[tudelft] descriptions (#2126)

2026-05-31 03:57:45 +08:00 · 2017-10-20 15:03:10 +02:00
parent a03aab7c15
commit 679fcad03b
48 changed files with 118 additions and 74 deletions
@@ -1,6 +1,8 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <airframe name="ardrone2_indi">
  <description>ARDrone2, Loopings
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="ardrone2">
@@ -1,6 +1,8 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <airframe name="ardrone2_indi">
  <description>?
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="ardrone2">
@@ -1,6 +1,8 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <airframe name="ardrone2_oa_avoid">
  <description>
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="ardrone2">
@@ -1,6 +1,9 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <airframe name="ardrone2_opticflow">
  <description>ARDrone2, Opticflow hover
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="ardrone2"/>
@@ -1,6 +1,8 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <airframe name="ardrone2_opticflow">
  <description>
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="ardrone2"/>
@@ -1,6 +1,8 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <airframe name="ardrone2_opticflow">
  <description>ARDrone2, Stereocam
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="ardrone2"/>
@@ -1,6 +1,8 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <airframe name="ardrone2_optitrack">
  <description>
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="ardrone2">
@@ -8,6 +8,8 @@
 -->
 <airframe name="MAVTec5">
  <description>MavTecFreek
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="lisa_mx_2.1"/>
@@ -1,6 +1,8 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <airframe name="bebop2_indi">
  <description>Bebop2, Outdoor
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="bebop2"/>
@@ -1,6 +1,9 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <airframe name="bebop2_indi">
  <description>Bebop2, Outdoor, MavLink
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="bebop2"/>
@@ -1,6 +1,8 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <airframe name="bebop2_indi">
  <description>Bebop2, Outdoor
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="bebop2"/>
@@ -1,6 +1,8 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <airframe name="bebop2_opticflow">
  <description>?
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="bebop2"/>
@@ -1,6 +1,9 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <airframe name="bebop2_vision">
  <description>Bebop2, Vision disabled
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="bebop2"/>
@@ -1,6 +1,8 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <airframe name="bebop">
  <description>Autonomous Race 2017 Bebop1
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="bebop"/>
@@ -1,6 +1,8 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <airframe name="bebop_indi">
  <description>Bebop, Makes Loopings
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="bebop"/>
@@ -1,6 +1,8 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <airframe name="bebop">
  <description>Bebop, Optitrack
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="bebop"/>
@@ -1,6 +1,8 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <airframe name="bebop_indi">
  <description>Outdoor bebop, INDI
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="bebop"/>
@@ -1,6 +1,8 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <airframe name="bebop_indi">
  <description>?
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="bebop"/>
@@ -1,6 +1,9 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <airframe name="bebop_indi">
  <description>Bebop with MavLink
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="bebop">
@@ -1,6 +1,8 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <airframe name="bebop_opticflow">
  <description>Bebop, hover with optical flow from bottom camera
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="bebop"/>
@@ -1,6 +1,9 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <airframe name="bebop_indi">
  <description>Bebop, INDI, No Vision
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="bebop"/>
@@ -5,6 +5,9 @@
 -->
 <airframe name="GeniusDD">
  <description>Genius, BlueGiga, INDI
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="lisa_s_1.0">
@@ -5,6 +5,8 @@
 -->
 <airframe name="GeniusDD">
  <description>BSlinger Genius Micro Helicopter with BlueGiga
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="lisa_s_1.0">
@@ -25,6 +25,8 @@
 -->
 <airframe name="quadrotor_lisa_mxs">
  <description>Lisa MX-CX10 (F4)
  </description>
  <servos driver="Pwm">
    <servo name="NE" no="0" min="0" neutral="50" max="1000"/>
@@ -6,6 +6,8 @@
 -->
 <airframe name="Delfly Lisa/S 0.1">
  <description>DelFly Outdoor Auto2
  </description>
  <firmware name="fixedwing">
    <target name="ap"   board="lisa_s_1.0">
@@ -1,6 +1,9 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <airframe name="ardrone2_optitrack">
  <description>
 ARDrone2 with optical_flow landing.
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="ardrone2">
@@ -1,14 +1,8 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <!-- this is a quadrotor frame in X-configuration equiped with
     * Autopilot:   Lisa/MX 2.1 with STM32F4  http://wiki.paparazziuav.org/wiki/Lisa/M_v21
     * IMU:         Integrated Aspirin 2.2    http://wiki.paparazziuav.org/wiki/AspirinIMU
     * Actuators:   Asctec motor controllers  http://wiki.paparazziuav.org/wiki/Subsystem/actuators#Asctec_v2
     * GPS:         Piksi                     http://wiki.paparazziuav.org/wiki/Subsystem/gps
     * RC:          one Spektrum sats         http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
 -->
 <airframe name="heli450">
  <description>450 sized helicopter without hiller bar.
