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Merge branch 'master' of github.com:paparazzi/paparazzi

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This commit is contained in:
Eric
2010-11-22 01:05:40 +10:30
parent c086ae20e2 c18277cf6b
commit 59b73824ef
12 changed files with 62 additions and 60 deletions
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conf/airframes/Poine/beth.xml
+7 -6
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@@ -93,11 +93,12 @@ ARCH=stm32
FLASH_MODE = JTAG
SRC_ARCH = $(ARCH)
SRC_BETH=beth
SRC_BETH=firmwares/beth
SRC_BOOZ=booz
SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
SRC_LISA=lisa
SRC_LISA_ARCH=$(SRC_LISA)/arch/$(ARCH)
SRC_FIRMWARE=subsystems
main_stm32.ARCHDIR = stm32
#main_stm32.LDSCRIPT = $(SRC_ARCH)/stm32f103re_flash.ld
@@ -136,13 +137,13 @@ main_stm32.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c
#crista IMU
main_stm32.srcs += math/pprz_trig_int.c
main_stm32.CFLAGS += -DIMU_TYPE_H=\"imu/imu_crista.h\" -DIMU_OVERRIDE_CHANNELS
main_stm32.srcs += $(SRC_FIRMWARE)/imu.c \
$(SRC_FIRMWARE)/imu/imu_crista.c \
$(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_crista_arch.c
main_stm32.srcs += subsystems/imu.c \
subsystems/imu/imu_crista.c \
arch/$(ARCH)/subsystems/imu/imu_crista_arch.c
main_stm32.CFLAGS += -DUSE_DMA1_C4_IRQ
main_stm32.srcs += $(SRC_BOOZ)/booz2_commands.c
main_stm32.srcs += $(SRC_BOOZ)/actuators/actuators_asctec.c
main_stm32.srcs += firmwares/rotorcraft/actuators/actuators_asctec.c
#\
# $(SRC_BOOZ_ARCH)/actuators/actuators_asctec_arch.c
main_stm32.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
@@ -317,7 +318,7 @@ overo_sfb.srcs += $(SRC_BETH)/overo_sfb_controller.c
#
#
#
include $(PAPARAZZI_SRC)/conf/autopilot/lisa_test_progs.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/obsolete/lisa_test_progs.makefile
</makefile>
conf/settings/settings_beth.xml
+1 -1
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@@ -4,7 +4,7 @@
<dl_settings>
<dl_settings NAME="Controller">
<dl_setting var="controller.armed" min="0" step="1" max="2" module="beth/overo_twist_controller" shortname ="mode"/>
<dl_setting var="controller.armed" min="0" step="1" max="2" module="firmwares/beth/overo_twist_controller" shortname ="mode"/>
</dl_settings>
</dl_settings>
conf/settings/settings_beth_full.xml
+7 -7
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@@ -4,24 +4,24 @@
<dl_settings>
<dl_settings NAME="Controller">
<dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="beth/overo_twist_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="firmwares/beth/overo_twist_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="beth/overo_twist_controller" shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
<dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="firmwares/beth/overo_twist_controller" shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
</dl_setting>
<dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="beth/overo_estimator" shortname="azim_gain">
<dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="firmwares/beth/overo_estimator" shortname="azim_gain">
</dl_setting>
<dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="beth/overo_twist_controller" shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
<dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="firmwares/beth/overo_twist_controller" shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
</dl_setting>
<dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator" shortname="elev_lp_coeff">
<dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="elev_lp_coeff">
</dl_setting>
<dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator" shortname="tilt_lp_coeff">
<dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="tilt_lp_coeff">
</dl_setting>
<dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator" shortname="azim_lp_coeff">
<dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="azim_lp_coeff">
</dl_setting>
<dl_setting var="controller.armed" min="0" step="1" max="2" shortname ="mode"/>
conf/settings/settings_beth_pid.xml
+7 -7
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@@ -4,24 +4,24 @@
<dl_settings>
<dl_settings NAME="Controller">
<dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="beth/overo_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="firmwares/beth/overo_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="beth/overo_controller" shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
<dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="firmwares/beth/overo_controller" shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
</dl_setting>
<dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="beth/overo_estimator" shortname="azim_gain">
<dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="firmwares/beth/overo_estimator" shortname="azim_gain">
</dl_setting>
<dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="beth/overo_controller" shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
<dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="firmwares/beth/overo_controller" shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
</dl_setting>
<dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator" shortname="elev_lp_coeff">
<dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="elev_lp_coeff">
