_BAUD" value="B9600"/>
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</subsystem>
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<!-- Actuators -->
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@@ -14,15 +14,15 @@
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<modules>
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<load name="light.xml">
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<param name="LIGHT_LED_STROBE" value="5"/>
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<param name="LIGHT_LED_NAV" value="3"/>
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<define name="LIGHT_LED_STROBE" value="5"/>
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<define name="LIGHT_LED_NAV" value="3"/>
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</load>
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<load name="infrared_i2c.xml"/>
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<load name="pbn.xml"/>
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<!--load name="airspeed_adc.xml">
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<define name="ADC_AIRSPEED" value="ADC_4"/>
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<flag name="AIRSPEED_SCALE" value="1"/>
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<flag name="AIRSPEED_BIAS" value="0"/>
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<configure name="ADC_AIRSPEED" value="ADC_4"/>
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<define name="AIRSPEED_SCALE" value="1"/>
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<define name="AIRSPEED_BIAS" value="0"/>
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</load-->
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<!--load name="airspeed_ets.xml"/>
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<load name="baro_ets.xml"/-->
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@@ -36,7 +36,7 @@
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<target name="sim" board="pc"/>
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<target name="ap" board="tiny_2.11">
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<param name="FLASH_MODE" value="IAP"/>
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<configure name="FLASH_MODE" value="IAP"/>
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</target>
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<subsystem name="radio_control" type="ppm"/>
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@@ -51,11 +51,11 @@
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<!-- Sensors -->
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<subsystem name="gps" type="ublox_lea5h"/>
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<subsystem name="gyro" type="roll">
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<param name="ADC_GYRO_ROLL" value="ADC_5"/>
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<configure name="ADC_GYRO_ROLL" value="ADC_5"/>
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</subsystem>
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<subsystem name="current_sensor">
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<param name="ADC_CURRENT_SENSOR" value="ADC_3"/>
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<configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
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</subsystem>
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<subsystem name="navigation"/>
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@@ -14,8 +14,8 @@
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<modules>
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<load name="light.xml">
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<param name="LIGHT_LED_STROBE" value="5"/>
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<param name="LIGHT_LED_NAV" value="3"/>
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<define name="LIGHT_LED_STROBE" value="5"/>
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<define name="LIGHT_LED_NAV" value="3"/>
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</load>
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<load name="infrared_i2c.xml"/>
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<load name="pbn.xml"/>
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@@ -23,20 +23,15 @@
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</modules>
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<firmware name="fixedwing">
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<target name="sim" board="pc">
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<define name="AGR_CLIMB"/>
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<define name="ALT_KALMAN"/>
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<define name="PITCH_TRIM"/>
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<define name="USE_I2C0"/>
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<define name="USE_AIRSPEED"/>
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</target>
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<define name="AGR_CLIMB"/>
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<define name="ALT_KALMAN"/>
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<define name="PITCH_TRIM"/>
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<define name="USE_I2C0"/>
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<define name="USE_AIRSPEED"/>
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<target name="sim" board="pc"/>
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<target name="ap" board="tiny_2.11">
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<param name="FLASH_MODE" value="IAP"/>
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<define name="AGR_CLIMB"/>
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<define name="ALT_KALMAN"/>
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<define name="PITCH_TRIM"/>
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<define name="USE_I2C0"/>
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<define name="USE_AIRSPEED"/>
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<configure name="FLASH_MODE" value="IAP"/>
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<define name="SPI_MASTER"/>
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<define name="USE_SPI_SLAVE0"/>
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</target>
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@@ -54,11 +49,11 @@
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<!-- Sensors -->
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<subsystem name="gps" type="ublox_lea5h"/>
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<subsystem name="gyro" type="roll">
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<param name="ADC_GYRO_ROLL" value="ADC_5"/>
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<configure name="ADC_GYRO_ROLL" value="ADC_5"/>
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</subsystem>
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<subsystem name="current_sensor">
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<param name="ADC_CURRENT_SENSOR" value="ADC_3"/>
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<configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
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</subsystem>
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<subsystem name="navigation"/>
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@@ -0,0 +1,234 @@
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
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<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
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Tiny 2.11 board (http://paparazzi.enac.fr/wiki/Tiny_v2)
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IR i2c
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Tilted infrared sensor (http://paparazzi.enac.fr/wiki/Image:Tiny_v2_1_Funjet.jpg)
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Radiotronix modem
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LEA 5H GPS
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Airspeed sensor
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Digital camera
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-->
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<airframe name="Funjet Tiny 2.11">
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<modules>
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<load name="light.xml">
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<define name="LIGHT_LED_STROBE" value="5"/>
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<define name="LIGHT_LED_NAV" value="3"/>
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</load>
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<load name="infrared_i2c.xml"/>
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<load name="pbn.xml"/>
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<load name="ins_vn100.xml"/>
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</modules>
