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PPM input, GPS input and Telem etc. all working now (#3000)

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OpenUAS
2023-02-28 18:38:32 +01:00
committed by GitHub
parent b73086a6e1
commit 4ef8b85690
4 changed files with 77 additions and 75 deletions
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conf/airframes/OPENUAS/openuas_wltech_xk_a160.xml
+47 -44
View File
@@ -10,24 +10,22 @@
+ ESC: FTV LittleBee 20A Opto Pro with custom firmware + ESC: FTV LittleBee 20A Opto Pro with custom firmware
+ BEC: 2.5A small BEC + BEC: 2.5A small BEC
+ RCRX: OpenRXSR Receiver + RCRX: OpenRXSR Receiver
+ AIRSPEED: No airspeed (Yet) + AIRSPEED: No airspeed
+ TELEMETRY: Si10xx Chip based with firmware enabeling PPRZ RSSI message + TELEMETRY: Si10xx Chip based with firmware enabeling PPRZ RSSI message
+ RANGER: None ATM + RANGER: None
+ MOTOR: Default + MOTOR: Default
+ PROP: Default + PROP: Default
NOTES: NOTES:
+ Default CoG is wrong and WAY off, tail heavy, we've modified AC body so that the battery can fit fully in front + With original airframe the default CoG is wrong and WAY off, tail heavy, we've modified AC body so that the battery can fit fully in front
+ AP is rotated on Z 45 degrees counterclockwise and flipped 180 degrees + AP is rotated on Z 45 degrees counterclockwise and flipped 180 degrees
+ Telemetry powered via BEC on flightcontrollen (100mAh max + MCU 60mAh is less than 250mAh, the max the DC converter can handle ) + Telemetry powered via BEC on flightcontrollen (100mAh max + MCU 60mAh is less than 250mAh, the max the DC converter can handle )
+ Flashing the firmware done with Black Magic Probe (BMP) adapter + Flashing the firmware performed with Black Magic Probe (BMP) adapter
+ A GNSS device with magneto on it is used + A GNSS device with magneto on same PCB is used
+ Uses PAPARAZZI "standard" radio channel settings + Uses PAPARAZZI "standard" radio channel settings
+ A 650mAh battery, expect flighttimes of ~15 minutes at 10m/s + A 650mAh battery, expect flighttimes of ~15 minutes at 10m/s
Launching
Launching
+ 1) Set TX to AUTO2, or if no TX it is AUTO2 + 1) Set TX to AUTO2, or if no TX it is AUTO2
2) Move nose to ground 2) Move nose to ground
3) wait until prop spins after a second or so, 3) wait until prop spins after a second or so,
@@ -37,8 +35,8 @@ NOTES:
</description> </description>
<firmware name="fixedwing"> <firmware name="fixedwing">
<target name="ap" board="lisa_mxs_1.0_chibios"> <target name="ap" board="lisa_mxs_1.0_chibios">
<define name="REMAP_UART3" value="TRUE"/> <define name="REMAP_UART3" value="TRUE"/>
<!--<configure name="FLASH_MODE" value="SWD"/>--> <!--Enable when flashing with black magic probe v1.0--> <!--<configure name="FLASH_MODE" value="SWD"/>--> <!--Enable when flashing with black magic probe HWv1.0-->
<!--<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>--> <!--<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>-->
<!--<define name="AHRS_ALIGNER_SAMPLES_NB" value="600"/>--> <!--<define name="AHRS_ALIGNER_SAMPLES_NB" value="600"/>-->
@@ -58,11 +56,11 @@ NOTES:
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/> <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="500"/> <configure name="AHRS_CORRECT_FREQUENCY" value="500"/>
<!--<configure name="AHRS_MAG_CORRECT_FREQUENCY" value="50"/> <configure name="AHRS_MAG_CORRECT_FREQUENCY" value="50"/>
<configure name="NAVIGATION_FREQUENCY" value="16"/> <configure name="NAVIGATION_FREQUENCY" value="20"/>
