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Merge branch 'dev' into only_radians

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This commit is contained in:
Felix Ruess
2011-12-07 16:48:36 +01:00
parent d11b746efa e4246d9ee0
commit 67976d16fc
89 changed files with 465 additions and 406 deletions
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README
+3 -7
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@@ -1,5 +1,4 @@
# Paparazzi $Id$ # Copyright (C) 2003-2011 The Paparazzi Team
# Copyright (C) 2003-2010 The Paparazzi Team
# #
# This file is part of Paparazzi. # This file is part of Paparazzi.
# #
@@ -25,7 +24,7 @@ Intro
Paparazzi is an attempt to develop a free software Unmanned (Air) Vehicle System. Paparazzi is an attempt to develop a free software Unmanned (Air) Vehicle System.
As of today the system is being used successfuly by a number of hobyists, universities and companies all over the world, on vehicle of various size ( 100g to 25Kg ) and of various nature ( fixed wing, rotorcrafts, boats and surface vehicles). As of today the system is being used successfuly by a number of hobyists, universities and companies all over the world, on vehicle of various size ( 100g to 25Kg ) and of various nature ( fixed wing, rotorcrafts, boats and surface vehicles).
Up to date informations are available from the wiki website Up to date information is available from the wiki website
http://paparazzi.enac.fr http://paparazzi.enac.fr
@@ -39,8 +38,6 @@ conf: the configuration directory (airframe, radio, ... descriptions).
data: where to put read-only data (e.g. maps, terrain elevation files, icons) data: where to put read-only data (e.g. maps, terrain elevation files, icons)
hw: hardware (electronic schemas, PCBs, ...)
sw: software (onboard, ground station, simulation, ...) sw: software (onboard, ground station, simulation, ...)
var: products of compilation, cache for the map tiles, ... var: products of compilation, cache for the map tiles, ...
@@ -64,8 +61,7 @@ For Debian or Ubuntu users, required packages are available at
- "paparazzi-dev" will provide everything needed to compile and run the ground segment and the simulator. If something is missing, please report it. - "paparazzi-dev" will provide everything needed to compile and run the ground segment and the simulator. If something is missing, please report it.
- "paparazzi-arm7" is required to compile the code for LPC21 based boards ( tiny, twog, booz, etc). - "paparazzi-arm-multilib" is required to compile the code for LPC21 and STM32 based boards
- "paparazzi-stm32" is needed for building code for STM32 based boards (lisa/L, lisa/M)
- "paparazzi-omap" is needed for building code for the optional Gumstix Overo module available on lisa/L - "paparazzi-omap" is needed for building code for the optional Gumstix Overo module available on lisa/L
- "paparazzi-jsbsim" is needed for using jsbsim as flight dynamic model for the simulator. - "paparazzi-jsbsim" is needed for using jsbsim as flight dynamic model for the simulator.