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<firmware name="fixedwing">
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<define name="AGR_CLIMB"/>
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<define name="ALT_KALMAN"/>
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<define name="PITCH_TRIM"/>
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<define name="USE_I2C0"/>
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<define name="USE_AIRSPEED"/>
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<target name="sim" board="pc"/>
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<target name="ap" board="tiny_2.11">
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<configure name="FLASH_MODE" value="IAP"/>
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<define name="SPI_MASTER"/>
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<define name="USE_SPI_SLAVE0"/>
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</target>
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<subsystem name="radio_control" type="ppm"/>
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<!--subsystem name="joystick"/-->
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<subsystem name="i2c"/>
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<subsystem name="spi"/>
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<!-- Communication -->
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<subsystem name="telemetry" type="transparent"/>
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<!-- Actuators are automatically chosen according to board-->
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<subsystem name="control" type="new"/>
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<!-- Sensors -->
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<subsystem name="gps" type="ublox_lea5h"/>
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<subsystem name="gyro" type="roll">
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<configure name="ADC_GYRO_ROLL" value="ADC_5"/>
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</subsystem>
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<subsystem name="current_sensor">
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<configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
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</subsystem>
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<subsystem name="navigation"/>
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</firmware>
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<firmware name="setup">
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<target name="tunnel" board="tiny_2.11"/>
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<target name="setup_actuators" board="tiny_2.11"/>
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</firmware>
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<!-- commands section -->
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<servos>
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<servo name="MOTOR" no="0" min="1040" neutral="1040" max="2000"/>
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<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1500" max="1050"/>
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<servo name="AILEVON_RIGHT" no="6" min="1120" neutral="1540" max="1980"/>
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</servos>
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<commands>
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<axis name="THROTTLE" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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</commands>
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<rc_commands>
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<set command="THROTTLE" value="@THROTTLE"/>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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</rc_commands>
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<section name="MIXER">
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<define name="AILEVON_AILERON_RATE" value="0.75"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
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</section>
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<command_laws>
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<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
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<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
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<set servo="MOTOR" value="@THROTTLE"/>
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<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
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<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="0.85"/>
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<define name="MAX_PITCH" value="0.6"/>
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</section>
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<section name="INFRARED" prefix="IR_">
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<define name="IR1_NEUTRAL" value="-5"/>
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<define name="IR2_NEUTRAL" value="0"/>
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<define name="TOP_NEUTRAL" value="-10"/>
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<define name="I2C_DEFAULT_CONF" value="1"/>
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<define name="LATERAL_CORRECTION" value="1"/>
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<define name="LONGITUDINAL_CORRECTION" value="1"/>
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<define name="VERTICAL_CORRECTION" value="1"/>
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<define name="HORIZ_SENSOR_TILTED" value="1"/>
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<define name="IR1_SIGN" value="1"/>
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<define name="IR2_SIGN" value="1"/>
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<define name="TOP_SIGN" value="1"/>
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|
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<define name="ROLL_NEUTRAL_DEFAULT" value="2." unit="deg"/>
|
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<define name="PITCH_NEUTRAL_DEFAULT" value="2." unit="deg"/>
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</section>
|
||||
|
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<section name="GYRO" prefix="GYRO_">
|
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<define name="ADC_ROLL_NEUTRAL" value="487"/>
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<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
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<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
|
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<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
|
||||
<define name="ROLL_DIRECTION" value="1."/>
|
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</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="16." unit="m/s"/>
|
||||
<define name="CARROT" value="5." unit="s"/>
|
||||
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
|
||||
<define name="CONTROL_RATE" value="60" unit="Hz"/>
|
||||
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="VERTICAL CONTROL" prefix="V_CTL_">
|
||||
<!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
|
||||
<!-- outer loop proportional gain -->
|
||||
<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
|
||||
<!-- outer loop saturation -->
|
||||
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
|
||||
|
||||
<!-- auto throttle inner loop -->
|
||||
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
|
||||
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
|
||||
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
|
||||
<!--define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/-->
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="-0.01"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
|
||||
|
||||
<!-- auto pitch inner loop -->
|
||||
<define name="AUTO_PITCH_PGAIN" value="-0.05"/>
|
||||
<define name="AUTO_PITCH_DGAIN" value="-0.0"/>
|
||||
<define name="AUTO_PITCH_IGAIN" value="-0.01"/>
|
||||
<!--define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/-->
|
||||
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
|
||||
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
|
||||
|
||||
<!-- airspeed control -->
|
||||
<define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
|
||||
<define name="AUTO_AIRSPEED_PGAIN" value="0.08"/>
|
||||
<define name="AUTO_AIRSPEED_IGAIN" value="0.001"/>
|
||||
<define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
|
||||
<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
|
||||
<define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
|
||||
<define name="AIRSPEED_MAX" value="22"/>
|
||||
<define name="AIRSPEED_MIN" value="12"/>
|
||||
|
||||
<!-- pitch trim -->
|
||||
<define name="PITCH_LOITER_TRIM" value="RadOfDeg(5.)"/>
|
||||