<configure name="CONTROL_FREQUENCY" value="120"/> <configure name="CONTROL_FREQUENCY" value="100"/>
<configure name="TELEMETRY_FREQUENCY" value="60"/> <configure name="TELEMETRY_FREQUENCY" value="50"/>
<configure name="MODULES_FREQUENCY" value="500"/>--> <configure name="MODULES_FREQUENCY" value="500"/>
<!-- <module name="filter_1euro_imu"> <!-- <module name="filter_1euro_imu">
<define name="AHRS_ICQ_IMU_ID" value="IMU_F1E_ID"/> <define name="AHRS_ICQ_IMU_ID" value="IMU_F1E_ID"/>
@@ -87,7 +85,7 @@ NOTES:
<module name="mag" type="qmc5883l"> <module name="mag" type="qmc5883l">
<configure name="MAG_QMC5883L_PERIODIC_FREQUENCY" value="200"/> <configure name="MAG_QMC5883L_PERIODIC_FREQUENCY" value="200"/>
<configure name="MAG_QMC5883L_I2C_DEV" value="I2C1"/> <configure name="MAG_QMC5883L_I2C_DEV" value="I2C1"/>
<define name="MODULE_QMC5883L_SYNC_SEND" value="TRUE"/> <!--<define name="MODULE_QMC5883L_SYNC_SEND" value="TRUE"/>-->
<define name="MODULE_QMC5883L_UPDATE_AHRS" value="TRUE"/> <define name="MODULE_QMC5883L_UPDATE_AHRS" value="TRUE"/>
<define name="QMC5883L_CHAN_X" value="1"/> <define name="QMC5883L_CHAN_X" value="1"/>
<define name="QMC5883L_CHAN_Y" value="0"/> <define name="QMC5883L_CHAN_Y" value="0"/>
@@ -114,10 +112,11 @@ NOTES:
<module name="radio_control" type="ppm"> <module name="radio_control" type="ppm">
<!-- for debugging PPM values as default setting, enable the one below but use with correct telemetry XML document--> <!-- for debugging PPM values as default setting, enable the one below but use with correct telemetry XML document-->
<!--<define name="TELEMETRY_MODE_DEBUG_RC" value="TRUE"/>--> <!--<define name="TELEMETRY_MODE_DEBUG_RC" value="TRUE"/>-->
<define name="RC_OK_CPT" value="25"/><!-- Switch back slower when entering RC range again to prevent flip flopping--> <define name="RC_OK_CPT" value="25"/><!-- Switch back slower when entering RC range again to prevent flip flopping-->
<define name="RADIO_CONTROL_NB_CHANNEL" value="8"/> <define name="RADIO_CONTROL_NB_CHANNEL" value="8"/>
<configure name="RADIO_CONTROL_PPM_PIN" value="SERVO6"/> <configure name="RADIO_CONTROL_PPM_PIN" value="SERVO6"/>
<define name="USE_PWM6" value="0"/> <define name="USE_PWM5" value="0"/> <!-- to enable PPM input disable PWM5-->
<define name="USE_PWM6" value="0"/>
<!-- Mode set one a three way switch --> <!-- Mode set one a three way switch -->
<!-- Per default already GEAR if not defined <define name="RADIO_MODE" value="RADIO_GEAR"/> --><!-- yes, already done by default if not redefined to something else--> <!-- Per default already GEAR if not defined <define name="RADIO_MODE" value="RADIO_GEAR"/> --><!-- yes, already done by default if not redefined to something else-->
<define name="RADIO_GEAR" value="RADIO_AUX2"/> <define name="RADIO_GEAR" value="RADIO_AUX2"/>
@@ -128,18 +127,20 @@ NOTES:
<!--<module name="radio_control" type="datalink"/>--> <!--<module name="radio_control" type="datalink"/>-->
<!--<module name="flight_benchmark"> <!--<module name="flight_benchmark">
<define name="BENCHMARK_AIRSPEED value="TRUE"/> <define name="BENCHMARK_AIRSPEED value="FALSE"/>
<define name="BENCHMARK_ALTITUDE value="TRUE"/> <define name="BENCHMARK_ALTITUDE value="TRUE"/>
<define name="BENCHMARK_POSITION value="TRUE"/> <define name="BENCHMARK_POSITION value="TRUE"/>
<define name="BENCHMARK_TOLERANCE_AIRSPEED" value="1" unit="m/s"/> <define name="BENCHMARK_TOLERANCE_AIRSPEED" value="1" unit="m/s"/>