conf/airframes/CDW/ChimuLisaFw.xml
-3
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@@ -61,9 +61,6 @@
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
conf/airframes/CDW/ChimuTinyFw.xml
-3
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@@ -85,9 +85,6 @@
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
conf/airframes/CDW/ChimuTinyFwSpi.xml
-3
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@@ -85,9 +85,6 @@
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
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@@ -107,9 +107,6 @@
<define name="UNLOCKED_HOME_MODE" value="TRUE"/> <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
<define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/> <define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
<define name="GLIDE_AIRSPEED" value="12.5"/>
<define name="GLIDE_VSPEED" value="2."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
<define name="TELEMETRY_MODE_AP" value="1"/> <define name="TELEMETRY_MODE_AP" value="1"/>
</section> </section>
conf/airframes/ENAC/quadrotor/blender.xml
+1 -1
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@@ -18,7 +18,7 @@
<target name="ap" board="booz_1.0"> <target name="ap" board="booz_1.0">
<define name="FAILSAFE_GROUND_DETECT"/> <define name="FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R"/> <define name="USE_GPS_ACC4R"/>
<define name="BOOZ_START_DELAY" value="3"/> <define name="ACTUATORS_START_DELAY" value="3"/>
</target> </target>
<target name="sim" board="pc"> <target name="sim" board="pc">
<subsystem name="fdm" type="nps"/> <subsystem name="fdm" type="nps"/>
conf/airframes/ENAC/quadrotor/booz2_g1.xml
+1 -1
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@@ -22,7 +22,7 @@
<target name="ap" board="booz_1.0"> <target name="ap" board="booz_1.0">
<define name="FAILSAFE_GROUND_DETECT"/> <define name="FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R"/> <define name="USE_GPS_ACC4R"/>
<define name="BOOZ_START_DELAY" value="3"/> <define name="ACTUATORS_START_DELAY" value="3"/>
</target> </target>
<target name="sim" board="pc"> <target name="sim" board="pc">
<subsystem name="fdm" type="nps"/> <subsystem name="fdm" type="nps"/>
conf/airframes/ENAC/quadrotor/g1_vision.xml
+2 -2
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@@ -231,8 +231,8 @@ include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
#include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile #include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
#ap.CFLAGS += -DR_POS=0.1 #ap.CFLAGS += -DR_POS=0.1
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3 ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DACTUATORS_START_DELAY=3
sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3 sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DACTUATORS_START_DELAY=3
ap.CFLAGS += -DUSE_MODULES ap.CFLAGS += -DUSE_MODULES
conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
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@@ -122,9 +122,6 @@
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
conf/airframes/Poine/beth.xml
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@@ -147,7 +147,7 @@ main_stm32.srcs += firmwares/rotorcraft/actuators/actuators_asctec.c
#\ #\
# $(SRC_BOOZ_ARCH)/actuators/actuators_asctec_arch.c # $(SRC_BOOZ_ARCH)/actuators/actuators_asctec_arch.c
main_stm32.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1 main_stm32.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
# -DBOOZ_START_DELAY=3 -DUSE_TIM2_IRQ # -DACTUATORS_START_DELAY=3 -DUSE_TIM2_IRQ
main_stm32.CFLAGS += -DUSE_I2C1 main_stm32.CFLAGS += -DUSE_I2C1
main_stm32.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c main_stm32.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
conf/airframes/Poine/easy_glider1.xml
-3
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@@ -88,9 +88,6 @@
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
conf/airframes/Poine/h_hex.xml
+1 -1
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@@ -170,7 +170,7 @@
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.0"> <target name="ap" board="lisa_l_1.0">
<!-- <define name="BOOZ_START_DELAY" value="1"/> --> <!-- <define name="ACTUATORS_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="spektrum"/> <subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="mkk"/> <subsystem name="actuators" type="mkk"/>
</target> </target>
conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml
-3
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@@ -86,9 +86,6 @@
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
conf/airframes/TU_Delft/MicrojetBR.xml
-3
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@@ -93,9 +93,6 @@
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
<define name="LIGHT_LED_1" value="3"/> <define name="LIGHT_LED_1" value="3"/>
conf/airframes/TU_Delft/MicrojetBRimu.xml
-3
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@@ -128,9 +128,6 @@
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
<define name="LIGHT_LED_1" value="3"/> <define name="LIGHT_LED_1" value="3"/>
conf/airframes/TU_Delft/MicrojetCDW.xml
-3
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@@ -123,9 +123,6 @@
<define name="DEFAULT_CIRCLE_RADIUS" value="75."/> <define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="0." unit="deg"/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
conf/airframes/TU_Delft/Trip50A.xml
-3
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@@ -105,9 +105,6 @@
<define name="NO_XBEE_API_INIT" value="TRUE"/> <!-- uncommant after programed--> <define name="NO_XBEE_API_INIT" value="TRUE"/> <!-- uncommant after programed-->
<define name="ALT_KALMAN_ENABLED" value="TRUE"/> <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="70."/> <define name="DEFAULT_CIRCLE_RADIUS" value="70."/>
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="5" unit="deg"/>
</section> </section>
conf/airframes/TU_Delft/skywalker.xml
-3
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@@ -117,9 +117,6 @@
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
<define name="COMMAND_ROLL_TRIM" value="-2300" /> <define name="COMMAND_ROLL_TRIM" value="-2300" />
<define name="COMMAND_PITCH_TRIM" value="1800" /> <define name="COMMAND_PITCH_TRIM" value="1800" />
conf/airframes/TU_Delft/skywalkerfiber.xml
-3
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@@ -245,9 +245,6 @@
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<!-- The Glide definitions are used for calculating the touch down point during auto landing --> <!-- The Glide definitions are used for calculating the touch down point during auto landing -->
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
</section> </section>
<!-- ******************* VERTICAL CONTROL ********************************** --> <!-- ******************* VERTICAL CONTROL ********************************** -->
conf/airframes/UofAdelaide/A1000_BOOZ.xml
+2 -2
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@@ -274,7 +274,7 @@ second attempt
<define name="RADIO_KILL_SWITCH" value="4"/> <define name="RADIO_KILL_SWITCH" value="4"/>
<define name="MODEM_BAUD" value = "B57600"/> <define name="MODEM_BAUD" value = "B57600"/>
<define name="GPS_LAG" value = "0.8"/> <define name="GPS_LAG" value = "0.8"/>
<define name="BOOZ_START_DELAY" value = "3"/> <define name="ACTUATORS_START_DELAY" value = "3"/>
<!-- <define name="KILL_MOTORS"/> --> <!-- <define name="KILL_MOTORS"/> -->
<define name="FAILSAFE_GROUND_DETECT"/> <define name="FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R" /> <define name="USE_GPS_ACC4R" />
@@ -347,7 +347,7 @@ include $(CFG_BOOZ)/subsystems/ins_hff.makefile
ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R
ap.CFLAGS += -DGPS_USE_LATLONG ap.CFLAGS += -DGPS_USE_LATLONG
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3 ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DACTUATORS_START_DELAY=3
</makefile> </makefile>
--> -->
conf/airframes/UofAdelaide/A1000_NOVA.xml
+2 -2
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@@ -232,7 +232,7 @@
<configure 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-->
<define name="RADIO_KILL_SWITCH" value="RADIO_CONTROL_SWITCH1"/> <define name="RADIO_KILL_SWITCH" value="RADIO_CONTROL_SWITCH1"/>
<define name="MODEM_BAUD" value = "B57600"/> <define name="MODEM_BAUD" value = "B57600"/>
<define name="BOOZ_START_DELAY" value = "3"/> <define name="ACTUATORS_START_DELAY" value = "3"/>
<define name="GPS_LAG" value = "0.8"/> <define name="GPS_LAG" value = "0.8"/>
<!-- <define name="KILL_MOTORS"/> --> <!-- <define name="KILL_MOTORS"/> -->
<define name="FAILSAFE_GROUND_DETECT"/> <define name="FAILSAFE_GROUND_DETECT"/>
@@ -296,7 +296,7 @@ ap.CFLAGS += -DGPS_LAG=0.8
#-DUSE_GPS_ACC4R #-DUSE_GPS_ACC4R
ap.CFLAGS += -DGPS_USE_LATLONG ap.CFLAGS += -DGPS_USE_LATLONG