<define name="PITCH_DASH_TRIM" value="RadOfDeg(-5.)"/>
|
||||
|
||||
<define name="THROTTLE_SLEW" value="0.1"/>
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-0.7"/>
|
||||
<define name="ROLL_MAX_SETPOINT" value="0.8" unit="radians"/>
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="-9000."/>
|
||||
<define name="ROLL_RATE_GAIN" value="-3000."/>
|
||||
<define name="ROLL_IGAIN" value="-0"/>
|
||||
<define name="ROLL_KFFA" value="0"/>
|
||||
<define name="ROLL_KFFD" value="0"/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="-20000."/>
|
||||
<define name="PITCH_DGAIN" value="-1000"/>
|
||||
<define name="PITCH_IGAIN" value="-300"/>
|
||||
<define name="PITCH_KFFA" value="0."/>
|
||||
<define name="PITCH_KFFD" value="0."/>
|
||||
|
||||
<define name="PITCH_OF_ROLL" value="RadOfDeg(0.0)"/>
|
||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="ROLL_RESPONSE_FACTOR" value="10"/>
|
||||
<define name="MAX_ROLL_DOT" value="20" unit="rad/s"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -10,19 +10,15 @@
|
||||
<airframe name="Merlin">
|
||||
|
||||
<firmware name="fixedwing">
|
||||
<target name="ap" board="tiny_2.11">
|
||||
<define name="PITCH_TRIM"/>
|
||||
<define name="ALT_KALMAN"/>
|
||||
</target>
|
||||
<define name="PITCH_TRIM"/>
|
||||
<define name="ALT_KALMAN"/>
|
||||
|
||||
<target name="sim" board="pc">
|
||||
<define name="PITCH_TRIM"/>
|
||||
<define name="ALT_KALMAN"/>
|
||||
</target>
|
||||
<target name="ap" board="tiny_2.11"/>
|
||||
<target name="sim" board="pc"/>
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<subsystem name="control_new"/>
|
||||
<subsystem name="control"/>
|
||||
<subsystem name="attitude" type="infrared"/>
|
||||
<subsystem name="gps" type="ublox_lea5h"/>
|
||||
<subsystem name="navigation"/>
|
||||
@@ -169,6 +165,7 @@
|
||||
<define name="PITCH_KFFD" value="0."/>
|
||||
|
||||
<define name="PITCH_OF_ROLL" value="RadOfDeg(0.2)"/>
|
||||
<define name="ELEVATOR_OF_ROLL" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
|
||||
@@ -15,25 +15,20 @@
|
||||
<!--load name="max3100.xml"/>
|
||||
<load name="gsm.xml"/-->
|
||||
<load name="demo_module.xml">
|
||||
<flag name="TEST" value="1"/>
|
||||
<flag name="TEST_FLAG"/>
|
||||
<define name="TEST" value="1"/>
|
||||
<define name="TEST_FLAG"/>
|
||||
</load>
|
||||
<!--load name="enose.xml"/-->
|
||||
<load name="light.xml"/>
|
||||
</modules>
|
||||
|
||||
<firmware name="fixedwing">
|
||||
<target name="ap" board="tiny_2.11">
|
||||
<define name="PITCH_TRIM"/>
|
||||
<define name="ALT_KALMAN"/>
|
||||
<define name="USE_I2C0"/>
|
||||
</target>
|
||||
<define name="PITCH_TRIM"/>
|
||||
<define name="ALT_KALMAN"/>
|
||||
<define name="USE_I2C0"/>
|
||||
|
||||
<target name="sim" board="pc">
|
||||
<define name="PITCH_TRIM"/>
|
||||
<define name="ALT_KALMAN"/>
|
||||
<define name="USE_I2C0"/>
|
||||
</target>
|
||||
<target name="ap" board="tiny_2.11"/>
|
||||
<target name="sim" board="pc"/>
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="telemetry" type="xbee_api"/>
|
||||
|
||||
@@ -0,0 +1,243 @@
|
||||
<!--DOCTYPE airframe SYSTEM "../../airframe.dtd"-->
|
||||
|
||||
<airframe name="BOOZ2_G1">
|
||||
|
||||
<modules main_freq="512">
|
||||
<!--load name="vision_cmucam.xml"/-->
|
||||
<load name="sonar_maxbotix_booz.xml"/>
|
||||
<load name="booz_extra_dl.xml"/>
|
||||
<load name="booz_gumstix_com.xml"/>
|
||||
</modules>
|
||||
|
||||
<servos min="0" neutral="0" max="0xff">
|
||||
<servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
|
||||
<servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
|
||||
<servo name="YAW" no="2" min="0" neutral="0" max="255"/>
|
||||
<servo name="THRUST" no="3" min="0" neutral="0" max="255"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="THRUST" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<section name="SUPERVISION" prefix="SUPERVISION_">
|
||||
<define name="TRIM_A" value="0"/>
|
||||
<define name="TRIM_E" value="6"/>
|
||||
<define name="TRIM_R" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
|
||||
<define name="GYRO_P_CHAN" value="1"/>
|
||||
<define name="GYRO_Q_CHAN" value="0"/>
|
||||
<define name="GYRO_R_CHAN" value="2"/>
|
||||
|
||||
<define name="GYRO_P_NEUTRAL" value="32238"/>
|
||||
<define name="GYRO_Q_NEUTRAL" value="32391"/>
|
||||
<define name="GYRO_R_NEUTRAL" value="32853"/>
|
||||
|
||||
<define name="GYRO_P_SENS" value="1.00" integer="16"/>
|
||||
<define name="GYRO_Q_SENS" value="1.00" integer="16"/>
|
||||
<define name="GYRO_R_SENS" value="1.00" integer="16"/>
|
||||
|
||||
<define name="ACCEL_X_CHAN" value="5"/>
|
||||
<define name="ACCEL_Y_CHAN" value="3"/>
|
||||
<define name="ACCEL_Z_CHAN" value="4"/>
|
||||
|
||||
<define name="ACCEL_X_SENS" value="2.55975587" integer="16"/>
|
||||
<define name="ACCEL_Y_SENS" value="2.55643340" integer="16"/>
|
||||
<define name="ACCEL_Z_SENS" value="2.57178460" integer="16"/>
|
||||
|
||||
<define name="ACCEL_X_NEUTRAL" value="33067"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="32778"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="32140"/>
|
||||
|
||||
<define name="MAG_X_CHAN" value="0"/>
|
||||
<define name="MAG_Y_CHAN" value="1"/>
|
||||
<define name="MAG_Z_CHAN" value="2"/>
|
||||
|
||||
<define name="MAG_X_NEUTRAL" value="-12"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="-10"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="-11"/>
|
||||
|
||||
<define name="MAG_X_SENS" value="22.008352" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="21.79885" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="14.675745" integer="16"/>
|
||||
|
||||
<define name="BODY_TO_IMU_PHI" value="RadOfDeg(1.3)"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="RadOfDeg(-2.6)"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="RadOfDeg(0.)"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
|
||||
|
||||
<define name="SP_MAX_P" value="10000"/>
|
||||
<define name="SP_MAX_Q" value="10000"/>
|
||||
<define name="SP_MAX_R" value="10000"/>
|
||||
|
||||
<define name="GAIN_P" value="-400"/>
|
||||
<define name="GAIN_Q" value="-400"/>
|
||||
<define name="GAIN_R" value="-350"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
|
||||
|
||||
<!-- setpoints -->
|
||||
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
|
||||
<define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
|
||||
<define name="SP_MAX_R" value="RadOfDeg(90.)"/>
|
||||
<define name="DEADBAND_R" value="250"/>
|
||||
|
||||
<!-- reference -->
|
||||
<define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
|
||||
<define name="REF_ZETA_P" value="0.85"/>
|
||||
<define name="REF_MAX_P" value="RadOfDeg(300.)"/>
|
||||
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
|
||||
<define name="REF_ZETA_Q" value="0.85"/>
|
||||
<define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
|
||||
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
|
||||
<define name="REF_ZETA_R" value="0.85"/>
|
||||
<define name="REF_MAX_R" value="RadOfDeg(90.)"/>
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="PHI_PGAIN" value="-2000"/>
|
||||
<define name="PHI_DGAIN" value="-400"/>
|
||||
<define name="PHI_IGAIN" value="-200"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="-2000"/>
|
||||
<define name="THETA_DGAIN" value="-400"/>
|
||||
<define name="THETA_IGAIN" value="-200"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="-1000"/>
|
||||
<define name="PSI_DGAIN" value="-350"/>
|
||||
<define name="PSI_IGAIN" value="-10"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value=" 300"/>
|
||||
<define name="THETA_DDGAIN" value=" 300"/>
|
||||
<define name="PSI_DDGAIN" value=" 300"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="BOOZ_INS_">
|
||||
<define name="BARO_SENS" value="15." integer="16"/>
|
||||
<define name="UNTILT_ACCEL" value="1"/>
|
||||
<define name="SONAR_SENS" value="2.146" integer="16"/>
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL_FILTER" prefix="B2_HFF_">
|
||||
<define name="ACCEL_NOISE" value="10."/>
|
||||
<define name="R_POS" value="0.05"/>
|
||||
<define name="R_POS_MIN" value="0."/>
|
||||
<define name="R_SPEED" value="1."/>
|
||||
<define name="R_SPEED_MIN" value="0."/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
|
||||
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
|
||||
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
|
||||
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
|
||||
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
|
||||
<define name="MAX_SUM_ERR" value="2000000"/>
|
||||
<define name="REF_MIN_ZDD" value="-1.5*9.81"/>
|
||||
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
|
||||
<define name="REF_MIN_ZD" value="-1.5"/>
|
||||
<define name="REF_MAX_ZD" value=" 1.5"/>
|
||||
<define name="HOVER_KP" value="-150"/>
|
||||
<define name="HOVER_KD" value="-80"/>
|
||||
<define name="HOVER_KI" value="0"/>
|
||||
<!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
|
||||
<define name="RC_CLIMB_COEF" value ="163"/>
|
||||
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
|
||||
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
|
||||
<!-- <define name="INV_M" value="0.118"/> -->
|
||||
</section>
|
||||
|
||||
|
||||