<define name="BENCHMARK_TOLERANCE_ALTITUDE" value="4" unit="m"/> <define name="BENCHMARK_TOLERANCE_ALTITUDE" value="3" unit="m"/>
<define name="BENCHMARK_TOLERANCE_POSITION" value="6" unit="m"/> <define name="BENCHMARK_TOLERANCE_POSITION" value="4" unit="m"/>
</module>--> </module>-->
<!--<module name="sys_mon"/>--><!-- Enable if one want to check processor load for higher loop, nav, module etc. frequencies --> <module name="sys_mon"/><!-- Enable if one want to check processor load for higher loop, nav, module etc. frequencies -->
<!-- <module name="mag_calib_ukf"/>--><!-- New, and needs more testing, be careful with testflights if enabled --> <!-- <module name="mag_calib_ukf"/>--><!-- New, and needs more testing, be careful with testflights if enabled -->
<module name="air_data"/>
<module name="baro_ms5611_spi"> <module name="baro_ms5611_spi">
<configure name="MS5611_SPI_DEV" value="spi1"/> <configure name="MS5611_SPI_DEV" value="spi1"/>
<configure name="MS5611_SLAVE_IDX" value="SPI_SLAVE3"/> <configure name="MS5611_SLAVE_IDX" value="SPI_SLAVE3"/>
@@ -162,7 +163,7 @@ NOTES:
</target> </target>
<target name="nps" board="pc"> <target name="nps" board="pc">
<configure name="PERIODIC_FREQUENCY" value="512"/> <!-- unit="Hz" --> <configure name="PERIODIC_FREQUENCY" value="500"/> <!-- unit="Hz" -->
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/><!-- unit="Hz" --> <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/><!-- unit="Hz" -->
<module name="fdm" type="jsbsim"/> <module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/> <module name="radio_control" type="ppm"/>
@@ -202,33 +203,33 @@ NOTES:
<define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="410"/><!--unit="s/10" in tenth of seconds for engine kill or in ELECTRICAL_PERIODIC_FREQ--> <define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="410"/><!--unit="s/10" in tenth of seconds for engine kill or in ELECTRICAL_PERIODIC_FREQ-->
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/> <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
<define name="USE_AHRS_GPS_ACCELERATIONS" value="TRUE"/> <!-- forward acceleration compensation from GPS speed --> <define name="USE_AHRS_GPS_ACCELERATIONS" value="TRUE"/> <!-- forward acceleration compensation from GPS speed -->
<!--<define name="USE_MAGNETOMETER_ONGROUND" value="FALSE"/>--> <!--DEFINE only used if float_dcm Use magnetic compensation before takeoff only while GPS course not good --> <define name="USE_MAGNETOMETER_ONGROUND" value="TRUE"/> <!--DEFINE only used if float_dcm Use magnetic compensation before takeoff only while GPS course not good -->
<!-- If AHRS_MAG_CORRECT_FREQUENCY is set outside of target no need USE_MAGNETOMETER it is assumed TRUE --> <!-- If AHRS_MAG_CORRECT_FREQUENCY is set outside of target no need USE_MAGNETOMETER it is assumed TRUE -->
<!--<configure name="USE_MAGNETOMETER" value="FALSE"/>--><!-- should be as in USE the device--> <configure name="USE_MAGNETOMETER" value="TRUE"/><!-- should be as in USE the device-->
<module name="ahrs" type="float_cmpl_quat"> <!-- Compare e.g. float_dcm, float_cmpl_quat --> <module name="ahrs" type="float_cmpl_quat"> <!-- Compare e.g. float_dcm, float_cmpl_quat -->
<!--<define name="AHRS_ACCEL_ZETA" value="2.1"/>--><!-- default 0.063, see ahrs_float_cmpl.c --> <!--<define name="AHRS_ACCEL_ZETA" value="2.1"/>--><!-- default 0.063, see ahrs_float_cmpl.c -->
<!--<define name="AHRS_ACCEL_OMEGA" value="0.1"/>--><!-- default 0.9, see ahrs_float_cmpl.c --> <!--<define name="AHRS_ACCEL_OMEGA" value="0.1"/>--><!-- default 0.9, see ahrs_float_cmpl.c -->