</dl_setting>
<dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator" shortname="tilt_lp_coeff">
<dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="tilt_lp_coeff">
</dl_setting>
<dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator" shortname="azim_lp_coeff">
<dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="azim_lp_coeff">
</dl_setting>
<dl_setting var="controller.armed" min="0" step="1" max="2" shortname ="mode"/>
conf/settings/settings_beth_reduced.xml
+1 -1
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@@ -4,7 +4,7 @@
<dl_settings>
<dl_settings NAME="Controller">
<dl_setting var="controller.armed" min="0" step="1" max="2" module="beth/overo_controller" shortname ="mode"/>
<dl_setting var="controller.armed" min="0" step="1" max="2" module="firmwares/beth/overo_controller" shortname ="mode"/>
</dl_settings>
</dl_settings>
conf/settings/settings_beth_sfb.xml
+8 -8
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@@ -4,27 +4,27 @@
<dl_settings>
<dl_settings NAME="Controller">
<dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="beth/overo_sfb_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="firmwares/beth/overo_sfb_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="beth/overo_sfb_controller" shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
<dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="firmwares/beth/overo_sfb_controller" shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
</dl_setting>
<dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator" shortname="elev_lp_coeff">
<dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="elev_lp_coeff">
</dl_setting>
<dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator" shortname="tilt_lp_coeff">
<dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="tilt_lp_coeff">
</dl_setting>
<dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator" shortname="azim_lp_coeff">
<dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="azim_lp_coeff">
</dl_setting>
<dl_setting var="controller.a" min=".001" step=".01" max=".06" module="beth/overo_sfb_controller">
<dl_setting var="controller.a" min=".001" step=".01" max=".06" module="firmwares/beth/overo_sfb_controller">
</dl_setting>
<dl_setting var="controller.b" min=".01" step=".01" max=".54" module="beth/overo_sfb_controller">
<dl_setting var="controller.b" min=".01" step=".01" max=".54" module="firmwares/beth/overo_sfb_controller">
</dl_setting>
<dl_setting var="controller.armed" min="0" step="1" max="2" module="beth/overo_sfb_controller" shortname ="mode"/>
<dl_setting var="controller.armed" min="0" step="1" max="2" module="firmwares/beth/overo_sfb_controller" shortname ="mode"/>
</dl_settings>
</dl_settings>
conf/settings/settings_beth_twist.xml
+13 -13
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@@ -4,37 +4,37 @@
<dl_settings>
<dl_settings NAME="Controller">
<dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="beth/overo_twist_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="firmwares/beth/overo_twist_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="beth/overo_twist_controller" shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
<dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="firmwares/beth/overo_twist_controller" shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
</dl_setting>
<dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="beth/overo_estimator" shortname="azim_gain">
<dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="firmwares/beth/overo_estimator" shortname="azim_gain">
</dl_setting>
<dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="beth/overo_twist_controller" shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
<dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="firmwares/beth/overo_twist_controller" shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
</dl_setting>
<dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator" shortname="elev_lp_coeff">
<dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="elev_lp_coeff">
</dl_setting>
<dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator" shortname="tilt_lp_coeff">
<dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="tilt_lp_coeff">
</dl_setting>
<dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator" shortname="azim_lp_coeff">
<dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="azim_lp_coeff">
</dl_setting>
<dl_setting var="controller.ulim" min="0.1" step="0.1" max="2" module="beth/overo_twist_controller" shortname="ulim">
<dl_setting var="controller.ulim" min="0.1" step="0.1" max="2" module="firmwares/beth/overo_twist_controller" shortname="ulim">
</dl_setting>
<dl_setting var="controller.Vm" min="0.001" step="0.01" max="0.2" module="beth/overo_twist_controller" shortname="Vm">
<dl_setting var="controller.Vm" min="0.001" step="0.01" max="0.2" module="firmwares/beth/overo_twist_controller" shortname="Vm">
</dl_setting>
<dl_setting var="controller.VM" min="100" step="10" max="700" module="beth/overo_twist_controller" shortname="VM">
<dl_setting var="controller.VM" min="100" step="10" max="700" module="firmwares/beth/overo_twist_controller" shortname="VM">
</dl_setting>
<dl_setting var="controller.satval1" min=".01" step="0.05" max="0.174" module="beth/overo_twist_controller" shortname="satval1">