<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
|
||||
<define name="PGAIN" value="-50"/>
|
||||
<define name="DGAIN" value="-60"/>
|
||||
<define name="IGAIN" value="-0"/>
|
||||
<define name="NGAIN" value="-0"/>
|
||||
<!-- feedforward -->
|
||||
<define name="AGAIN" value="50"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<define name="BATTERY_SENS" value="0.183" integer="16"/>
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
|
||||
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_NAV"/>
|
||||
</section>
|
||||
|
||||
<section name="FMS">
|
||||
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="BOOZ_ANALOG_BARO_THRESHOLD" value="800"/>
|
||||
<define name="BOOZ2_FACE_REINJ_1" value="1024"/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="{"front_motor", "back_motor", "right_motor", "left_motor"}"/>
|
||||
<!--define name="INITIAL_CONDITITONS" value=""reset_enac""/-->
|
||||
<define name="SENSORS_PARAMS" value=""nps_sensors_params_booz2_a1.h""/>
|
||||
</section>
|
||||
|
||||
|
||||
<makefile>
|
||||
ARCH=lpc21
|
||||
ARCHI=arm7
|
||||
BOARD_CFG = \"boards/booz2_v1_0.h\"
|
||||
FLASH_MODE=IAP
|
||||
|
||||
# prevents motors from ever starting
|
||||
#ap.CFLAGS += -DKILL_MOTORS
|
||||
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
|
||||
include $(CFG_BOOZ)/booz2_autopilot.makefile
|
||||
include $(CFG_BOOZ)/booz2_test_progs.makefile
|
||||
ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
|
||||
|
||||
sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
|
||||
sim.CFLAGS += -DNPS_NO_SUPERVISION
|
||||
include $(CFG_BOOZ)/booz2_simulator_nps.makefile
|
||||
|
||||
ap.CFLAGS += -DMODEM_BAUD=B57600
|
||||
include $(CFG_BOOZ)/subsystems/booz2_actuators_asctec.makefile
|
||||
include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
|
||||
include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
|
||||
#include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
|
||||
include $(CFG_BOOZ)/subsystems/booz2_analog_bat_baro.makefile
|
||||
include $(CFG_BOOZ)/subsystems/booz2_fms_datalink.makefile
|
||||
|
||||
include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
|
||||
|
||||
#include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
|
||||
#ap.CFLAGS += -DR_POS=0.1
|
||||
|
||||
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
|
||||
sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
|
||||
|
||||
ap.CFLAGS += -DUSE_MODULES
|
||||
|
||||
</makefile>
|
||||
|
||||
</airframe>
|
||||
@@ -0,0 +1,278 @@
|
||||
<!--DOCTYPE airframe SYSTEM "../../airframe.dtd"-->
|
||||
|
||||
<airframe name="Booz Mkk1 Enac">
|
||||
|
||||
<modules main_freq="512">
|
||||
<load name="vision_cmucam.xml"/>
|
||||
<load name="sonar_maxbotix_booz.xml"/>
|
||||
</modules>
|
||||
|
||||
<servos min="0" neutral="0" max="0xff">
|
||||
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
|
||||
<servo name="BACK" no="1" min="0" neutral="0" max="255"/>
|
||||
<servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
|
||||
<servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="THRUST" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
|
||||
<define name="NB" value="4"/>
|
||||
<define name="ADDR" value="{ 0x58, 0x52, 0x54, 0x56 }"/>
|
||||
</section>
|
||||
|
||||
<section name="SUPERVISION" prefix="SUPERVISION_">
|
||||
<define name="MIN_MOTOR" value="2"/>
|
||||
<define name="MAX_MOTOR" value="210"/>
|
||||
<define name="TRIM_A" value="0"/>
|
||||
<define name="TRIM_E" value="0"/>
|
||||
<define name="TRIM_R" value="0"/>
|
||||
<define name="NB_MOTOR" value="4"/>
|
||||
<define name="SCALE" value="256"/>
|
||||
<define name="ROLL_COEF" value="{ 0, 0, -256, 256}"/>
|
||||
<define name="PITCH_COEF" value="{ 256, -256, 0, 0}"/>
|
||||
<define name="YAW_COEF" value="{ -256, -256, 256, 256}"/>
|
||||
<define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
|
||||
</section>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
|
||||
<define name="GYRO_P_CHAN" value="1"/>
|
||||
<define name="GYRO_Q_CHAN" value="0"/>
|
||||
<define name="GYRO_R_CHAN" value="2"/>
|
||||
|
||||
<define name="GYRO_P_NEUTRAL" value="30907"/>
|
||||
<define name="GYRO_Q_NEUTRAL" value="33253"/>
|
||||
<define name="GYRO_R_NEUTRAL" value="32329"/>
|
||||
|
||||
<define name="GYRO_P_SENS" value="1.00" integer="16"/>
|
||||
<define name="GYRO_Q_SENS" value="1.00" integer="16"/>
|
||||
<define name="GYRO_R_SENS" value="1.00" integer="16"/>
|
||||
|
||||
<define name="ACCEL_X_CHAN" value="5"/>
|
||||
<define name="ACCEL_Y_CHAN" value="3"/>
|
||||
<define name="ACCEL_Z_CHAN" value="4"/>
|
||||
|
||||
<define name="ACCEL_X_NEUTRAL" value="32913"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="33032"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="32843"/>
|
||||
|
||||
<define name="ACCEL_X_SENS" value="2.5749914646" integer="16"/>
|
||||
<define name="ACCEL_Y_SENS" value="2.56940516083" integer="16"/>
|
||||
<define name="ACCEL_Z_SENS" value="2.56940374188" integer="16"/>
|
||||
|
||||
<define name="MAG_X_CHAN" value="0"/>
|
||||
<define name="MAG_Y_CHAN" value="1"/>
|
||||
<define name="MAG_Z_CHAN" value="2"/>
|
||||
|
||||
<define name="MAG_X_NEUTRAL" value="-62"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="-13"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="-95"/>
|
||||
|
||||
<define name="MAG_X_SENS" value="6.42348671436" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="6.95371185551" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="3.12322557454" integer="16"/>
|
||||
|
||||
|
||||
<!--define name="MAG_X_NEUTRAL" value="-12"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="-10"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="-11"/>
|
||||
|
||||
<define name="MAG_X_SENS" value="22.008352" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="-21.79885" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="-14.675745" integer="16"/-->
|
||||
|
||||
<define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="RadOfDeg(0.)"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
|
||||
|
||||
<define name="SP_MAX_P" value="10000"/>
|
||||
<define name="SP_MAX_Q" value="10000"/>
|
||||
<define name="SP_MAX_R" value="10000"/>
|
||||
|
||||
<define name="GAIN_P" value="-400"/>
|
||||
<define name="GAIN_Q" value="-400"/>
|
||||
<define name="GAIN_R" value="-350"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
|
||||
|
||||
<define name="SP_MAX_P" value="10000"/>
|
||||
<define name="SP_MAX_Q" value="10000"/>
|
||||
<define name="SP_MAX_R" value="10000"/>
|
||||
|
||||
<define name="GAIN_P" value="-400"/>
|
||||
<define name="GAIN_Q" value="-400"/>
|
||||
<define name="GAIN_R" value="-350"/>
|
||||
|
||||
</section>
|
||||
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
|
||||
|
||||
<!-- setpoints -->
|
||||
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
|
||||
<define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
|
||||
<define name="SP_MAX_R" value="RadOfDeg(90.)"/>
|
||||
<define name="DEADBAND_R" value="250"/>
|
||||
|
||||
<!-- reference -->
|
||||
<define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
|
||||
<define name="REF_ZETA_P" value="0.9"/>
|
||||
<define name="REF_MAX_P" value="RadOfDeg(300.)"/>
|
||||
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
|
||||
<define name="REF_ZETA_Q" value="0.9"/>
|
||||
<define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
|
||||
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
|
||||
<define name="REF_ZETA_R" value="0.9"/>
|
||||
<define name="REF_MAX_R" value="RadOfDeg(90.)"/>
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="PHI_PGAIN" value="-650"/>
|
||||
<define name="PHI_DGAIN" value="-200"/>
|
||||
<define name="PHI_IGAIN" value="-100"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="-650"/>
|
||||
<define name="THETA_DGAIN" value="-200"/>
|
||||
<define name="THETA_IGAIN" value="-100"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="-800"/>
|
||||
<define name="PSI_DGAIN" value="-320"/>
|
||||
<define name="PSI_IGAIN" value="-20"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value=" 300"/>
|
||||
<define name="THETA_DDGAIN" value=" 300"/>
|
||||
<define name="PSI_DDGAIN" value=" 300"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="BOOZ_INS_">
|
||||
<define name="BARO_SENS" value="15." integer="16"/>
|
||||
<define name="UNTILT_ACCEL" value="1"/>
|
||||
<!--define name="SONAR_SENS" value="2.146" integer="16"/-->
|
||||
<define name="SONAR_SENS" value="3." integer="16"/>
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL_FILTER" prefix="B2_HFF_">
|
||||
<define name="ACCEL_NOISE" value="10."/>
|
||||
<define name="R_POS" value="0.01"/>
|
||||
<define name="R_POS_MIN" value="0."/>
|
||||
<define name="R_SPEED" value="0.01"/>
|
||||
<define name="R_SPEED_MIN" value="0."/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
|
||||
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
|
||||
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
|
||||
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
|
||||
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
|
||||
<define name="MAX_SUM_ERR" value="2000000"/>
|
||||
<define name="REF_MIN_ZDD" value="-1.5*9.81"/>
