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Merge branch 'master' into ahrs_refactor

Browse Source 
* master: (86 commits)
  [ahrs] update/clean test_ahrs
  [python] fix settings path
  [messages] add some descriptions again
  fix name of git submodule
  [chibios] switch back to a repo that have to 2.6 stable
  [chibios] switch back to correct version
  [ocaml] filter for 'field' tag when looking at messages
  [submodules] updated to a new chibios repository
  [messages] remove description node again for now
  [modules] mission_rotorcraft: only check for ned_initialized_i
  [modules][messages] mission: LLA waypoints in 1e7deg instead of float
  [build] don't compile natnet if not needed
  [messages] possibility to add descriptions
  [modules] rename flight_time to time_countdown
  [sim] remove launchsitl symlink
  [rotorcraft] navigation: fix NavCircleCount
  [modules] rotorcraft_cam: fix DEFAULT_MODE
  [omap] start basic spi driver
  [rotorcraft] arming: only check if motors can be armed if ahrs_is_aligned
  [rotorcraft] force MODE_STARTUP instead of KILL until ahrs is aligned
  ...
This commit is contained in:
Felix Ruess
2014-11-27 18:11:53 +01:00
parent e90e4c40a7 d004209706
commit 6cdfb7d649
162 changed files with 4383 additions and 1173 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.gitmodules
+3 -3
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@@ -4,12 +4,12 @@
[submodule "sw/ext/luftboot"]
path = sw/ext/luftboot
url = https://github.com/paparazzi/luftboot.git
[submodule "sw/ext/chibios"]
path = sw/ext/chibios
url = https://github.com/ChibiOS/ChibiOS-RT.git
[submodule "sw/ext/fatfs"]
path = sw/ext/fatfs
url = https://github.com/enacuavlab/fatfs.git
[submodule "sw/ext/ardrone2_vision"]
path = sw/ext/ardrone2_vision
url = https://github.com/tudelft/ardrone2_vision.git
[submodule "sw/ext/chibios"]
path = sw/ext/chibios
url = https://github.com/mabl/ChibiOS.git
.travis.yml
+2 -1
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@@ -7,10 +7,11 @@ before_install:
- sudo add-apt-repository ppa:terry.guo/gcc-arm-embedded -y
- sudo apt-get update -q
install:
- sudo apt-get install paparazzi-dev paparazzi-jsbsim gcc-arm-none-eabi
- sudo apt-get install paparazzi-dev paparazzi-jsbsim gcc-arm-none-eabi libipc-run-perl
before_script: cd conf && ln -s conf_tests.xml conf.xml && cd ..
script:
- make
- make -C tests/math test
- PAPARAZZI_SRC=$PWD PAPARAZZI_HOME=$PWD J=AUTO prove tests/examples/
notifications:
CHANGELOG.md
+96
View File
@@ -1,3 +1,99 @@
Paparazzi 5.3_devel
===================
currently ongoing development, changes so far (no particular order, nor complete)
General
-------
- Flight plans: option to `call` functions once without checking return value
[830] (https://github.com/paparazzi/paparazzi/pull/830)
- Paparazzi Center settings improvements
[#834] (https://github.com/paparazzi/paparazzi/pull/834)
- replay: ignore non-telemetry messages to remove warnings
[#894] (https://github.com/paparazzi/paparazzi/issues/894)
- maps: put google tiles in var/maps/Google instead of var/maps
[#902] (https://github.com/paparazzi/paparazzi/issues/902)
- Paparazzi Center: improve warning coloring
[#910] (https://github.com/paparazzi/paparazzi/issues/910)
- add INFO_MSG with printing to GCS console
[#929] (https://github.com/paparazzi/paparazzi/pull/929)
- Remove array delimiters on Ivy messages
[#942] (https://github.com/paparazzi/paparazzi/pull/942)
- improve test framework
[#933] (https://github.com/paparazzi/paparazzi/pull/933)
[#945] (https://github.com/paparazzi/paparazzi/pull/945)
- GCS: save size in layout
[#968] (https://github.com/paparazzi/paparazzi/issues/968)
Simulation
----------
- OCaml sim: simulate sys_time
[#962] (https://github.com/paparazzi/paparazzi/issues/962)
- OCaml sim: use unconnected socket for flightgear viz
[#915] (https://github.com/paparazzi/paparazzi/issues/915)