<configure name="AHRS_USE_MAGNETOMETER" value="FALSE"/> <configure name="AHRS_USE_MAGNETOMETER" value="TRUE"/>
<!--<configure name="AHRS_ALIGNER_LED" value="2"/>--> <!--<configure name="AHRS_ALIGNER_LED" value="2"/>-->
<define name="AHRS_MAG_UPDATE_ALL_AXES" value="FALSE"/> <define name="AHRS_MAG_UPDATE_ALL_AXES" value="TRUE"/>
<!--<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>--> <!--<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>--><!-- TRUE per default -->
<!--<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" value="FALSE"/>--> <!--<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" value="FALSE"/>--><!-- TRUE per default -->
<define name="AHRS_GPS_SPEED_IN_NEGATIVE_Z_DIRECTION" value="FALSE"/> <define name="AHRS_GPS_SPEED_IN_NEGATIVE_Z_DIRECTION" value="FALSE"/>
<!--<define name="AHRS_PROPAGATE_LOW_PASS_RATES" value="FALSE"/>--> <!--<define name="AHRS_PROPAGATE_LOW_PASS_RATES" value="FALSE"/>-->
<!--<define name="AHRS_BIAS_UPDATE_HEADING_THRESHOLD" value="0.174533"/>--><!--unit="rad"/--> <!--<define name="AHRS_BIAS_UPDATE_HEADING_THRESHOLD" value="0.174533"/>--><!--unit="rad"/-->
<!--<define name="AHRS_HEADING_UPDATE_GPS_MIN_SPEED" value="0.0"/--> <!--unit="m/s"--> <!--<define name="AHRS_HEADING_UPDATE_GPS_MIN_SPEED" value="0.0"/--> <!--unit="m/s"-->
<!-- Some insights https://lists.nongnu.org/archive/html/paparazzi-devel/2013-10/msg00126.html --> <!-- Some insights https://lists.nongnu.org/archive/html/paparazzi-devel/2013-10/msg00126.html -->
<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="0.0"/> <define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="0.0"/>
<!--<define name="AHRS_FC_MAG_ID" value="MAG_QMC5883_SENDER_ID" />--><!--TODO: When QMC driver works enable it --> <define name="AHRS_FC_MAG_ID" value="MAG_QMC5883L_SENDER_ID" />
</module> </module>
<module name="ins" type="alt_float"/> <module name="ins" type="alt_float"/>
<module name="control" type="new"/> <module name="control" type="new"/>
<module name="navigation"/> <module name="navigation"/>
<!--<module name="imu_quality_assessment"/>--><!-- disable after initial tuning--> <module name="imu_quality_assessment"/><!-- disable after initial tuning-->
<module name="auto1_commands"/> <!-- FIXME not working in JSBSim target with RC controller steering in Simulator--><!-- NOT finished for NON intermcu to be able to set GEAR and FLAP etc. in stabiized mode for easier testflights --> <module name="auto1_commands"/> <!-- FIXME not working in JSBSim target with RC controller steering in Simulator--><!-- NOT finished for NON intermcu to be able to set GEAR and FLAP etc. in stabiized mode for easier testflights -->
<module name="geo_mag"/> <module name="geo_mag"/>
@@ -237,7 +238,7 @@ NOTES:
<module name="nav" type="line_border"/> <module name="nav" type="line_border"/>
<module name="nav" type="line_osam"/> <module name="nav" type="line_osam"/>
<module name="nav" type="survey_polygon"> <module name="nav" type="survey_polygon">
<define name="POLYSURVEY_DEFAULT_DISTANCE" value="40"/> <define name="POLYSURVEY_DEFAULT_DISTANCE" value="30"/>
</module> </module>
<module name="nav" type="survey_poly_osam"/> <module name="nav" type="survey_poly_osam"/>
<module name="nav" type="smooth"/> <module name="nav" type="smooth"/>
@@ -259,14 +260,14 @@ NOTES:
</firmware> </firmware>
<!-- Rotation between sensor frame and IMU frame of this airframe external magnetometer --> <!-- Rotation between sensor frame and IMU frame of this airframe external magnetometer -->