|
||||
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
|
||||
<define name="REF_MIN_ZD" value="-1.5"/>
|
||||
<define name="REF_MAX_ZD" value=" 1.5"/>
|
||||
<define name="HOVER_KP" value="-200"/>
|
||||
<define name="HOVER_KD" value="-100"/>
|
||||
<define name="HOVER_KI" value="0"/>
|
||||
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
|
||||
<define name="RC_CLIMB_COEF" value ="163"/>
|
||||
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
|
||||
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
|
||||
<define name="PGAIN" value="-250"/>
|
||||
<define name="DGAIN" value="-150"/>
|
||||
<define name="IGAIN" value="-35"/>
|
||||
<define name="NGAIN" value="-0"/>
|
||||
<!-- feedforward -->
|
||||
<define name="AGAIN" value="100"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9." unit="V"/>
|
||||
<define name="BATTERY_SENS" value="0.183" integer="16"/>
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
|
||||
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_NAV"/>
|
||||
</section>
|
||||
|
||||
<section name="FMS">
|
||||
<define name="BOOZ_FMS_TIMEOUT" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="BOOZ2_FACE_REINJ_1" value="1024"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="{"front_motor", "back_motor", "right_motor", "left_motor"}"/>
|
||||
<define name="SENSORS_PARAMS" value=""nps_sensors_params_booz2_a1.h""/>
|
||||
</section>
|
||||
|
||||
|
||||
|
||||
|
||||
<makefile>
|
||||
ARCH=lpc21
|
||||
ARCHI=arm7
|
||||
BOARD_CFG = \"boards/booz2_v1_0.h\"
|
||||
FLASH_MODE=IAP
|
||||
|
||||
# prevents motors from ever starting
|
||||
#ap.CFLAGS += -DKILL_MOTORS
|
||||
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
|
||||
include $(CFG_BOOZ)/booz2_autopilot.makefile
|
||||
include $(CFG_BOOZ)/booz2_test_progs.makefile
|
||||
ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
|
||||
|
||||
ap.CFLAGS += -DMODEM_BAUD=B57600
|
||||
include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
|
||||
include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
|
||||
include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
|
||||
#include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
|
||||
include $(CFG_BOOZ)/subsystems/booz2_analog_bat_baro.makefile
|
||||
#ap.CFLAGS += -DBOOZ2_SONAR -DUSE_SONAR_1
|
||||
#include $(CFG_BOOZ)/subsystems/booz2_analog_bat_baro_sonar.makefile
|
||||
include $(CFG_BOOZ)/subsystems/booz2_fms_datalink.makefile
|
||||
|
||||
include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
|
||||
|
||||
#include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
|
||||
|
||||
ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
|
||||
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT
|
||||
|
||||
ap.CFLAGS += -DUSE_MODULES
|
||||
|
||||
include $(CFG_BOOZ)/booz2_simulator_nps.makefile
|
||||
#sim.CFLAGS += -DB2_GUIDANCE_H_USE_REF
|
||||
sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT
|
||||
sim.CFLAGS += -DUSE_MODULES
|
||||
|
||||
</makefile>
|
||||
|
||||
</airframe>
|
||||
@@ -0,0 +1,242 @@
|
||||
<!--DOCTYPE airframe SYSTEM "../../airframe.dtd"-->
|
||||
|
||||
<airframe name="Nova+Lisa_L Enac">
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="lisa_l_1.0">
|
||||
<define name="BOOZ_FAILSAFE_GROUND_DETECT"/>
|
||||
<define name="USE_GPS_ACC4R"/>
|
||||
</target>
|
||||
<target name="sim" board="pc">
|
||||
<subsystem name="fdm" type="nps"/>
|
||||
</target>
|
||||
<subsystem name="radio_control" type="spektrum"/>
|
||||
<subsystem name="actuators" type="mkk"/>
|
||||
<subsystem name="imu" type="b2_v1.1"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="ahrs" type="cmpl"/>
|
||||
<subsystem name="ins" type="hff"/>
|
||||
</firmware>
|
||||
|
||||
<firmware name="lisa_l_test_progs">
|
||||
<target name="test_imu_b2" board="lisa_l_1.0"/>
|
||||
<target name="test_telemetry" board="lisa_l_1.0"/>
|
||||
<target name="test_baro" board="lisa_l_1.0"/>
|
||||
<target name="test_rc_spektrum" board="lisa_l_1.0"/>
|
||||
<target name="test_rc_ppm" board="lisa_l_1.0"/>
|
||||
<target name="test_actuators_mkk" board="lisa_l_1.0"/>
|
||||
</firmware>
|
||||
|
||||
<servos min="0" neutral="0" max="0xff">
|
||||
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
|
||||
<servo name="BACK" no="1" min="0" neutral="0" max="255"/>
|
||||
<servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
|
||||
<servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="THRUST" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
|
||||
<define name="NB" value="4"/>
|
||||
<define name="ADDR" value="{ 0x58, 0x52, 0x54, 0x56 }"/>
|
||||
</section>
|
||||
|
||||
<section name="SUPERVISION" prefix="SUPERVISION_">
|
||||
<define name="MIN_MOTOR" value="2"/>
|
||||
<define name="MAX_MOTOR" value="210"/>
|
||||
<define name="TRIM_A" value="0"/>
|
||||
<define name="TRIM_E" value="0"/>
|
||||
<define name="TRIM_R" value="0"/>
|
||||
<define name="NB_MOTOR" value="4"/>
|
||||
<define name="SCALE" value="256"/>
|
||||
<define name="ROLL_COEF" value="{ 0, 0, -256, 256}"/>
|
||||
<define name="PITCH_COEF" value="{ 256, -256, 0, 0}"/>
|
||||
<define name="YAW_COEF" value="{ -256, -256, 256, 256}"/>
|
||||
<define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
|
||||
</section>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
|
||||
<define name="GYRO_P_NEUTRAL" value="30907"/>
|
||||
<define name="GYRO_Q_NEUTRAL" value="33253"/>
|
||||
<define name="GYRO_R_NEUTRAL" value="32329"/>
|
||||
|
||||
<define name="GYRO_P_SENS" value="1.00" integer="16"/>
|
||||
<define name="GYRO_Q_SENS" value="1.00" integer="16"/>
|
||||
<define name="GYRO_R_SENS" value="1.00" integer="16"/>
|
||||
|
||||
<define name="ACCEL_X_NEUTRAL" value="32913"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="33032"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="32843"/>
|
||||
|
||||
<define name="ACCEL_X_SENS" value="2.5749914646" integer="16"/>
|
||||
<define name="ACCEL_Y_SENS" value="2.56940516083" integer="16"/>
|
||||
<define name="ACCEL_Z_SENS" value="2.56940374188" integer="16"/>
|
||||
|
||||
<define name="MAG_X_NEUTRAL" value="-62"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="-13"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="-95"/>
|
||||
|
||||
<define name="MAG_X_SENS" value="6.42348671436" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="6.95371185551" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="3.12322557454" integer="16"/>
|
||||
|
||||
<define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="RadOfDeg(-135.)"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
|
||||
|
||||
<define name="SP_MAX_P" value="10000"/>
|
||||
<define name="SP_MAX_Q" value="10000"/>
|
||||
<define name="SP_MAX_R" value="10000"/>
|
||||
|
||||
<define name="GAIN_P" value="-400"/>
|
||||
<define name="GAIN_Q" value="-400"/>
|
||||
<define name="GAIN_R" value="-350"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
|
||||
|
||||
<define name="SP_MAX_P" value="10000"/>
|
||||
<define name="SP_MAX_Q" value="10000"/>
|
||||
<define name="SP_MAX_R" value="10000"/>
|
||||
|
||||
<define name="GAIN_P" value="-400"/>
|
||||
<define name="GAIN_Q" value="-400"/>
|
||||
<define name="GAIN_R" value="-350"/>
|
||||
|
||||
</section>
|
||||
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
||||
|
||||
<!-- setpoints -->
|
||||
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
|
||||
<define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
|
||||
<define name="SP_MAX_R" value="RadOfDeg(90.)"/>
|
||||
<define name="DEADBAND_R" value="250"/>
|
||||
|
||||
<!-- reference -->
|
||||
<define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
|
||||
<define name="REF_ZETA_P" value="0.9"/>
|
||||
<define name="REF_MAX_P" value="RadOfDeg(300.)"/>
|
||||
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
|
||||
<define name="REF_ZETA_Q" value="0.9"/>
|
||||
<define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
|
||||
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
|
||||
<define name="REF_ZETA_R" value="0.9"/>
|
||||
<define name="REF_MAX_R" value="RadOfDeg(90.)"/>
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="PHI_PGAIN" value="-650"/>
|
||||
<define name="PHI_DGAIN" value="-200"/>
|
||||
<define name="PHI_IGAIN" value="-100"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="-650"/>
|
||||
<define name="THETA_DGAIN" value="-200"/>
|
||||
<define name="THETA_IGAIN" value="-100"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="-800"/>
|
||||
<define name="PSI_DGAIN" value="-320"/>
|
||||
<define name="PSI_IGAIN" value="-20"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value=" 300"/>
|
||||
<define name="THETA_DDGAIN" value=" 300"/>
|
||||
<define name="PSI_DDGAIN" value=" 300"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<define name="BARO_SENS" value="15." integer="16"/>
|
||||
<define name="UNTILT_ACCEL" value="1"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
|
||||
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
|
||||
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
|
||||
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
|
||||
<define name="MAX_SUM_ERR" value="2000000"/>
|
||||