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="lisa_m_2.0"/>
@@ -5,6 +5,8 @@
 -->
 <airframe name="GeniusDD">
  <description>Genius Helicopter with BlueGiga
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="lisa_s_1.0">
@@ -8,6 +8,8 @@
 * RC:          PPM
 -->
 <airframe name="iris_indi">
  <description>3DR IRIS
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="px4fmu_2.4" />
    <define name="BAT_CHECKER_DELAY" value="80" />
@@ -1,9 +1,6 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <!-- this is a LadyBird quadrotor frame equiped with Lisa/MXS 1.0 -->
 <!-- The LadyBird frame comes with four brushed motors in an X configuration. -->
 <!--
     The motor and rotor configuration is the following:
@@ -25,6 +22,8 @@
 -->
 <airframe name="quadrotor_lisa_mxs">
  <description>LadyBird quadrotor frame equiped with Lisa/MXS 1.0 with four brushed motors in an X configuration.
  </description>
  <servos driver="Pwm">
    <servo name="NE" no="0" min="0" neutral="50" max="1000"/>
@@ -1,9 +1,6 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <!-- this is a LadyBird quadrotor frame equiped with Lisa/MXS 1.0 -->
 <!-- The LadyBird frame comes with four brushed motors in an X configuration. -->
 <!--
     The motor and rotor configuration is the following:
@@ -25,6 +22,9 @@
 -->
 <airframe name="quadrotor_lisa_mxs">
  <description>LadyBird quadrotor frame equiped with Lisa/MXS 1.0 with four brushed motors in an X configuration.
 + stereoboard + wifi + indi
  </description>
  <servos driver="Pwm">
    <servo name="NE" no="0" min="0" neutral="50" max="1000"/>
@@ -1,5 +1,3 @@
 <!-- this is a LadyBird quadrotor frame equiped with Lisa/S 1.0 -->
 <!-- The LadyBird frame comes with four brushed motors in an X configuration. -->
 <!--
     The motor and rotor configuration is the following:
@@ -32,6 +30,8 @@
 -->
 <airframe name="quadrotor_lisa_s">
  <description>LadyBird quadrotor frame equiped with Lisa/S 1.0 with four brushed motors in an X configuration.
  </description>
  <servos driver="Pwm">
    <servo name="NE" no="0" min="0" neutral="50" max="1000"/>
@@ -1,7 +1,7 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
-<!--
+<airframe name="Logo600">
-  Logo600 using a VBAR + 2x Lisa-MX:
+  <description>Logo600 using a VBAR + 2x Lisa-MX: one as FBW and one as AP
  1) VBAR makes it possible to have manual mode as backup.
  2) Some competitions require a separately powered board must drive the actuators (FBW).
@@ -19,9 +19,7 @@ The second lisa-mx serves as AP. It has the logger, the GPS, the telemetry, the
 The nice/safe thing about this VBAR-FBW-AP setup during developments is that the heli can fly in PAPARAZZI-MANUAL mode, since the VBAR does the lowest-level stabilization. Furthermore the FBW increases safety by not having to go through very extensive testing after every AP update: you DO NOT want an electric 600-size heli to do unpredictable things with its ESC/motors. In this airframe file the RC KILL switch is applied by the FBW and overrules everything, and when the RC is off or lost there is no way the motors will turn. Only after every FBW update, blades-off, the safety critical code is tested again. Afterwards one can safely live/hot JTAG-update the AP while in MANUAL FBW-KILL, and test AP knowing that you can always flip a switch to go back to manual mode even in-flight in case of an AP problem. Note that for flashing the FBW, bad pulses could end up going to the ESC with potential danger. Only flash FBW with the motor disconnected.
 The xml in master currently configures the LOGO600 as a pure model aircraft: meaning just as with non-autopilot-equipped model helicopters, when you loose RC it will failsafe and with the TX mode switch to manual, it flies an unmodified commercial tested flight controller. (which can make things easier to get it accepted at your local model airfield). Note that any change (especially to KILL of FBW_MODE) will also change the behaviour described above.
-->
+  </description>
 <airframe name="Logo600">
  <firmware name="rotorcraft">
    <target name="ap" board="lisa_mx_2.1"/>
@@ -1,7 +1,7 @@
 <!-- this is a quadshot vehicle equiped with Lisa/m2.0 and an aspirin 2.1
     More information on the Quadshot can be found at transition-robotics.com -->
 <airframe name="quadshot aspirin 2.1 spektrum">
  <description>Quadshot vehicle equiped with Asctec motor controllers.
  </description>
  <servos driver="Pwm">
 <!--    <servo name="A1" no="0" min="1000" neutral="1100" max="2000"/>
@@ -9,6 +9,8 @@
 -->
 <airframe name="MAVTec1">
  <description>MavTec with UBlox
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="lisa_m_2.0">
@@ -9,6 +9,8 @@
 -->
 <airframe name="MAVTec4">
  <description>MavTec with UBlox
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="lisa_mx_2.1"/>
@@ -9,6 +9,8 @@
 -->
 <airframe name="MAVTec5">
  <description>MavTec with Piksi
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="lisa_mx_2.1"/>
@@ -1,6 +1,7 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
-<!-- this is a helicopter with a double wing as frame
+<airframe name="Outback">
  <description>Helicopter with a double wing as frame
     * Autopilot:   OPA/FTD 1.0 and OPA/AP 1.0 with STM32F4
     * IMU:         MPU6000 (FTD), MPU6000 (AP)
     * Baro:        MS5611 (AP)
@@ -8,9 +9,7 @@
     * GPS:         UBlox ??