<!--If you build in your GPS where the MAGNETOMETER resides on the board <!--If you build in your GPS where the MAGNETOMETER resides on the board
not alligned with the Accelo/Gyro axis or the main IMU on flight controller then set these values--> not alligned with the Accelo/Gyro axis or the main IMU on flight controller then set these values-->
<!--<section name="MAG_QMC" prefix="QMC5883_"> <section name="MAG_QMC" prefix="QMC5883L_">
<define name="MAG_TO_IMU_PHI" value="0.0"/> <define name="MAG_TO_IMU_PHI" value="0.0"/>
<define name="MAG_TO_IMU_THETA" value="0.0"/> <define name="MAG_TO_IMU_THETA" value="0.0"/>
<define name="MAG_TO_IMU_PSI" value="0.0"/> <define name="MAG_TO_IMU_PSI" value="0.0"/>
</section>--> </section>
<servos> <servos>
<servo name="S_THROTTLE" no="0" min="1040" neutral="1070" max="1900"/> <servo name="S_THROTTLE" no="0" min="1040" neutral="1070" max="1900"/>
@@ -320,7 +321,7 @@ NOTES:
<set command="FLAP" value="@AUX3"/> <set command="FLAP" value="@AUX3"/>
</rc_commands> </rc_commands>
<auto_rc_commands><!-- TODO: Diable later now used if tiny plane turn radius is not yet correcly tuned to keep it in sight --> <auto_rc_commands><!-- TODO: Disable later, now used to correct manually if tiny aircraft turn radius is not yet correcly tuned to be able keep it in sight -->
<set command="YAW" value="@YAW*0.8"/> <set command="YAW" value="@YAW*0.8"/>
</auto_rc_commands> </auto_rc_commands>
@@ -427,7 +428,6 @@ NOTES:
<define name="USE_GPS_ALT" value="TRUE"/> <define name="USE_GPS_ALT" value="TRUE"/>
<define name="VFF_R_GPS" value="0.2"/> <define name="VFF_R_GPS" value="0.2"/>
<!-- <define name="USE_GPS_ALT_SPEED" value="FALSE"/>--><!-- TODO: Check --> <!-- <define name="USE_GPS_ALT_SPEED" value="FALSE"/>--><!-- TODO: Check -->
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
@@ -452,7 +452,6 @@ NOTES:
<define name="ROLL_KFFD" value="0."/> <define name="ROLL_KFFD" value="0."/>
<!--<define name="PITCH_OF_ROLL" value="2." unit="deg"/>--><!-- TODO: Tune --> <!--<define name="PITCH_OF_ROLL" value="2." unit="deg"/>--><!-- TODO: Tune -->
<!--<define name="AILERON_OF_THROTTLE" value="0.0"/>--><!-- TODO: Dangrous if set wrongly --> <!--<define name="AILERON_OF_THROTTLE" value="0.0"/>--><!-- TODO: Dangrous if set wrongly -->
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
@@ -505,7 +504,6 @@ NOTES:
<define name="AUTO_PITCH_OF_AIRSPEED_PGAIN" value="0.01"/> <define name="AUTO_PITCH_OF_AIRSPEED_PGAIN" value="0.01"/>
<define name="AUTO_PITCH_OF_AIRSPEED_IGAIN" value="0.003"/> <define name="AUTO_PITCH_OF_AIRSPEED_IGAIN" value="0.003"/>
<define name="AUTO_PITCH_OF_AIRSPEED_DGAIN" value="0.03"/> <define name="AUTO_PITCH_OF_AIRSPEED_DGAIN" value="0.03"/>
</section> </section>
<section name="AGGRESSIVE" prefix="AGR_"> <section name="AGGRESSIVE" prefix="AGR_">
@@ -528,16 +526,15 @@ NOTES:
Or place a reistor on top. We only had a 7k0 lying around at the time, so our multiplication factor is now ~0.0023872f Or place a reistor on top. We only had a 7k0 lying around at the time, so our multiplication factor is now ~0.0023872f
--> -->
<define name="VoltageOfAdc(adc)" value="(adc)*0.0023872f" /> <define name="VoltageOfAdc(adc)" value="(adc)*0.0023872f" />
<define name="MAX_BAT_CAPACITY" value="650" unit="mAh"/> <define name="MAX_BAT_CAPACITY" value="650" unit="mAh"/>
<define name="MILLIAMP_AT_IDLE_THROTTLE" value="260" unit="mA"/><!-- The amps by AP+RX+ESC+Telemetry+Servos is not MOTOR power this substracted--> <define name="MILLIAMP_AT_IDLE_THROTTLE" value="260" unit="mA"/><!-- The amps by AP+RX+ESC+Telemetry+Servos is not MOTOR power this substracted-->