<define name="REF_MIN_ZDD" value="-1.5*9.81"/>
|
||||
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
|
||||
<define name="REF_MIN_ZD" value="-1.5"/>
|
||||
<define name="REF_MAX_ZD" value=" 1.5"/>
|
||||
<define name="HOVER_KP" value="-200"/>
|
||||
<define name="HOVER_KD" value="-100"/>
|
||||
<define name="HOVER_KI" value="0"/>
|
||||
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
|
||||
<define name="RC_CLIMB_COEF" value ="163"/>
|
||||
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
|
||||
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="PGAIN" value="-60"/>
|
||||
<define name="DGAIN" value="-120"/>
|
||||
<define name="IGAIN" value="-10"/>
|
||||
<define name="NGAIN" value="-0"/>
|
||||
<!-- feedforward -->
|
||||
<define name="AGAIN" value="100"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9." unit="V"/>
|
||||
<define name="BATTERY_SENS" value="0.183" integer="16"/>
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
|
||||
</section>
|
||||
|
||||
<section name="FMS">
|
||||
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
<define name="FACE_REINJ_1" value="1024"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="{"front_motor", "back_motor", "right_motor", "left_motor"}"/>
|
||||
<define name="SENSORS_PARAMS" value=""nps_sensors_params_booz2_a1.h""/>
|
||||
</section>
|
||||
|
||||
|
||||
|
||||
|
||||
<makefile>
|
||||
# prevents motors from ever starting
|
||||
#ap.CFLAGS += -DKILL_MOTORS
|
||||
|
||||
#set GPS lag for horizontal filter
|
||||
#ap.CFLAGS += -DUSE_GPS_ACC4R
|
||||
|
||||
#ap.CFLAGS += -DGUIDANCE_H_USE_REF
|
||||
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT
|
||||
|
||||
#sim.CFLAGS += -DGUIDANCE_H_USE_REF
|
||||
sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT
|
||||
|
||||
</makefile>
|
||||
|
||||
</airframe>
|
||||
@@ -229,8 +229,8 @@
|
||||
|
||||
<modules>
|
||||
<load name="light.xml">
|
||||
<param name="LIGHT_LED_STROBE" value="3"/>
|
||||
<param name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
|
||||
<define name="LIGHT_LED_STROBE" value="3"/>
|
||||
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
|
||||
</load>
|
||||
</modules>
|
||||
|
||||
@@ -253,7 +253,7 @@
|
||||
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" type="transparent">
|
||||
<param name="MODEM_BAUD" value="57600"/>
|
||||
<configure name="MODEM_BAUD" value="57600"/>
|
||||
</subsystem>
|
||||
|
||||
<!-- Sensors -->
|
||||
|
||||
@@ -192,7 +192,7 @@
|
||||
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" type="xbee_api">
|
||||
<param name="MODEM_BAUD" value="B57600"/>
|
||||
<configure name="MODEM_BAUD" value="B57600"/>
|
||||
</subsystem>
|
||||
|
||||
<subsystem name="control"/>
|
||||
@@ -212,8 +212,8 @@
|
||||
|
||||
<modules>
|
||||
<load name="light.xml">
|
||||
<param name="LIGHT_LED_STROBE" value="2"/>
|
||||
<param name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
|
||||
<define name="LIGHT_LED_STROBE" value="2"/>
|
||||
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
|
||||
</load>
|
||||
</modules>
|
||||
|
||||
|
||||
@@ -171,14 +171,14 @@
|
||||
<modules>
|
||||
<!--
|
||||
<load name="light.xml">
|
||||
<param name="LIGHT_LED_STROBE" value="3"/>
|
||||
<param name="LIGHT_LED_NAV" value="4"/>
|
||||
<param name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
|
||||
<param name="NAV_LIGHT_MODE_DEFAULT" value="0"/>
|
||||
<define name="LIGHT_LED_STROBE" value="3"/>
|
||||
<define name="LIGHT_LED_NAV" value="4"/>
|
||||
<define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
|
||||
<define name="NAV_LIGHT_MODE_DEFAULT" value="0"/>
|
||||
</load>-->
|
||||
<load name="digital_cam_i2c.xml"/>
|
||||
<!-- <load name="digital_cam.xml" >
|
||||
<param name="DC_SHUTTER_LED" value="3"/>
|
||||
<define name="DC_SHUTTER_LED" value="3"/>
|
||||
</load>
|
||||
--> </modules>
|
||||
|
||||
@@ -193,7 +193,7 @@
|
||||
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" type="xbee_api">
|
||||
<param name="MODEM_BAUD" value="B9600"/>
|
||||
<configure name="MODEM_BAUD" value="B9600"/>
|
||||
</subsystem>
|
||||
|
||||
<!-- Actuators -->
|
||||
|
||||
@@ -22,12 +22,11 @@
|
||||
<!ELEMENT linear EMPTY>
|
||||
<!ELEMENT makefile (#PCDATA)>
|
||||
<!ELEMENT modules (load)*>
|
||||
<!ELEMENT load (param|flag|define)*>
|
||||
<!ELEMENT param EMPTY>
|
||||
<!ELEMENT flag EMPTY>
|
||||
<!ELEMENT firmware (target|subsystem|define)*>
|
||||
<!ELEMENT target (param|define|subsystem)*>
|
||||
<!ELEMENT subsystem (param)*>
|
||||
<!ELEMENT load (configure|define)*>
|
||||
<!ELEMENT configure EMPTY>
|
||||
<!ELEMENT firmware (target|subsystem|configure|define)*>
|
||||
<!ELEMENT target (subsystem|configure|define)*>
|
||||
<!ELEMENT subsystem (configure|define)*>
|
||||
|
||||
<!ATTLIST include
|
||||
href CDATA #REQUIRED>
|
||||
@@ -100,11 +99,7 @@ value CDATA #IMPLIED
|
||||
unit CDATA #IMPLIED
|
||||
integer CDATA #IMPLIED>
|
||||
|
||||
<!ATTLIST flag
|
||||
name CDATA #REQUIRED
|
||||
value CDATA #IMPLIED>
|
||||
|
||||
<!ATTLIST param
|
||||
<!ATTLIST configure
|
||||
name CDATA #REQUIRED
|
||||
value CDATA #REQUIRED>
|
||||
|
||||
|
||||
@@ -201,7 +201,7 @@
|
||||
<!-- FIRMWARE -->
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="booz_1.0">
|
||||
<param name="FLASH_MODE" value="IAP"/> <!-- default for the board but putting it here as example-->
|
||||
<configure name="FLASH_MODE" value="IAP"/> <!-- default for the board but putting it here as example-->
|
||||
</target>
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="actuators" type="asctec"/>
|
||||
|
||||
@@ -162,14 +162,14 @@
|
||||
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" type="transparent">
|
||||
<param name="MODEM_BAUD" value="B9600"/>
|
||||
<configure name="MODEM_BAUD" value="B9600"/>
|
||||
</subsystem>
|
||||
|
||||
<!-- Actuators are automatically chosen according to board -->
|
||||
<subsystem name="control"/>
|
||||
<!-- Sensors -->
|
||||
<subsystem name="adc" type="generic">
|
||||
<param name="ADC_GENERIC1" value="ADC_7"/> <!-- current sensor -->
|
||||
<configure name="ADC_GENERIC1" value="ADC_7"/> <!-- current sensor -->
|
||||
</subsystem>
|
||||
<subsystem name="attitude" type="infrared"/>
|
||||
<subsystem name="gps" type="ublox_lea4p"/>
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<!--
|
||||
<!--
|
||||
Use settings/tuning_ins.xml
|
||||
Use telemetry/default_fixedwing_imu.xml
|
||||
|
||||
@@ -209,22 +209,22 @@
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" type="transparent">
|
||||
<param name="MODEM_BAUD" value="B9600"/>
|
||||
<configure name="MODEM_BAUD" value="B9600"/>
|
||||
</subsystem>
|
||||
<!-- Actuators are automatically chosen according to the board-->
|
||||
<subsystem name="control"/>
|
||||
<!-- Sensors -->
|
||||
<subsystem name="imu" type="analog">
|
||||
<param name="GYRO_P" value="ADC_0"/>
|
||||
<param name="GYRO_Q" value="ADC_1"/>
|
||||
<param name="GYRO_R" value="ADC_2"/>
|
||||
<param name="ACCEL_X" value="ADC_5"/>
|
||||
<param name="ACCEL_Y" value="ADC_6"/>
|
||||
<param name="ACCEL_Z" value="ADC_7"/>
|
||||
<subsystem name="imu" type="analog">
|
||||
<configure name="GYRO_P" value="ADC_0"/>
|
||||
<configure name="GYRO_Q" value="ADC_1"/>
|
||||
<configure name="GYRO_R" value="ADC_2"/>
|
||||
<configure name="ACCEL_X" value="ADC_5"/>
|
||||
<configure name="ACCEL_Y" value="ADC_6"/>
|
||||
<configure name="ACCEL_Z" value="ADC_7"/>
|
||||
</subsystem>
|
||||
|
||||
<subsystem name="attitude" type="dcm"/>
|
||||
<subsystem name="gps" type="ublox_lea5h"/>
|
||||
<subsystem name="gps" type="ublox_lea5h"/>
|
||||
<subsystem name="navigation"/>
|
||||
</firmware>
|
||||
<!-- Carefull: add the location after!! -->
|
||||
|
||||
@@ -41,8 +41,8 @@
|
||||
|
||||
<modules main_freq="60">
|
||||
<load name="cam_point.xml">
|
||||
<param name="POINT_CAM_YAW_PITCH" value="1"/>
|
||||
<param name="SHOW_CAM_COORDINATES" value="1"/>
|
||||
<define name="POINT_CAM_YAW_PITCH" value="1"/>
|
||||
<define name="SHOW_CAM_COORDINATES" value="1"/>
|
||||
</load>
|
||||
<load name="sys_mon.xml"/>
|
||||
</modules>
|
||||
|
||||
@@ -171,7 +171,7 @@
|
||||
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" type="xbee_api">
|
||||
<param name="MODEM_BAUD" value="B9600"/>
|
||||
<configure name="MODEM_BAUD" value="B9600"/>
|
||||
</subsystem>
|
||||
|
||||
<subsystem name="control"/>
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
|
||||
|
||||
<target name="ap" description="The autopilot">
|
||||
<param name="FLASH_MODE" values="IAP|JTAG|ISP"/>
|
||||
<configure name="FLASH_MODE" values="IAP|JTAG|ISP"/>
|
||||
<define name="AGR_CLIMB" />
|
||||
<define name="TRAFFIC_INFO"/>
|
||||
<define name="LOITER_TRIM"/>
|
||||
@@ -17,26 +17,26 @@
|
||||
<subsystem name="radio_control" types="ppm"/>
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" types="transparent|xbee_api|transparent_usb">
|
||||
<param name="MODEM_BAUD" values="B9600|B38400|B57600|B115200"/>
|
||||
<configure name="MODEM_BAUD" values="B9600|B38400|B57600|B115200"/>
|
||||
</subsystem>
|
||||
<!-- Actuators (automatically used according to board) -->
|
||||
<subsystem name="actuators" types="4015|4017|ppm|direct"/>
|
||||
<subsystem name="control" types="NONE|adaptive|new"/>