     * RC:          Spektrum sats (2x)
     * Telemetry:   Iridium (FTD), 900Mhz ??? (AP)
-->
+  </description>
 <airframe name="Outback">
  <firmware name="rotorcraft">
    <!-- AP (autopilot) part of the board -->
@@ -1,7 +1,9 @@
 <!-- this is a quadshot vehicle equiped with Lisa/m2.0 and an aspirin 2.1
     More information on the Quadshot can be found at transition-robotics.com -->
 <airframe name="quadshot aspirin 2.1 spektrum">
  <description>
     This is a quadshot vehicle equiped with Lisa/m2.0 and an aspirin 2.1
     More information on the Quadshot can be found at transition-robotics.com
  </description>
  <servos driver="Pwm">
    <servo name="A1" no="0" min="1000" neutral="1100" max="2000"/>
@@ -1,28 +1,7 @@
 <!-- this is an ornitopter frame equiped with Lisa/MXS 1.0 and MX-3.5A pwm motor controllers -->
 <!--
     The motor and rotor configuration is the following:
 	   Front
             ^
             |
    Motor3(NW)  Motor0(NE)
        CW      CCW
          \     /
           ,___,
           |   |
           |   |
           |___|
          /     \
        CCW      CW
     Motor2(SW)  Motor1(SE)
    The Lisa/S is rotated by 13deg CCW against the frame.
 -->
 <airframe name="flappy">
  <description>Ornitopter frame equiped with Lisa/MXS 1.0 and MX-3.5A pwm motor controllers
  </description>
  <servos driver="Pwm">
    <servo name="NE" no="0" min="1100" neutral="1120" max="1900"/>
@@ -1,6 +1,7 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <!-- RM airframe with INDI and video logging-->
 <airframe name="ardrone2_indi">
  <description>RM airframe with INDI and video logging
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="ardrone2">
      <define name="FAILSAFE_DESCENT_SPEED" value="0.5"/>
@@ -1,13 +1,14 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
-<!-- this is a flapping wing frame equiped with
+<airframe name="robird">
  <description>
 Flapping wing frame equiped with
 * Autopilot:   3dr Pixhawk 2.4
 * IMU:         L3GD20 +  LSM303D + MPU6000 + external HMC58XX
 * Actuators:   PWM motor controllers
 * GPS:         3DR gps neo v7
 * RC:          Futaba SBUS2
-->
+  </description>
-<airframe name="robird">
+
  <firmware name="rotorcraft">
    <target name="ap" board="px4fmu_2.4" />
    <define name="BAT_CHECKER_DELAY" value="80" />
@@ -1,6 +1,8 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <airframe name="ardrone2_oa_avoid">
  <description>ardrone with stereocam follow-me
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="ardrone2">
@@ -1,10 +1,10 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <!-- Silverlit Twin
 Lisa/S v1.0 board (http://wiki.paparazziuav.org/wiki/Lisa/S)
 -->
 <airframe name="SilverTwin">
  <description>
 Silverlit Twin
 Lisa/S v1.0 board (http://wiki.paparazziuav.org/wiki/Lisa/S)
  </description>
  <firmware name="fixedwing"> <!-- -->
    <target name="ap" board="lisa_s_1.0">
@@ -8,6 +8,8 @@
 * RC:          Spektrum
 -->
 <airframe name="splash">
  <description>Pixracer
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="px4fmu_4.0" />
    <define name="BAT_CHECKER_DELAY" value="80" />
@@ -1,15 +1,11 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
-<!--
+<airframe name="TwoSeasTwenty">
-  Use settings/tuning_ins.xml
+  <description>
  Use telemetry/default_fixedwing_imu.xml
  3x parallel redundant FBW-boards with DUAL-SBUS
  1x Lisa-L with XSens Mtig700
-->
+  </description>
 <airframe name="TwoSeasTwenty">
  <!-- ************************* FIRMWARE ************************* -->
  <firmware name="fixedwing">
@@ -1,5 +1,3 @@
 <!-- this is a Walkera Genius V2 frame equiped with Lisa/S 0.1 with brushless main rotor -->
 <!-- Using Lisa/S V1.0 board file as it is software compatible. -->
 <!--
     Applicable configuration:
@@ -11,6 +9,10 @@
 -->
 <airframe name="walkera_genius_v2">
  <description>
 This is a Walkera Genius V2 frame equiped with Lisa/S 0.1 with brushless main rotor.
 Using Lisa/S V1.0 board file as it is software compatible.
  </description>
  <firmware name="rotorcraft">
    <target name="ap" board="lisa_s_1.0">
      <!--define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="1"/-->
@@ -1,10 +1,10 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <!--
 	YAPA + XSens + XBee
 -->
 <airframe name="Yapa v1">
  <description>
 YAPA + XSens + XBee
  </description>
  <!-- ************************* FIRMWARE ************************* -->
  <firmware name="fixedwing">