<define name="MILLIAMP_AT_FULL_THROTTLE" value="4000" unit="mA"/><!-- Motor amp draw at full Power static test at 7.7v --> <define name="MILLIAMP_AT_FULL_THROTTLE" value="4000" unit="mA"/><!-- Motor amp draw at full Power static test at 7.7v -->
<define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.0"/><!--TODO: validate and set--> <define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.0"/><!--TODO: validate and set-->
<define name="MAX_BAT_LEVEL" value="8.4" unit="V"/> <!-- 2S lipo 2x4.2 = 8.4 --> <define name="MAX_BAT_LEVEL" value="8.4" unit="V"/> <!-- 2S lipo 2x4.2 = 8.4 -->
<!--<define name="BAT_NB_CELLS" value="2"/> --> <!--<define name="BAT_NB_CELLS" value="2"/> -->
<define name="LOW_BAT_LEVEL" value="7.4" unit="V"/> <!-- conservative since quick voltage dropoff at end of battery voltag--> <define name="LOW_BAT_LEVEL" value="7.4" unit="V"/> <!-- conservative since quick voltage dropoff at end of battery voltage -->
<define name="CRITIC_BAT_LEVEL" value="6.6" unit="V"/> <define name="CRITIC_BAT_LEVEL" value="6.6" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="6.2" unit="V"/> <define name="CATASTROPHIC_BAT_LEVEL" value="6.0" unit="V"/>
</section> </section>
<section name="MISC"> <section name="MISC">
@@ -563,7 +560,7 @@ NOTES:
<define name="CARROT" value="4." unit="s"/> <define name="CARROT" value="4." unit="s"/>
<define name="UNLOCKED_HOME_MODE" value="TRUE"/> <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
<define name="RC_LOST_MODE" value="AP_MODE_AUTO2"/> <define name="RC_LOST_MODE" value="AP_MODE_AUTO2"/>
</section> </section>
<section name="PHOTOGRAMMETRY" prefix="PHOTOGRAMMETRY_"> <section name="PHOTOGRAMMETRY" prefix="PHOTOGRAMMETRY_">
<define name="FOCAL_LENGTH" value="2.5" unit="mm"/> <define name="FOCAL_LENGTH" value="2.5" unit="mm"/>
@@ -582,6 +579,12 @@ NOTES:
<define name="RADIUS_MIN" value="70." unit="m"/> <define name="RADIUS_MIN" value="70." unit="m"/>
</section> </section>
<section name="AIR_DATA" prefix="AIR_DATA_">
<define name="CALC_AIRSPEED" value="FALSE"/>
<define name="CALC_TAS_FACTOR" value="FALSE"/>
<define name="CALC_AMSL_BARO" value="TRUE"/>
</section>
<!-- Can as well be your handlaunch, a.k.a. the human catapult ;) --> <!-- Can as well be your handlaunch, a.k.a. the human catapult ;) -->
<section name="CATAPULT" prefix="NAV_CATAPULT_"> <section name="CATAPULT" prefix="NAV_CATAPULT_">
<define name="MOTOR_DELAY" value="0." unit="s"/> <define name="MOTOR_DELAY" value="0." unit="s"/>
conf/telemetry/OPENUAS/openuas_fixedwing_imu_rc.xml
+11 -12
View File
@@ -3,13 +3,13 @@
<telemetry> <telemetry>
<process name="Ap"> <process name="Ap">
<mode name="default" key_press="d"> <mode name="default" key_press="d">
<message name="ADC_GENERIC" period="0.25"/> <message name="ADC_GENERIC" period="0.7"/>
<message name="AIRSPEED" period="1"/> <message name="AIRSPEED" period="1"/>
<message name="ALIVE" period="5.1"/> <message name="ALIVE" period="5.1"/>
<message name="GPS" period="0.25"/> <message name="GPS" period="0.5"/>
<message name="NAVIGATION" period="0.5"/> <message name="NAVIGATION" period="0.5"/>
<message name="ATTITUDE" period="0.1"/> <message name="ATTITUDE" period="0.2"/>
<message name="ESTIMATOR" period="0.5"/> <message name="ESTIMATOR" period="0.6"/>
<message name="ENERGY" period="1.1"/> <message name="ENERGY" period="1.1"/>