|
||||
<!-- Sensors -->
|
||||
<subsystem name="gyro" types="roll|pitch">
|
||||
<param name="ADC_GYRO_ROLL" value="ADC_3"/><!-- this is already the default if not set, change if needed -->
|
||||
<param name="ADC_GYRO_PITCH" value="ADC_4"/><!-- this is already the default if not set, change if needed -->
|
||||
<param name="ADC_GYRO_NB_SAMPLES" value="16"/><!-- this is already the default if not set, change if needed -->
|
||||
<configure name="ADC_GYRO_ROLL" value="ADC_3"/><!-- this is already the default if not set, change if needed -->
|
||||
<configure name="ADC_GYRO_PITCH" value="ADC_4"/><!-- this is already the default if not set, change if needed -->
|
||||
<configure name="ADC_GYRO_NB_SAMPLES" value="16"/><!-- this is already the default if not set, change if needed -->
|
||||
</subsystem>
|
||||
<subsystem name="attitude" types="infrared">
|
||||
<param name="ADC_IR1" value="ADC_1"/><!-- this is already the default if not set, change if needed -->
|
||||
<param name="ADC_IR2" value="ADC_2"/><!-- this is already the default if not set, change if needed -->
|
||||
<param name="ADC_IR_TOP" value="ADC_0"/><!-- this is already the default if not set, change if needed -->
|
||||
<param name="ADC_IR_NB_SAMPLES" value="16"/><!-- this is already the default if not set, change if needed -->
|
||||
<configure name="ADC_IR1" value="ADC_1"/><!-- this is already the default if not set, change if needed -->
|
||||
<configure name="ADC_IR2" value="ADC_2"/><!-- this is already the default if not set, change if needed -->
|
||||
<configure name="ADC_IR_TOP" value="ADC_0"/><!-- this is already the default if not set, change if needed -->
|
||||
<configure name="ADC_IR_NB_SAMPLES" value="16"/><!-- this is already the default if not set, change if needed -->
|
||||
</subsystem>
|
||||
<subsystem name="gps" types="ublox_lea4p|lea5h">
|
||||
<param name="GPS_BAUD" values="B9600|B38400|B57600|B115200"/>
|
||||
<param name="GPS_LED" values="1,2,3,4,none"/>
|
||||
<configure name="GPS_BAUD" values="B9600|B38400|B57600|B115200"/>
|
||||
<configure name="GPS_LED" values="1,2,3,4,none"/>
|
||||
</subsystem>
|
||||
<subsystem name="navigation" types="NONE|extra"/>
|
||||
<subsystem name="joystick" types="NONE"/>
|
||||
|
||||
@@ -2,10 +2,10 @@
|
||||
description="autopilot and simulator for rotorcrafts">
|
||||
|
||||
<!-- a parameter that belongs to BOARD -->
|
||||
<param name="FLASH_MODE" values="|IAP|JTAG|ISP|"/>
|
||||
<configure name="FLASH_MODE" values="|IAP|JTAG|ISP|"/>
|
||||
|
||||
<target name="ap" description="The autopilot">
|
||||
<param name="MODEM_BAUD" values="|B57600|B9600|"/>
|
||||
<configure name="MODEM_BAUD" values="|B57600|B9600|"/>
|
||||
</target>
|
||||
|
||||
<target name="sim" description="The simulator">
|
||||
@@ -13,8 +13,8 @@
|
||||
|
||||
<subsystem name="radio_control" types="ppm,spektrum">
|
||||
<type name="spektrum">
|
||||
<param name="RADIO_CONTROL_SPEKTRUM_MODEL" values="\"subsystems/radio_control/spektrum_dx7se.h\""/>
|
||||
<param name="RADIO_CONTROL_LINK" values="UART1|UART2|UART3|UART5"/>
|
||||
<configure name="RADIO_CONTROL_SPEKTRUM_MODEL" values="\"subsystems/radio_control/spektrum_dx7se.h\""/>
|
||||
<configure name="RADIO_CONTROL_LINK" values="UART1|UART2|UART3|UART5"/>
|
||||
</type>
|
||||
</subsystem>
|
||||
|
||||
|
||||
@@ -14,8 +14,8 @@
|
||||
<periodic fun="adc_generic_periodic()" freq="4"/>
|
||||
<makefile target="ap">
|
||||
<file name="adc_generic.c"/>
|
||||
<flag name="USE_$(ADC_CHANNEL_GENERIC1)"/>
|
||||
<flag name="USE_$(ADC_CHANNEL_GENERIC2)"/>
|
||||
<define name="USE_$(ADC_CHANNEL_GENERIC1)"/>
|
||||
<define name="USE_$(ADC_CHANNEL_GENERIC2)"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
|
||||
@@ -19,8 +19,8 @@
|
||||
<file name="airspeed_adc.c"/>
|
||||
</makefile>
|
||||
<makefile target="ap">
|
||||
<flag name="ADC_CHANNEL_AIRSPEED" value="$(ADC_AIRSPEED)"/>
|
||||
<flag name="USE_$(ADC_AIRSPEED)"/>
|
||||
<define name="ADC_CHANNEL_AIRSPEED" value="$(ADC_AIRSPEED)"/>
|
||||
<define name="USE_$(ADC_AIRSPEED)"/>
|
||||
</makefile>
|
||||
|
||||
</module>
|
||||
|
||||
@@ -5,8 +5,8 @@
|
||||
@param AIRSPEED_ETS_SCALE scale factor (default 1.8)
|
||||
@param AIRSPEED_ETS_OFFSET offset (default 0)
|
||||
@param AIRSPEED_ETS_I2C_DEV i2c device (default i2c0)
|
||||
@flag USE_AIRSPEED to use the data for airspeed control loop
|
||||
@flag SENSOR_SYNC_SEND to transmit the data as it is acquired
|
||||
@define USE_AIRSPEED to use the data for airspeed control loop
|
||||
@define SENSOR_SYNC_SEND to transmit the data as it is acquired
|
||||
-->
|
||||
|
||||
<module name="airspeed_ets" dir="sensors">
|
||||
|
||||
@@ -12,6 +12,6 @@
|
||||
<event fun="srf08_event()"/>
|
||||
<makefile>
|
||||
<file name="alt_srf08.c"/>
|
||||
<flag name="TELEMETER"/>
|
||||
<define name="TELEMETER"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
@@ -9,13 +9,13 @@
|
||||
<event fun="baro_MS5534A_event()"/>
|
||||
<makefile target="ap">
|
||||
<file name="baro_MS5534A.c"/>
|
||||
<flag name="USE_BARO_MS5534A"/>
|
||||
<flag name="USE_SPI_SLAVE0"/>
|
||||
<flag name="SPI_MASTER"/>
|
||||
<define name="BARO_MS5534A_W1" value="0xAC20"/>
|
||||
<define name="BARO_MS5534A_W2" value="0x87D9"/>
|
||||
<define name="BARO_MS5534A_W3" value="0x8D9C"/>
|
||||
<define name="BARO_MS5534A_W4" value="0xB080"/>
|
||||
<define name="USE_BARO_MS5534A"/>
|
||||
<define name="USE_SPI_SLAVE0"/>
|
||||
<define name="SPI_MASTER"/>
|
||||
<configure name="BARO_MS5534A_W1" value="0xAC20"/>
|
||||
<configure name="BARO_MS5534A_W2" value="0x87D9"/>
|
||||
<configure name="BARO_MS5534A_W3" value="0x8D9C"/>
|
||||
<configure name="BARO_MS5534A_W4" value="0xB080"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
<!--
|
||||
Bosch BMP085 pressure sensor
|
||||
@param BMP_I2C_DEV i2c device (default i2c0)
|
||||
@flag SENSOR_SYNC_SEND to transmit the data as it is acquired
|
||||
@define SENSOR_SYNC_SEND to transmit the data as it is acquired
|
||||
-->
|
||||
|
||||
<module name="baro_bmp" dir="sensors">
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
|
||||
<!--
|
||||
VTI SCP1000 pressure sensor (SPI)
|
||||
@flag SENSOR_SYNC_SEND to transmit the data as it is acquired
|
||||
@define SENSOR_SYNC_SEND to transmit the data as it is acquired
|
||||
-->
|
||||
|
||||
<module name="baro_scp" dir="sensors">
|
||||
@@ -14,8 +14,8 @@
|
||||
<event fun="baro_scp_event()"/>
|
||||
<makefile target="ap">
|
||||
<file name="baro_scp.c"/>
|
||||
<flag name="SPI_MASTER"/>
|
||||
<flag name="USE_SPI"/>
|
||||
<define name="SPI_MASTER"/>
|
||||
<define name="USE_SPI"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
<!--
|
||||
VTI SCP1000 pressure sensor (I2C)
|
||||
@param SCP_I2C_DEV i2c device (default i2c0)
|
||||
@flag SENSOR_SYNC_SEND to transmit the data as it is acquired
|
||||
@define SENSOR_SYNC_SEND to transmit the data as it is acquired
|
||||
-->
|
||||
|
||||
<module name="baro_scp_i2c" dir="sensors">
|
||||
|
||||
@@ -8,7 +8,7 @@
|
||||
<init fun="booz_cam_init()"/>
|
||||
<periodic fun="booz_cam_periodic()" freq="10."/>
|
||||
<makefile>
|
||||
<flag name="USE_CAM"/>
|
||||
<define name="USE_CAM"/>
|
||||
<file name="booz_cam.c"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
@@ -8,9 +8,9 @@
|
||||
<init fun="booz_drop_init()"/>
|
||||
<periodic fun="booz_drop_periodic()" freq="10."/>
|
||||
<makefile>
|
||||
<flag name="USE_DROP"/>
|
||||
<flag name="DROP_SERVO_OPEN" value="2120"/>
|
||||
<flag name="DROP_SERVO_CLOSED" value="1060"/>
|
||||
<define name="USE_DROP"/>
|
||||
<define name="DROP_SERVO_OPEN" value="2120"/>
|
||||
<define name="DROP_SERVO_CLOSED" value="1060"/>
|
||||
<file name="booz_drop.c"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
@@ -6,11 +6,11 @@
|
||||
</header>
|
||||
<event fun="ExtraDatalinkEvent()"/>
|
||||
<makefile>
|
||||
<flag name="EXTRA_DOWNLINK_DEVICE" value="Uart0"/>
|
||||
<flag name="EXTRA_PPRZ_UART" value="Uart0"/>
|
||||
<flag name="USE_UART0"/>
|
||||
<flag name="UART0_BAUD" value="B57600"/>
|
||||
<flag name="UART0_VIC_SLOT" value="5"/>
|
||||
<define name="EXTRA_DOWNLINK_DEVICE" value="Uart0"/>
|
||||
<define name="EXTRA_PPRZ_UART" value="Uart0"/>
|
||||
<define name="USE_UART0"/>
|
||||
<define name="UART0_BAUD" value="B57600"/>
|
||||
<define name="UART0_VIC_SLOT" value="5"/>
|
||||
<file name="extra_pprz_dl.c"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
@@ -8,9 +8,9 @@
|
||||
<init fun="cam_init()"/>
|
||||
<periodic fun="cam_periodic()" freq="10."/>
|
||||
<makefile>
|
||||
<flag name="CAM"/>
|
||||
<flag name="MOBILE_CAM"/>
|
||||
<flag name="POINT_CAM"/>
|
||||
<define name="CAM"/>
|
||||
<define name="MOBILE_CAM"/>
|
||||
<define name="POINT_CAM"/>
|
||||
<file name="cam.c"/>
|
||||
<file name="point.c"/>
|
||||
</makefile>
|
||||
|
||||
@@ -7,7 +7,7 @@
|
||||
<init fun="cam_init()"/>
|
||||
<periodic fun="cam_periodic()" freq="10."/>
|
||||
<makefile>
|
||||
<flag name="MOBILE_CAM"/>
|
||||
<define name="MOBILE_CAM"/>
|
||||
<file name="cam_roll.c"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
@@ -11,12 +11,12 @@
|
||||
<raw>
|
||||
#Exemple of RAW makefile part
|
||||
</raw>
|
||||
<flag name="DEMO_MODULE_LED" value="2"/>
|
||||