- NPS: add commandline option to set time_factor
- radio_conrol spektrum for sim target
[#851] (https://github.com/paparazzi/paparazzi/pull/851)
Airborne
--------
- cleanup math lib and convert lots of macros to functions
[#819] (https://github.com/paparazzi/paparazzi/pull/819)
- radio_control spektrum also usable for intermcu
[#847] (https://github.com/paparazzi/paparazzi/pull/847)
- Convert air_data subsystem to module with QNH and true airspeed support
[#853] (https://github.com/paparazzi/paparazzi/pull/853)
- add airspeed_ms45xx_i2c module
[#852] (https://github.com/paparazzi/paparazzi/pull/852)
- Replace telemetry macros with functions
[#931] (https://github.com/paparazzi/paparazzi/pull/931)
- Add Furuno NMEA based GPS
[#959] (https://github.com/paparazzi/paparazzi/pull/959)
- Driver for MPU9250
[#953] (https://github.com/paparazzi/paparazzi/pull/953)
- Driver for AKM8963 magnetometer
[#947] (https://github.com/paparazzi/paparazzi/pull/947)
- Basic linux I2C driver
[#961] (https://github.com/paparazzi/paparazzi/pull/961)
- ARDrone2: Handle memory full FTP upload error
[#967] (https://github.com/paparazzi/paparazzi/issues/967)
Paparazzi 5.2.1_stable
======================
Maintenance release
- build system: remove 'load' target as it is a builtin directive in Make 4.0
- fix FlightGear visualization on 32bit systems
- flight plans: set primitive should not delay next stage
[#824] (https://github.com/paparazzi/paparazzi/pull/824)
- flight plans: fix return primitive
- generators: gen_airframe: don't force float if unit = code_unit
- sys_time: up to 16 sys_time timers by default (was 8)
- OCaml: fix Pprz.sprint_value for uint32, e.g. for NatNet
[#831] (https://github.com/paparazzi/paparazzi/issues/831)
- Rotorcraft: auto-enable UNLOCKED_HOME_MODE if HOME mode is used on RC
[#823] (https://github.com/paparazzi/paparazzi/issues/823)
- Rotorcraft: only go to HOME mode if in NAV
[#850] (https://github.com/paparazzi/paparazzi/issues/850)
- Fixedwing: If USE_BARO_BOARD: separate baro timer
Before baro_periodic was running at PERIODIC_FREQUENCY in sensors_task,
which is too fast for ms5611 if periodic freq is > 100Hz.
- INS alt_float: if USE_BARO_BOARD, dt is 1/BARO_PERIODIC_FREQUENCY
[#848] (https://github.com/paparazzi/paparazzi/pull/848)
- STM32: backport fix for using multiple ADs
[#822] (https://github.com/paparazzi/paparazzi/pull/822)
- LPC21: don't override T0CCR values when setting ppm and trig_ext
- IMU driver for Lisa/M/MX 2.1
[#817] (https://github.com/paparazzi/paparazzi/pull/817)
- support for HBmini board
[#864] (https://github.com/paparazzi/paparazzi/pull/864)
Paparazzi 5.2.0_stable
=======================
Makefile.ac
+3 -2
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@@ -214,7 +214,8 @@ fbw : fbw.compile
ap: ap.compile
clean_ac :
$(Q)if (expr "$(AIRCRAFT)"); then : ; else echo "AIRCRAFT undefined: type 'make AIRCRAFT=AircraftName ...'"; exit 1; fi
rm -fr $(AIRCRAFT_BUILD_DIR)
$(Q)if (expr "$(AIRCRAFT)") > /dev/null; then : ; else echo "AIRCRAFT undefined: type 'make AIRCRAFT=AircraftName ...'"; exit 1; fi
@echo "CLEANING $(AIRCRAFT)"
$(Q)rm -fr $(AIRCRAFT_BUILD_DIR)
.PHONY: init all_ac_h radio_ac_h flight_plan_ac_h makefile_ac clean_ac print_version
conf/Makefile.ardrone2
+3 -3
View File
@@ -32,14 +32,14 @@ upload_extra:
# Program the device and start it.
load upload program: upload_extra $(OBJDIR)/$(TARGET).elf
upload program: upload_extra $(OBJDIR)/$(TARGET).elf
$(Q)$(DRONE) --host=$(HOST) insmod $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/cdc-acm.ko
$(Q)$(DRONE) --host=$(HOST) upload_file_and_run $(OBJDIR)/$(TARGET).elf $(SUB_DIR)
$(Q)$(DRONE) --host=$(HOST) status
# Program the device and start it.
load2 upload2 program2: $(OBJDIR)/$(TARGET).elf
upload2 program2: $(OBJDIR)/$(TARGET).elf
# Kill the application
-echo "killall -9 $(TARGET).elf" | telnet $(HOST)
@@ -82,4 +82,4 @@ ifeq ($(ARDRONE2_REBOOT),1)