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3 ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DACTUATORS_START_DELAY=3
</makefile> </makefile>
--> -->
conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
+1 -1
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@@ -250,7 +250,7 @@ ap.CFLAGS += -DGPS_LAG=0.8
#-DUSE_GPS_ACC4R #-DUSE_GPS_ACC4R
ap.CFLAGS += -DGPS_USE_LATLONG ap.CFLAGS += -DGPS_USE_LATLONG
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3 ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DACTUATORS_START_DELAY=3
</makefile> </makefile>
conf/airframes/UofAdelaide/booz2_a1000.xml
+1 -1
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@@ -306,7 +306,7 @@ include $(CFG_BOOZ)/subsystems/ins_hff.makefile
ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R
ap.CFLAGS += -DGPS_USE_LATLONG ap.CFLAGS += -DGPS_USE_LATLONG
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3 ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DACTUATORS_START_DELAY=3
</makefile> </makefile>
conf/airframes/easy_glider_example.xml
-3
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@@ -81,9 +81,6 @@
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
conf/airframes/esden/jt_lisam.xml
+1 -1
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@@ -176,7 +176,7 @@
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_m_1.0"> <target name="ap" board="lisa_m_1.0">
<!-- <define name="BOOZ_START_DELAY" value="1"/> --> <!-- <define name="ACTUATORS_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="spektrum"/> <subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="pwm_supervision"/> <subsystem name="actuators" type="pwm_supervision"/>
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
conf/airframes/esden/lisa_asctec.xml
+1 -1
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@@ -184,7 +184,7 @@
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.1"> <target name="ap" board="lisa_l_1.1">
<!-- <define name="BOOZ_START_DELAY" value="1"/> --> <!-- <define name="ACTUATORS_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="spektrum"/> <subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="asctec_v2"/> <subsystem name="actuators" type="asctec_v2"/>
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
conf/airframes/esden/lisa_asctec_aspirin.xml
+1 -1
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@@ -186,7 +186,7 @@
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.1"> <target name="ap" board="lisa_l_1.1">
<!-- <define name="BOOZ_START_DELAY" value="1"/> --> <!-- <define name="ACTUATORS_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="spektrum"/> <subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="asctec_v2"/> <subsystem name="actuators" type="asctec_v2"/>
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
conf/airframes/esden/lisa_m_pwm.xml
+1 -1
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@@ -206,7 +206,7 @@
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_m_1.0"> <target name="ap" board="lisa_m_1.0">
<!-- <define name="BOOZ_START_DELAY" value="1"/> --> <!-- <define name="ACTUATORS_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="spektrum"/> <subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="pwm_supervision"/> <subsystem name="actuators" type="pwm_supervision"/>
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
conf/airframes/esden/lisa_pwm_aspirin.xml
+1 -1
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@@ -181,7 +181,7 @@
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.1"> <target name="ap" board="lisa_l_1.1">
<!-- <define name="BOOZ_START_DELAY" value="1"/> --> <!-- <define name="ACTUATORS_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="spektrum"/> <subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="pwm_supervision"/> <subsystem name="actuators" type="pwm_supervision"/>
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
conf/airframes/esden/synerani_4B.xml
+1 -1
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@@ -184,7 +184,7 @@
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.1"> <target name="ap" board="lisa_l_1.1">
<!-- <define name="BOOZ_START_DELAY" value="1"/> --> <!-- <define name="ACTUATORS_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="spektrum"/> <subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="pwm_supervision"/> <subsystem name="actuators" type="pwm_supervision"/>
