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Updates to mercury/csc airframes/makefiles

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This commit is contained in:
Allen Ibara
2009-07-22 01:06:33 +00:00
parent 3efd8e1773
commit 6061ea533c
6 changed files with 15 additions and 19 deletions
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conf/airframes/mercury.xml
-5
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@@ -3,11 +3,6 @@
<!-- commands section -->
<servos>
<!--
<servo name="AILERON" no="0" min="1000" neutral="1523" max="2000"/>
<servo name="ELEVATOR" no="1" min="2000" neutral="1500" max="1000"/>
<servo name="RUDDER" no="2" min="1000" neutral="1500" max="2000"/>
-->
<servo name="S1" no="0" min="11287" neutral="32768" max="54249"/>
<servo name="S2" no="1" min="11287" neutral="32768" max="54249"/>
</servos>
conf/airframes/mercury_csc.xml
+9 -1
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@@ -1,4 +1,4 @@
<airframe name="CSC">
<airframe name="MERCURY_CSC">
<!-- Four Motors -->
<section name="BUSS_TWI" prefix="BUSS_TWI_BLMC_">
@@ -32,6 +32,14 @@ ap.CFLAGS += -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
ap.CFLAGS += -DSPEKTRUM_LINK=Uart1 -DUSE_UART1 -DUART1_BAUD=B115200 -DUART1_VIC_SLOT=6
ap.srcs += $(SRC_CSC)/csc_rc_spektrum.c
ap.CFLAGS += -DCAN1_BTR=CANBitrate125k_3MHz
ap.CFLAGS += -DMOTORS=\"buss_twi_blmc_hw.h\" -DUSE_BUSS_TWI_BLMC_MOTOR
ap.srcs += $(SRC_CSC_ARCH)/buss_twi_blmc_hw.c
# on I2C0
ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
include $(PAPARAZZI_SRC)/conf/autopilot/mercury_csc.makefile
conf/autopilot/mercury.makefile
-2
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@@ -97,8 +97,6 @@ ap.srcs += $(SRC_CSC)/csc_ap_link.c
ap.srcs += $(SRC_CSC)/csc_adc.c
ap.srcs += $(SRC_CSC)/csc_servos.c
#ap.CFLAGS += -DPWM_SERVO_5 -DPWM_SERVO_0
ap.srcs += $(SRC_ARCH)/servos_csc.c
ap.CFLAGS += -DACTUATORS=\"servos_csc.h\"
ap.srcs += commands.c actuators.c
conf/autopilot/mercury_csc.makefile
+1 -6
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@@ -69,7 +69,7 @@ ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_0 -DUSE_AD0_1
ap.CFLAGS += -DAP_LINK_CAN -DCAN_LED=2
ap.CFLAGS += -DUSE_CAN1 -DCAN1_BTR=CANBitrate125k_3MHz
ap.CFLAGS += -DUSE_CAN1 #-DCAN1_BTR=CANBitrate125k_3MHz
ap.CFLAGS += -DCAN1_VIC_SLOT=3 -DCAN1_ERR_VIC_SLOT=7
ap.srcs += $(SRC_CSC)/csc_can.c
#ap.CFLAGS += -DUSE_CAN2 -DCAN2_BTR=CANBitrate125k_2MHz -DCAN2_VIC_SLOT=4
@@ -89,11 +89,6 @@ ap.srcs += $(SRC_CSC)/csc_servos.c
ap.srcs += $(SRC_CSC)/csc_ap_link.c
ap.CFLAGS += -DMOTORS=\"buss_twi_blmc_hw.h\" -DUSE_BUSS_TWI_BLMC_MOTOR
ap.srcs += $(SRC_CSC_ARCH)/buss_twi_blmc_hw.c
# on I2C0
ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
ap.srcs += $(SRC_CSC)/csc_adc.c
conf/settings/csc_ap.xml
+2 -2
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@@ -15,7 +15,8 @@
<dl_setting VAR="csc_yaw_setpoint_range" MIN="0" STEP="0.01" MAX="100" module="csc_autopilot" shortname="setpoint range"/>
</dl_settings>
<dl_settings NAME="vane sensor">
<dl_setting VAR="csc_vane_angle_offset" MIN="0" STEP="1" MAX="360" module="csc_autopilot" shortname="vane offset"/>
<dl_setting VAR="csc_vane_angle_offset" MIN="-180" STEP="1" MAX="180" module="csc_autopilot" shortname="vane offset"/>
<dl_setting VAR="csc_vane_weight" MIN="0" STEP="0.01" MAX="1" module="csc_autopilot" shortname="vane weight" />
</dl_settings>
<dl_settings NAME="flight params">
<dl_setting VAR="csc_gains.pitch_kp" MIN="-4000" STEP="10" MAX="4000" module="csc_autopilot" shortname="pitch kp"/>
@@ -27,7 +28,6 @@
<dl_setting VAR="csc_gains.yaw_kp" MIN="-10000" STEP="10" MAX="10000" module="csc_autopilot" shortname="yaw kp"/>
<dl_setting VAR="csc_gains.yaw_kd" MIN="-4000" STEP="10" MAX="4000" module="csc_autopilot" shortname="yaw kd"/>
<dl_setting VAR="csc_gains.yaw_ki" MIN="-200" STEP=".1" MAX="200" module="csc_autopilot" shortname="yaw ki" handler="set_yaw_ki"/>
<dl_setting VAR="csc_yaw_weight" MIN="-2" STEP="0.01" MAX="2" module="csc_autopilot" shortname="yaw weight"/>
<dl_setting VAR="csc_yaw_rudder" MIN="-5" STEP="0.01" MAX="5" module="csc_autopilot" shortname="yaw rudder"/>
<dl_setting VAR="csc_yaw_aileron" MIN="-5" STEP="0.01" MAX="5" module="csc_autopilot" shortname="yaw aileron"/>
<dl_setting VAR="csc_yaw_deadband" MIN="-30" STEP="0.01" MAX="30" module="csc_autopilot" shortname="yaw deadband"/>
conf/telemetry/csc_ap.xml
+3 -3
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@@ -5,10 +5,10 @@
<mode name="default">
<message name="ALIVE" period="5"/>
<message name="ATTITUDE" period="0.1"/>
<message name="VANE_SENSOR" period="0.1"/>
<message name="VANE_SENSOR" period="0.2"/>
<message name="COMMANDS" period="1"/>
<message name="SIMPLE_COMMANDS" period="0.1"/>
<message name="QUAD_STATUS" period="1.1"/>
<message name="SIMPLE_COMMANDS" period="0.2"/>
<message name="QUAD_STATUS" period="1.5"/>
<message name="DL_VALUE" period="1.5"/>
</mode>
<mode name="debug">