<define name="DEMO_MODULE_LED" value="2"/>
|
||||
<file name="demo_module.c"/>
|
||||
</makefile>
|
||||
<makefile target="demo">
|
||||
<flag name="SOME_FLAG"/>
|
||||
<define name="SOME_DEFINE" value="bla"/>
|
||||
<define name="SOME_FLAG"/>
|
||||
<configure name="SOME_DEFINE" value="bla"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
|
||||
@@ -6,11 +6,11 @@
|
||||
|
||||
<section name="DIGITAL_CAMERA" prefix="DC_">
|
||||
|
||||
<define name="PUSH" value"LED_ON" />
|
||||
<define name="RELEASE" value"LED_OFF" />
|
||||
<configure name="PUSH" value"LED_ON" />
|
||||
<configure name="RELEASE" value"LED_OFF" />
|
||||
|
||||
<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
|
||||
<define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
|
||||
<configure name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
|
||||
<configure name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
|
||||
</section>
|
||||
|
||||
# ap.CFLAGS += -DGPS_TRIGGERED_FUNCTION="dc_shoot_on_gps"
|
||||
@@ -30,10 +30,10 @@
|
||||
|
||||
<makefile >
|
||||
|
||||
<flag name="DIGITAL_CAM" />
|
||||
<define name="DIGITAL_CAM" />
|
||||
<file name="led_cam_ctrl.c"/>
|
||||
<file name="dc.c"/>
|
||||
<flag name="SENSOR_SYNC_SEND" value="1" />
|
||||
<define name="SENSOR_SYNC_SEND" value="1" />
|
||||
|
||||
</makefile>
|
||||
|
||||
|
||||
@@ -14,15 +14,15 @@
|
||||
<makefile target="ap">
|
||||
<file name="atmega_i2c_cam_ctrl.c"/>
|
||||
<file name="dc.c"/>
|
||||
<flag name="ATMEGA_I2C_DEVICE" value="i2c0"/>
|
||||
<flag name="USE_I2C0" value="1"/>
|
||||
<flag name="SENSOR_SYNC_SEND" value="1" />
|
||||
<define name="ATMEGA_I2C_DEVICE" value="i2c0"/>
|
||||
<define name="USE_I2C0" value="1"/>
|
||||
<define name="SENSOR_SYNC_SEND" value="1" />
|
||||
</makefile>
|
||||
|
||||
<makefile target="sim">
|
||||
<file name="sim_i2c_cam_ctrl.c"/>
|
||||
<file name="dc.c"/>
|
||||
<flag name="SENSOR_SYNC_SEND" value="1" />
|
||||
<define name="SENSOR_SYNC_SEND" value="1" />
|
||||
</makefile>
|
||||
|
||||
</module>
|
||||
|
||||
@@ -15,7 +15,7 @@
|
||||
</makefile>
|
||||
<makefile target="sim">
|
||||
<!--file name="$(SRC_ARCH)/sim_enose.c"/-->
|
||||
<file_hw name="sim_enose.c"/>
|
||||
<file_arch name="sim_enose.c"/>
|
||||
<file name="chemo_detect.c"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
@@ -8,8 +8,8 @@
|
||||
<periodic fun="humid_hih_periodic()" freq="4"/>
|
||||
<makefile target="ap">
|
||||
<file name="humid_hih.c"/>
|
||||
<flag name="ADC_CHANNEL_HUMID_HIH" value="ADC_3"/>
|
||||
<flag name="USE_ADC_3"/>
|
||||
<define name="ADC_CHANNEL_HUMID_HIH" value="ADC_3"/>
|
||||
<define name="USE_ADC_3"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
|
||||
@@ -9,7 +9,7 @@
|
||||
<!--periodic fun="infrared_i2cDownlink()" freq="1."/-->
|
||||
<event fun="infrared_i2cEvent()"/>
|
||||
<makefile>
|
||||
<flag name="INFRARED_I2C"/>
|
||||
<define name="INFRARED_I2C"/>
|
||||
<file name="infrared_i2c.c"/>
|
||||
</makefile>
|
||||
<makefile target="sim">
|
||||
|
||||
@@ -9,14 +9,14 @@
|
||||
<init fun="ins_init()"/>
|
||||
<periodic fun="ins_periodic_task()" freq="60"/>
|
||||
<makefile>
|
||||
<flag name="USE_UART0"/>
|
||||
<flag name="INS_LINK" value="Uart0"/>
|
||||
<flag name="UART0_BAUD" value="B115200"/>
|
||||
<flag name="USE_GPS_XSENS"/>
|
||||
<define name="USE_UART0"/>
|
||||
<define name="INS_LINK" value="Uart0"/>
|
||||
<define name="UART0_BAUD" value="B115200"/>
|
||||
<define name="USE_GPS_XSENS"/>
|
||||
<!-- calibrated, orientation, position, velocity, status -->
|
||||
<flag name="XSENS_OUTPUT_MODE" value="0x0836"/>
|
||||
<define name="XSENS_OUTPUT_MODE" value="0x0836"/>
|
||||
<!-- timestamp, euler, acc, rate, mag, float, no aux, NED -->
|
||||
<flag name="XSENS_OUTPUT_SETTINGS" value="0x80000C05"/>
|
||||
<define name="XSENS_OUTPUT_SETTINGS" value="0x80000C05"/>
|
||||
<file name="ins_xsens.c"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
@@ -10,11 +10,11 @@
|
||||
<periodic fun="ins_periodic_task()" freq="60"/>
|
||||
<event fun="InsEventCheckAndHandle(handle_ins_msg())"/>
|
||||
<makefile>
|
||||
<flag name="USE_UART1"/>
|
||||
<flag name="INS_LINK" value="Uart1"/>
|
||||
<flag name="UART1_BAUD" value="B115200"/>
|
||||
<flag name="USE_GPS_XSENS"/>
|
||||
<flag name="USE_GPS_XSENS_RAW_DATA" />
|
||||
<define name="USE_UART1"/>
|
||||
<define name="INS_LINK" value="Uart1"/>
|
||||
<define name="UART1_BAUD" value="B115200"/>
|
||||
<define name="USE_GPS_XSENS"/>
|
||||
<define name="USE_GPS_XSENS_RAW_DATA" />
|
||||
<file name="ins_xsens.c"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
@@ -8,13 +8,13 @@
|
||||
<init fun="ins_init()"/>
|
||||
<periodic fun="ins_periodic_task()" freq="60"/>
|
||||
<makefile>
|
||||
<flag name="USE_UART0"/>
|
||||
<flag name="INS_LINK" value="Uart0"/>
|
||||
<flag name="UART0_BAUD" value="B115200"/>
|
||||
<define name="USE_UART0"/>
|
||||
<define name="INS_LINK" value="Uart0"/>
|
||||
<define name="UART0_BAUD" value="B115200"/>
|
||||
<!-- calibrated, orientation, status -->
|
||||
<flag name="XSENS_OUTPUT_MODE" value="0x0806"/>
|
||||
<define name="XSENS_OUTPUT_MODE" value="0x0806"/>
|
||||
<!-- timestamp, euler, acc, rate, mag, float, no aux, NED -->
|
||||
<flag name="XSENS_OUTPUT_SETTINGS" value="0x80000C05"/>
|
||||
<define name="XSENS_OUTPUT_SETTINGS" value="0x80000C05"/>
|
||||
<file name="ins_xsens.c"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
@@ -8,7 +8,7 @@
|
||||
</header>
|
||||
<init fun="lcd_dogm_init()"/>
|
||||
<makefile target="ap">
|
||||
<file_hw name="lcd_dogm_hw.c"/>
|
||||
<file_arch name="lcd_dogm_hw.c"/>
|
||||
<file name="lcd_dogm.c"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
@@ -8,12 +8,12 @@
|
||||
<periodic fun="periodic_light()" period="0.05" autorun="TRUE"/>
|
||||
<makefile>
|
||||
|
||||
<!-- these parameters should be set in the airframe file unless you want the defaults
|
||||
<param name="LIGHT_LED_STROBE" value="3"/>
|
||||
<param name="LIGHT_LED_NAV" value="4"/>
|
||||
<!-- these configureeters should be set in the airframe file unless you want the defaults
|
||||
<configure name="LIGHT_LED_STROBE" value="3"/>
|
||||
<configure name="LIGHT_LED_NAV" value="4"/>
|
||||
|
||||
<param name="STROBE_LIGHT_MODE_DEFAULT" value="5"/>
|
||||
<param name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
|
||||
<configure name="STROBE_LIGHT_MODE_DEFAULT" value="5"/>
|
||||
<configure name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
|
||||
-->
|
||||
|
||||
<file name="light.c"/>
|
||||
|
||||
@@ -8,8 +8,8 @@
|
||||
<periodic fun="light_temt_periodic()" freq="4"/>
|
||||
<makefile target="ap">
|
||||
<file name="light_temt.c"/>
|
||||
<flag name="ADC_CHANNEL_LIGHT_TEMT" value="ADC_4"/>
|
||||
<flag name="USE_ADC_4"/>
|
||||
<define name="ADC_CHANNEL_LIGHT_TEMT" value="ADC_4"/>
|
||||
<define name="USE_ADC_4"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
|
||||
@@ -9,7 +9,7 @@
|
||||
<periodic fun="micromag_periodic()" freq="60"/>
|
||||
<event fun="micromag_event()"/>
|
||||
<makefile target="ap">
|
||||
<file_hw name="mag_micromag_fw_hw.c"/>
|
||||
<file_arch name="mag_micromag_fw_hw.c"/>
|
||||
<file name="mag_micromag_fw.c"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
@@ -7,7 +7,7 @@
|
||||
<init fun="max11040_init()"/>
|
||||
<periodic fun="max11040_periodic()" freq="4"/>
|
||||
<makefile>
|
||||
<file_hw name="max11040_hw.c"/>
|
||||
<file_arch name="max11040_hw.c"/>
|
||||
<file name="max11040.c"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
+11
-11
@@ -8,11 +8,11 @@
|
||||
<!ELEMENT event (handler*)>
|
||||
<!ELEMENT handler EMPTY>
|
||||
<!ELEMENT datalink EMPTY>
|
||||
<!ELEMENT makefile (flag|file|file_hw|define|raw)*>
|
||||
<!ELEMENT flag EMPTY>
|
||||
<!ELEMENT file EMPTY>
|
||||
<!ELEMENT file_hw EMPTY>
|
||||
<!ELEMENT makefile (configure|define|file|file_arch|raw)*>
|
||||
<!ELEMENT configure EMPTY>
|
||||
<!ELEMENT define EMPTY>
|
||||
<!ELEMENT file EMPTY>
|
||||
<!ELEMENT file_arch EMPTY>
|
||||
<!ELEMENT raw (#PCDATA)>
|
||||
|
||||
<!ATTLIST module
|
||||
@@ -48,9 +48,13 @@ message CDATA #REQUIRED
|
||||
fun CDATA #REQUIRED>
|
||||
|
||||
<!ATTLIST makefile
|
||||
target CDATA "ap|sim|jsbsim">
|
||||
target CDATA #IMPLIED>
|
||||
|
||||
<!ATTLIST flag
|
||||
<!ATTLIST configure
|
||||
name CDATA #REQUIRED
|
||||
value CDATA #REQUIRED>
|
||||
|
||||
<!ATTLIST define
|
||||
name CDATA #REQUIRED
|
||||
value CDATA #IMPLIED
|
||||
type CDATA #IMPLIED>
|
||||
@@ -58,10 +62,6 @@ type CDATA #IMPLIED>
|
||||
<!ATTLIST file
|
||||
name CDATA #REQUIRED>
|
||||
|
||||
<!ATTLIST file_hw
|
||||
<!ATTLIST file_arch
|
||||
name CDATA #REQUIRED>
|
||||
|
||||
<!ATTLIST define
|
||||
name CDATA #REQUIRED
|
||||
value CDATA #REQUIRED>
|
||||
|
||||
|
||||
@@ -8,9 +8,9 @@
|
||||
<periodic fun="maxbotix_read()" freq="10"/>
|
||||
<event fun="SonarEvent(ins_update_sonar)"/>
|
||||
<makefile target="ap">
|
||||
<flag name="USE_EXTRA_ADC"/>
|
||||
<flag name="USE_ADC_1"/>
|
||||
<flag name="BOOZ2_SONAR"/>
|
||||
<define name="USE_EXTRA_ADC"/>
|
||||
<define name="USE_ADC_1"/>
|
||||
<define name="BOOZ2_SONAR"/>
|
||||
<file name="sonar_maxbotix_booz.c"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user