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
conf/airframes/flixr_discovery.xml
-3
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@@ -230,9 +230,6 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
<!-- The Glide definitions are used for calculating the touch down point during auto landing --> <!-- The Glide definitions are used for calculating the touch down point during auto landing -->
<!-- <!--
<define name="GLIDE_AIRSPEED" value="10."/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="10." unit="deg"/>
--> -->
</section> </section>
conf/airframes/microjet_example.xml
-3
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@@ -96,9 +96,6 @@
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
conf/airframes/mm/rotor/qmk1.xml
+1 -1
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@@ -187,7 +187,7 @@
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.0"> <target name="ap" board="lisa_l_1.0">
<!-- <define name="BOOZ_START_DELAY" value="1"/> --> <!-- <define name="ACTUATORS_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/> <subsystem name="actuators" type="mkk"/>
</target> </target>
conf/airframes/obsolete/booz2_NoVa.xml
+1 -1
View File
@@ -248,7 +248,7 @@ include $(CFG_BOOZ)/subsystems/ins_hff.makefile
ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R
ap.CFLAGS += -DGPS_USE_LATLONG ap.CFLAGS += -DGPS_USE_LATLONG
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3 ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DACTUATORS_START_DELAY=3
</makefile> </makefile>
conf/airframes/obsolete/booz2_NoVa_001.xml
+1 -1
View File
@@ -248,7 +248,7 @@ include $(CFG_BOOZ)/subsystems/ins_hff.makefile
ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R
ap.CFLAGS += -DGPS_USE_LATLONG ap.CFLAGS += -DGPS_USE_LATLONG
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3 ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DACTUATORS_START_DELAY=3
</makefile> </makefile>
conf/airframes/obsolete/booz2_NoVa_002.xml
+1 -1
View File
@@ -249,7 +249,7 @@ include $(CFG_BOOZ)/subsystems/ins_hff.makefile
ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R
ap.CFLAGS += -DGPS_USE_LATLONG ap.CFLAGS += -DGPS_USE_LATLONG
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3 ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DACTUATORS_START_DELAY=3
</makefile> </makefile>
conf/airframes/obsolete/hitl_usb.xml
-3
View File
@@ -40,9 +40,6 @@
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
conf/airframes/obsolete/microjet6.xml
-3
View File
@@ -99,9 +99,6 @@
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
conf/airframes/obsolete/microjetI.xml
-3
View File
@@ -96,9 +96,6 @@
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
</section> </section>
<section name="external leds"> <section name="external leds">
conf/airframes/obsolete/microjetII.xml
-3
View File
@@ -97,9 +97,6 @@
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
</section> </section>
<section name="external leds"> <section name="external leds">
conf/airframes/obsolete/microjetIII.xml
-3
View File
@@ -97,9 +97,6 @@
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
conf/airframes/obsolete/spirit.xml
-3
View File
@@ -106,9 +106,6 @@
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
conf/airframes/obsolete/spirit_proto.xml
-3
View File
@@ -95,9 +95,6 @@
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
conf/airframes/obsolete/storm1.xml
-3
View File
@@ -122,9 +122,6 @@
<define name="TRIGGER_DELAY" value="1."/> <define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="GLIDE_AIRSPEED" value="12.5"/>
<define name="GLIDE_VSPEED" value="2."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
</section> </section>
conf/airframes/obsolete/tiny_hitl.xml
-3
View File
@@ -91,9 +91,6 @@
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
conf/autopilot/subsystems/fixedwing/radio_control_datalink.makefile
+3
View File
@@ -11,6 +11,9 @@ endif
ifeq ($(NORADIO), False) ifeq ($(NORADIO), False)
ifdef (RADIO_CONTROL_DATALINK_LED)
ap.CFLAGS += -D(RADIO_CONTROL_DATALINK_LED=$((RADIO_CONTROL_DATALINK_LED)
endif
$(TARGET).CFLAGS += -DRADIO_CONTROL $(TARGET).CFLAGS += -DRADIO_CONTROL
$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/rc_datalink.h\" $(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/rc_datalink.h\"
$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_DATALINK $(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_DATALINK
conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile
+2
View File
@@ -6,6 +6,8 @@
# ... # ...
# <subsystem name="actuators" type="mkk"> # <subsystem name="actuators" type="mkk">
# <configure name="MKK_I2C_SCL_TIME" value="50"/> <!-- this is optional, 150 is default, use 50 for 8 motors--> # <configure name="MKK_I2C_SCL_TIME" value="50"/> <!-- this is optional, 150 is default, use 50 for 8 motors-->
# </subsystem>
# <define name="I2C_TRANSACTION_QUEUE_LEN" value="10"/> <!-- default is 8, increase to 10 or more for 8 motors-->
# </firmware> # </firmware>
# #
# #
conf/autopilot/subsystems/shared/imu_aspirin.makefile
+2 -65
View File
@@ -1,66 +1,3 @@
# include $(CFG_SHARED)/imu_aspirin_v1.0.makefile
# Aspirin IMU
#
#
# required xml:
# <section name="IMU" prefix="IMU_">
#
# <define name="GYRO_X_NEUTRAL" value="33924"/>
# <define name="GYRO_Y_NEUTRAL" value="33417"/>
# <define name="GYRO_Z_NEUTRAL" value="32809"/>
#
# <define name="GYRO_X_SENS" value="1.01" integer="16"/>
# <define name="GYRO_Y_SENS" value="1.01" integer="16"/>
# <define name="GYRO_Z_SENS" value="1.01" integer="16"/>
#
# <define name="ACCEL_X_NEUTRAL" value="32081"/>
# <define name="ACCEL_Y_NEUTRAL" value="33738"/>
# <define name="ACCEL_Z_NEUTRAL" value="32441"/>
#
# <define name="ACCEL_X_SENS" value="2.50411474" integer="16"/>
# <define name="ACCEL_Y_SENS" value="2.48126183" integer="16"/>
# <define name="ACCEL_Z_SENS" value="2.51396167" integer="16"/>
#
# <define name="MAG_X_NEUTRAL" value="2358"/>
# <define name="MAG_Y_NEUTRAL" value="2362"/>
# <define name="MAG_Z_NEUTRAL" value="2119"/>
#
# <define name="MAG_X_SENS" value="3.4936416" integer="16"/>
# <define name="MAG_Y_SENS" value="3.607713" integer="16"/>
# <define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
#
# </section>
#
#
# imu aspirin $(warning The imu_aspirin subsystem has been split up into different versions, please replace <subsystem name="imu" type="aspirin"/> with <subsystem name="imu" type="aspirin_v1.0"/> (or aspirin_v1.5) in your airframe file.)
IMU_ASPIRIN_CFLAGS = -DUSE_IMU
IMU_ASPIRIN_CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin.h\" -DIMU_OVERRIDE_CHANNELS
IMU_ASPIRIN_SRCS = $(SRC_SUBSYSTEMS)/imu.c \
$(SRC_SUBSYSTEMS)/imu/imu_aspirin.c \
$(SRC_ARCH)/subsystems/imu/imu_aspirin_arch.c
# Magnetometer
IMU_ASPIRIN_SRCS += peripherals/hmc5843.c $(SRC_ARCH)/peripherals/hmc5843_arch.c
IMU_ASPIRIN_CFLAGS += -DUSE_I2C2
ifeq ($(ARCH), lpc21)
#TODO
else ifeq ($(ARCH), stm32)
IMU_ASPIRIN_CFLAGS += -DUSE_EXTI15_10_IRQ # Gyro Int on PC14
IMU_ASPIRIN_CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
IMU_ASPIRIN_CFLAGS += -DUSE_EXTI2_IRQ # Accel Int on PD2
IMU_ASPIRIN_CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
endif
# Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
ap.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
ap.srcs += $(IMU_ASPIRIN_SRCS)
# sim not done yet
#sim.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
#sim.srcs += $(IMU_ASPIRIN_SRCS)
conf/autopilot/subsystems/shared/imu_aspirin_common.makefile
+58
View File
@@ -0,0 +1,58 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Common part for all Aspirin IMUs