<message name="WP_MOVED" period="0.25"/> <message name="WP_MOVED" period="0.25"/>
<message name="CIRCLE" period="1.05"/> <message name="CIRCLE" period="1.05"/>
@@ -24,18 +24,18 @@
<message name="DL_VALUE" period="1.5"/> <message name="DL_VALUE" period="1.5"/>
<message name="SURVEY" period="2.1"/> <message name="SURVEY" period="2.1"/>
<message name="GPS_SOL" period="2.0"/> <message name="GPS_SOL" period="2.0"/>
<message name="IMU_ACCEL" period=".6"/> <message name="IMU_ACCEL" period=".9"/>
<message name="IMU_GYRO" period=".6"/> <message name="IMU_GYRO" period=".9"/>
<message name="IMU_MAG" period="0.7"/> <message name="IMU_MAG" period="0.9"/>
<message name="CAM" period="0.5"/> <message name="CAM" period="0.5"/>
<message name="CAM_POINT" period="1.0"/> <message name="CAM_POINT" period="1.0"/>
<message name="COMMANDS" period="5"/> <message name="COMMANDS" period="0.8"/>
<message name="FBW_STATUS" period="2"/> <message name="FBW_STATUS" period="1.1"/>
<message name="AIR_DATA" period="1.3"/> <message name="AIR_DATA" period="1.3"/>
</mode> </mode>
<mode name="minimal" key_press="m"> <mode name="minimal" key_press="m">
<message name="ALIVE" period="5"/> <message name="ALIVE" period="5.0"/>
<message name="ATTITUDE" period="4"/> <message name="ATTITUDE" period="4.0"/>
<message name="GPS" period="1.05"/> <message name="GPS" period="1.05"/>
<message name="ESTIMATOR" period="1.3"/> <message name="ESTIMATOR" period="1.3"/>
<message name="WP_MOVED" period="1.4"/> <message name="WP_MOVED" period="1.4"/>
@@ -50,7 +50,6 @@
<message name="STATE_FILTER_STATUS" period="5."/> <message name="STATE_FILTER_STATUS" period="5."/>
<message name="DATALINK_REPORT" period="5.1"/> <message name="DATALINK_REPORT" period="5.1"/>
<message name="DL_VALUE" period="1.5"/> <message name="DL_VALUE" period="1.5"/>
<message name="IR_SENSORS" period="5.2"/>
<message name="SURVEY" period="2.1"/> <message name="SURVEY" period="2.1"/>
<message name="GPS_SOL" period="5.0"/> <message name="GPS_SOL" period="5.0"/>
</mode> </mode>
sw/airborne/boards/lisa_mxs/chibios/v1.0/board.h
+18 -18
View File
@@ -175,8 +175,8 @@
PIN_ODR_HIGH(13) | \ PIN_ODR_HIGH(13) | \
PIN_ODR_HIGH(14) | \ PIN_ODR_HIGH(14) | \
PIN_ODR_HIGH(15)) PIN_ODR_HIGH(15))
#define VAL_GPIOA_AFRL (PIN_AFIO_AF(0, 2) | \ #define VAL_GPIOA_AFRL (PIN_AFIO_AF(0, 0) | \
PIN_AFIO_AF(1, 2) | \ PIN_AFIO_AF(1, 1) | \
PIN_AFIO_AF(2, 7) | \ PIN_AFIO_AF(2, 7) | \
PIN_AFIO_AF(3, 7) | \ PIN_AFIO_AF(3, 7) | \
PIN_AFIO_AF(4, 5) | \ PIN_AFIO_AF(4, 5) | \
@@ -185,7 +185,7 @@
PIN_AFIO_AF(7, 5)) PIN_AFIO_AF(7, 5))
#define VAL_GPIOA_AFRH (PIN_AFIO_AF(8, 0) | \ #define VAL_GPIOA_AFRH (PIN_AFIO_AF(8, 0) | \
PIN_AFIO_AF(9, 7) | \ PIN_AFIO_AF(9, 7) | \
PIN_AFIO_AF(10, 1) | \ PIN_AFIO_AF(10, 7) | \
PIN_AFIO_AF(11, 10) | \ PIN_AFIO_AF(11, 10) | \
PIN_AFIO_AF(12, 10) | \ PIN_AFIO_AF(12, 10) | \
PIN_AFIO_AF(13, 0) | \ PIN_AFIO_AF(13, 0) | \
@@ -200,8 +200,8 @@
* PB3 - Digital input (JTAG_TDO/SWD) * PB3 - Digital input (JTAG_TDO/SWD)
* PB4 - Open Drain output 50MHz (LED2) * PB4 - Open Drain output 50MHz (LED2)
* PB5 - Digital input (IMU_MAG_DRDY) * PB5 - Digital input (IMU_MAG_DRDY)
* PB6 - Alternate Open Drain output 2MHz (SERVO7-Timer4Ch1)/USART1_TX * PB6 - Alternate Push Pull output 50MHz (SERVO7-Timer4Ch1)/USART1_TX/I2C1_SCL
* PB7 - Alternate Open Drain output 2MHz (SERVO8-Timer4Ch2)/USART1_RX * PB7 - Alternate Push Pull output 50MHz (SERVO8-Timer4Ch2)/USART1_RX/I2C1_SDA
* PB8 - Digital input. (CAN_RX) * PB8 - Digital input. (CAN_RX)
* PB9 - Open Drain output 50MHz. (CAN_TX) * PB9 - Open Drain output 50MHz. (CAN_TX)