<dl_setting var="controller.satval1" min=".01" step="0.05" max="0.174" module="firmwares/beth/overo_twist_controller" shortname="satval1">
</dl_setting>
<dl_setting var="controller.satval2" min="0.01" step="0.01" max=".282" module="beth/overo_twist_controller" shortname="satval2">
<dl_setting var="controller.satval2" min="0.01" step="0.01" max=".282" module="firmwares/beth/overo_twist_controller" shortname="satval2">
</dl_setting>
<dl_setting var="controller.c" min="0.001" step="0.1" max="9.5" module="beth/overo_twist_controller" shortname="c">
<dl_setting var="controller.c" min="0.001" step="0.1" max="9.5" module="firmwares/beth/overo_twist_controller" shortname="c">
</dl_setting>
<!--float ulim; 1
conf/settings/settings_beth_twist_old.xml
+13 -13
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@@ -4,37 +4,37 @@
<dl_settings>
<dl_settings NAME="Controller">
<dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="beth/overo_twist_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="firmwares/beth/overo_twist_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
<dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="beth/overo_twist_controller" shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
<dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="firmwares/beth/overo_twist_controller" shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
</dl_setting>
<dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="beth/overo_estimator" shortname="azim_gain">
<dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="firmwares/beth/overo_estimator" shortname="azim_gain">
</dl_setting>
<dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="beth/overo_twist_controller" shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
<dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="firmwares/beth/overo_twist_controller" shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
</dl_setting>
<dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator" shortname="elev_lp_coeff">
<dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="elev_lp_coeff">
</dl_setting>
<dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator" shortname="tilt_lp_coeff">
<dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="tilt_lp_coeff">
</dl_setting>
<dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator" shortname="azim_lp_coeff">
<dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator" shortname="azim_lp_coeff">
</dl_setting>
<dl_setting var="controller.ulim" min="0.1" step="0.1" max="50" module="beth/overo_twist_controller" shortname="ulim">
<dl_setting var="controller.ulim" min="0.1" step="0.1" max="50" module="firmwares/beth/overo_twist_controller" shortname="ulim">
</dl_setting>
<dl_setting var="controller.Vm" min="0.001" step="0.01" max="200" module="beth/overo_twist_controller" shortname="Vm">
<dl_setting var="controller.Vm" min="0.001" step="0.01" max="200" module="firmwares/beth/overo_twist_controller" shortname="Vm">
</dl_setting>
<dl_setting var="controller.VM" min="100" step="10" max="600" module="beth/overo_twist_controller" shortname="VM">
<dl_setting var="controller.VM" min="100" step="10" max="600" module="firmwares/beth/overo_twist_controller" shortname="VM">
</dl_setting>
<dl_setting var="controller.satval1" min="0" step="0.1" max="100" module="beth/overo_twist_controller" shortname="satval1">
<dl_setting var="controller.satval1" min="0" step="0.1" max="100" module="firmwares/beth/overo_twist_controller" shortname="satval1">
</dl_setting>
<dl_setting var="controller.satval2" min="0.01" step="0.1" max="4" module="beth/overo_twist_controller" shortname="satval2">
<dl_setting var="controller.satval2" min="0.01" step="0.1" max="4" module="firmwares/beth/overo_twist_controller" shortname="satval2">
</dl_setting>
<dl_setting var="controller.c" min="0.001" step="0.01" max="10" module="beth/overo_twist_controller" shortname="c">
<dl_setting var="controller.c" min="0.001" step="0.01" max="10" module="firmwares/beth/overo_twist_controller" shortname="c">
</dl_setting>
<!--float ulim; 1
sw/airborne/firmwares/beth/main_coders.c
+1 -1
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@@ -15,7 +15,7 @@
#include <string.h>
#include "beth/bench_sensors.h"
#include "firmwares/beth/bench_sensors.h"
/*
*
sw/airborne/firmwares/beth/main_stm32.c
+1 -1
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@@ -33,7 +33,7 @@
//#include "booz/booz_radio_control.h"
#include "subsystems/imu.h"
#include "lisa/lisa_overo_link.h"
#include "beth/bench_sensors.h"
#include "bench_sensors.h"
static inline void main_init( void );
static inline void main_periodic( void );
sw/airborne/firmwares/beth/overo_gcs_com.c
+2 -1
View File
@@ -10,11 +10,12 @@
#include "settings.h"
//bill laptop
#define GCS_HOST "10.31.4.5"
//#define GCS_HOST "10.31.4.5"
//#define GCS_HOST "192.168.2.10"
//#define GCS_HOST "192.168.2.1"
//auto4
//#define GCS_HOST "10.31.4.104"
#define GCS_HOST "10.31.4.107"
#define GCS_PORT 4242
#define DATALINK_PORT 4243
sw/airborne/gps.c
+1 -1
View File
@@ -51,7 +51,7 @@
#ifdef FMS_PERIODIC_FREQ
#include "messages2.h"
#include "beth/overo_gcs_com.h"
#include "firmwares/beth/overo_gcs_com.h"
#define DefaultChannel gcs_com.udp_transport
#else
#define DOWNLINK_DEVICE DOWNLINK_GPS_DEVICE