#
#
# required xml:
# <section name="IMU" prefix="IMU_">
#
# <define name="GYRO_X_NEUTRAL" value="33924"/>
# <define name="GYRO_Y_NEUTRAL" value="33417"/>
# <define name="GYRO_Z_NEUTRAL" value="32809"/>
#
# <define name="GYRO_X_SENS" value="1.01" integer="16"/>
# <define name="GYRO_Y_SENS" value="1.01" integer="16"/>
# <define name="GYRO_Z_SENS" value="1.01" integer="16"/>
#
# <define name="ACCEL_X_NEUTRAL" value="32081"/>
# <define name="ACCEL_Y_NEUTRAL" value="33738"/>
# <define name="ACCEL_Z_NEUTRAL" value="32441"/>
#
# <define name="ACCEL_X_SENS" value="2.50411474" integer="16"/>
# <define name="ACCEL_Y_SENS" value="2.48126183" integer="16"/>
# <define name="ACCEL_Z_SENS" value="2.51396167" integer="16"/>
#
# <define name="MAG_X_NEUTRAL" value="2358"/>
# <define name="MAG_Y_NEUTRAL" value="2362"/>
# <define name="MAG_Z_NEUTRAL" value="2119"/>
#
# <define name="MAG_X_SENS" value="3.4936416" integer="16"/>
# <define name="MAG_Y_SENS" value="3.607713" integer="16"/>
# <define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
#
# </section>
#
#
# imu aspirin
IMU_ASPIRIN_CFLAGS = -DUSE_IMU
IMU_ASPIRIN_CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin.h\" -DIMU_OVERRIDE_CHANNELS
IMU_ASPIRIN_SRCS = $(SRC_SUBSYSTEMS)/imu.c \
$(SRC_SUBSYSTEMS)/imu/imu_aspirin.c \
$(SRC_ARCH)/subsystems/imu/imu_aspirin_arch.c
# Magnetometer
IMU_ASPIRIN_SRCS += peripherals/hmc5843.c $(SRC_ARCH)/peripherals/hmc5843_arch.c
IMU_ASPIRIN_CFLAGS += -DUSE_I2C2
ifeq ($(ARCH), lpc21)
#TODO
else ifeq ($(ARCH), stm32)
IMU_ASPIRIN_CFLAGS += -DUSE_EXTI15_10_IRQ # Gyro Int on PC14
IMU_ASPIRIN_CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
IMU_ASPIRIN_CFLAGS += -DUSE_EXTI2_IRQ # Accel Int on PD2
IMU_ASPIRIN_CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
endif
conf/autopilot/subsystems/shared/imu_aspirin_v1.0.makefile
+46
View File
@@ -0,0 +1,46 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Aspirin IMU v1.0
#
#
# required xml:
# <section name="IMU" prefix="IMU_">
#
# <define name="GYRO_X_NEUTRAL" value="33924"/>
# <define name="GYRO_Y_NEUTRAL" value="33417"/>
# <define name="GYRO_Z_NEUTRAL" value="32809"/>
#
# <define name="GYRO_X_SENS" value="1.01" integer="16"/>
# <define name="GYRO_Y_SENS" value="1.01" integer="16"/>
# <define name="GYRO_Z_SENS" value="1.01" integer="16"/>
#
# <define name="ACCEL_X_NEUTRAL" value="32081"/>
# <define name="ACCEL_Y_NEUTRAL" value="33738"/>
# <define name="ACCEL_Z_NEUTRAL" value="32441"/>
#
# <define name="ACCEL_X_SENS" value="2.50411474" integer="16"/>
# <define name="ACCEL_Y_SENS" value="2.48126183" integer="16"/>
# <define name="ACCEL_Z_SENS" value="2.51396167" integer="16"/>
#
# <define name="MAG_X_NEUTRAL" value="2358"/>
# <define name="MAG_Y_NEUTRAL" value="2362"/>
# <define name="MAG_Z_NEUTRAL" value="2119"/>
#
# <define name="MAG_X_SENS" value="3.4936416" integer="16"/>
# <define name="MAG_Y_SENS" value="3.607713" integer="16"/>
# <define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
#
# </section>
#
#
# imu aspirin
include $(CFG_SHARED)/imu_aspirin_common.makefile
IMU_ASPIRIN_CFLAGS += -DIMU_ASPIRIN_VERSION_1_0
# Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
ap.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
ap.srcs += $(IMU_ASPIRIN_SRCS)

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