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conf/airframes: add example airframe for apogee board testing via test_progs

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- the airframe allows verifying basic functionality of the IMU,
  actuators, communication ports
This commit is contained in:
Jan Čapek
2015-08-17 08:17:29 +02:00
parent 0fcbbc0576
commit 58950b5421
1 changed files with 76 additions and 0 deletions
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conf/airframes/examples/setup_apogee.xml
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- this is a quadrotor frame equiped with Lisa/M and MKK motor controllers -->
<airframe name="setup_apogee">
<firmware name="setup">
<target name="tunnel" board="apogee_1.0"/>
<target name="usb_tunnel" board="apogee_1.0">
<configure name="TUNNEL_PORT" value="UART6"/>
</target>
<target name="setup_actuators" board="apogee_1.0">
<subsystem name="actuators" type="pwm"/>
</target>
</firmware>
<firmware name="test_progs">
<target name="test_manual" board="apogee_1.0"/>
<target name="test_sys_time_timer" board="apogee_1.0"/>
<target name="test_sys_time_usleep" board="apogee_1.0"/>
<target name="test_telemetry" board="apogee_1.0"/>
<target name="test_actuators_pwm" board="apogee_1.0">
</target>
<target name="test_actuators_pwm_sin" board="apogee_1.0">
</target>
<target name="test_baro_board" board="apogee_1.0">
<subsystem name="imu" type="apogee"/>
<configure name="IMU_INIT" value="1"/>
</target>
<target name="test_imu" board="apogee_1.0">
<subsystem name="imu" type="apogee"/>
</target>
<target name="test_adc" board="apogee_1.0"/>
<target name="test_uart" board="apogee_1.0">
<define name="USE_UART4"/>
<define name="UART4_BAUD" value="B57600"/>
<define name="USE_UART6"/>
<define name="UART6_BAUD" value="B57600"/>
</target>
<!-- Communication -->
<subsystem name="radio_control" type="ppm">
</subsystem>
</firmware>
<servos>
<servo name="1" no="0" min="950" neutral="1500" max="2050"/>
<servo name="2" no="1" min="950" neutral="1500" max="2050"/>
<servo name="3" no="2" min="950" neutral="1500" max="2050"/>
<servo name="4" no="3" min="950" neutral="1500" max="2050"/>
<servo name="5" no="4" min="950" neutral="1500" max="2050"/>
<servo name="6" no="5" min="950" neutral="1500" max="2050"/>
<servo name="7" no="6" min="950" neutral="1500" max="2050"/>
</servos>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
<axis name="AUX5" failsafe_value="0"/>
<axis name="AUX6" failsafe_value="0"/>
</commands>
<command_laws>
<set servo="1" value="@ROLL"/>
<set servo="2" value="@PITCH"/>
<set servo="3" value="@YAW"/>
<set servo="4" value="@THRUST"/>
<set servo="5" value="@AUX5"/>
<set servo="6" value="@AUX6"/>
<set servo="7" value="@AUX7"/>
</command_laws>
</airframe>