* PB10 - Alternate Open Drain output 2MHz.(I2C2_SCL) * PB10 - Alternate Open Drain output 2MHz.(I2C2_SCL)
@@ -237,8 +237,8 @@
PIN_OTYPE_OPENDRAIN(7) | \ PIN_OTYPE_OPENDRAIN(7) | \
PIN_OTYPE_PUSHPULL(8) | \ PIN_OTYPE_PUSHPULL(8) | \
PIN_OTYPE_OPENDRAIN(9) | \ PIN_OTYPE_OPENDRAIN(9) | \
PIN_OTYPE_OPENDRAIN(10) | \ PIN_OTYPE_PUSHPULL(10) | \
PIN_OTYPE_OPENDRAIN(11) | \ PIN_OTYPE_PUSHPULL(11) | \
PIN_OTYPE_PUSHPULL(12) | \ PIN_OTYPE_PUSHPULL(12) | \
PIN_OTYPE_PUSHPULL(13) | \ PIN_OTYPE_PUSHPULL(13) | \
PIN_OTYPE_PUSHPULL(14) | \ PIN_OTYPE_PUSHPULL(14) | \
@@ -253,8 +253,8 @@
PIN_OSPEED_50M(7) | \ PIN_OSPEED_50M(7) | \
PIN_OSPEED_50M(8) | \ PIN_OSPEED_50M(8) | \
PIN_OSPEED_50M(9) | \ PIN_OSPEED_50M(9) | \
PIN_OSPEED_2M(10) | \ PIN_OSPEED_50M(10) | \
PIN_OSPEED_2M(11) | \ PIN_OSPEED_50M(11) | \
PIN_OSPEED_50M(12) | \ PIN_OSPEED_50M(12) | \
PIN_OSPEED_50M(13) | \ PIN_OSPEED_50M(13) | \
PIN_OSPEED_50M(14) | \ PIN_OSPEED_50M(14) | \
@@ -265,8 +265,8 @@
PIN_PUPDR_FLOATING(3) | \ PIN_PUPDR_FLOATING(3) | \
PIN_PUPDR_FLOATING(4) | \ PIN_PUPDR_FLOATING(4) | \
PIN_PUPDR_FLOATING(5) | \ PIN_PUPDR_FLOATING(5) | \
PIN_PUPDR_FLOATING(6) | \ PIN_PUPDR_PULLUP(6) | \
PIN_PUPDR_FLOATING(7) | \ PIN_PUPDR_PULLUP(7) | \
PIN_PUPDR_FLOATING(8) | \ PIN_PUPDR_FLOATING(8) | \
PIN_PUPDR_FLOATING(9) | \ PIN_PUPDR_FLOATING(9) | \
PIN_PUPDR_FLOATING(10) | \ PIN_PUPDR_FLOATING(10) | \
@@ -301,8 +301,8 @@
PIN_AFIO_AF(7, 4)) PIN_AFIO_AF(7, 4))
#define VAL_GPIOB_AFRH (PIN_AFIO_AF(8, 9) | \ #define VAL_GPIOB_AFRH (PIN_AFIO_AF(8, 9) | \
PIN_AFIO_AF(9, 9) | \ PIN_AFIO_AF(9, 9) | \
PIN_AFIO_AF(10, 4) | \ PIN_AFIO_AF(10, 7) | \
PIN_AFIO_AF(11, 4) | \ PIN_AFIO_AF(11, 7) | \
PIN_AFIO_AF(12, 0) | \ PIN_AFIO_AF(12, 0) | \
PIN_AFIO_AF(13, 5) | \ PIN_AFIO_AF(13, 5) | \
PIN_AFIO_AF(14, 5) | \ PIN_AFIO_AF(14, 5) | \
@@ -312,7 +312,7 @@
* Port C setup: * Port C setup:
* PC0 - Analog input (ADC2) * PC0 - Analog input (ADC2)
* PC1 - Analog input (ADC3) * PC1 - Analog input (ADC3)
* PC2 - Open Drain output 50MHz (LED3) * PC2 - Open Drain output 50MHz (LED3)
* PC3 - Analog input (ADC1) * PC3 - Analog input (ADC1)
* PC4 - Analog input (VBAT_MEAS) * PC4 - Analog input (VBAT_MEAS)
* PC5 - Open Drain output 50MHz (LED4) * PC5 - Open Drain output 50MHz (LED4)
@@ -417,8 +417,8 @@
PIN_AFIO_AF(7, 2)) PIN_AFIO_AF(7, 2))
#define VAL_GPIOC_AFRH (PIN_AFIO_AF(8, 2) | \ #define VAL_GPIOC_AFRH (PIN_AFIO_AF(8, 2) | \
PIN_AFIO_AF(9, 2) | \ PIN_AFIO_AF(9, 2) | \
PIN_AFIO_AF(10, 7) | \ PIN_AFIO_AF(10, 8) | \
PIN_AFIO_AF(11, 7) | \ PIN_AFIO_AF(11, 8) | \
PIN_AFIO_AF(12, 8) | \ PIN_AFIO_AF(12, 8) | \
PIN_AFIO_AF(13, 0) | \ PIN_AFIO_AF(13, 0) | \
PIN_AFIO_AF(14, 0) | \ PIN_AFIO_AF(14, 0) | \
@@ -1277,8 +1277,8 @@
*/ */
#define RC_PPM_TICKS_PER_USEC 6 #define RC_PPM_TICKS_PER_USEC 6
#define PPM_TIMER_FREQUENCY 6000000 #define PPM_TIMER_FREQUENCY 6000000
#define PPM_CHANNEL ICU_CHANNEL_1 #define PPM_CHANNEL ICU_CHANNEL_2
#define PPM_TIMER ICUD1 #define PPM_TIMER ICUD2
/** /**
* I2C defines * I2C defines
sw/airborne/boards/lisa_mxs/chibios/v1.0/mcuconf.h
+1 -1
View File
@@ -244,7 +244,7 @@
* ICU driver system settings. * ICU driver system settings.
*/ */
#define STM32_ICU_USE_TIM1 TRUE #define STM32_ICU_USE_TIM1 TRUE
#define STM32_ICU_USE_TIM2 FALSE #define STM32_ICU_USE_TIM2 TRUE //for PPM input support
#define STM32_ICU_USE_TIM3 FALSE #define STM32_ICU_USE_TIM3 FALSE
#define STM32_ICU_USE_TIM4 FALSE #define STM32_ICU_USE_TIM4 FALSE
#define STM32_ICU_USE_TIM5 FALSE #define STM32_ICU_USE_TIM5 FALSE