endif
# Listing of phony targets.
.PHONY : upload_extra load upload program load2 upload2 program2
.PHONY : upload_extra upload program upload2 program2
conf/Makefile.geode
+1 -1
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@@ -67,7 +67,7 @@ $(OBJDIR):
elf: $(OBJDIR)/$(TARGET).elf
# Program the device.
load upload program: $(OBJDIR)/$(TARGET).elf
upload program: $(OBJDIR)/$(TARGET).elf
scp $(OBJDIR)/$(TARGET).elf $(USER)@$(HOST):$(TARGET_DIR)
# Link: create ELF output file from object files.
conf/Makefile.lpc21
+2 -2
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@@ -192,7 +192,7 @@ sym: $(OBJDIR)/$(TARGET).sym
# Program the device.
load upload program: $(OBJDIR)/$(TARGET).hex
upload program: $(OBJDIR)/$(TARGET).hex
ifeq ($(FLASH_MODE),IAP)
$(SUDO) $(LPC21IAP) $(OBJDIR)/$(TARGET).elf
else ifeq ($(FLASH_MODE),JTAG)
@@ -267,7 +267,7 @@ $(AOBJARM) : $(OBJDIR)/%.o : $(SRC_ARCH)/%.S
# Listing of phony targets.
.PHONY : all build elf hex lss sym load upload program
.PHONY : all build elf hex lss sym upload program
#
conf/Makefile.pentium-m
+1 -1
View File
@@ -76,7 +76,7 @@ $(OBJDIR):
elf: $(OBJDIR)/$(TARGET).elf
# Program the device.
load upload program: $(OBJDIR)/$(TARGET).elf
upload program: $(OBJDIR)/$(TARGET).elf
ifdef USER
ssh $(USER)@$(HOST) "sudo mount -o remount,rw /"
scp $(OBJDIR)/$(TARGET).elf $(USER)@$(HOST):$(TARGET_DIR)
conf/airframes/CDW/TwoSeas.xml
+5
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@@ -23,6 +23,10 @@
<subsystem name="intermcu" type="uart">
<configure name="INTERMCU_PORT" value="UART2"/>
</subsystem>
<subsystem name="radio_control" type="sbus_dual">
<configure name="SBUS1_PORT" value="UART3"/>
<configure name="SBUS2_PORT" value="UART5"/>
</subsystem>
<!-- AP -->
<subsystem name="control"/>
<subsystem name="navigation"/>
@@ -37,6 +41,7 @@
</subsystem>
</target>
<target name="fbw" board="lisa_m_2.0">
<configure name="SEPARATE_FBW" value="1"/>
<define name="OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP" value="1"/>
<define name="LINK_MCU_LED" value="1"/>
<configure name="HAS_LUFTBOOT" value="0"/>
conf/airframes/CDW/conf.xml
+4 -2
View File
@@ -6,7 +6,8 @@
radio="radios/R6107SP_7ch.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings=" settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/modules/imu_quality_assessment.xml"
settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml"
settings_modules="modules/imu_quality_assessment.xml modules/gps_ubx_ucenter.xml"
gui_color="white"
/>
<aircraft
@@ -16,7 +17,8 @@
radio="radios/R6107SP_7ch.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings=" settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_mkk_v2.xml settings/modules/imu_quality_assessment.xml"
settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml"
settings_modules="modules/configure_actuators_mkk_v2.xml modules/imu_quality_assessment.xml"
gui_color="blue"
/>
</conf>
conf/airframes/CDW/conf_two_seas.xml
+2 -1
View File
@@ -6,7 +6,8 @@
radio="radios/T8FG_SBUS.xml"
telemetry="telemetry/default_fixedwing.xml"
flight_plan="flight_plans/versatile.xml"
settings=" settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/ins_neutrals.xml"
settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/ins_neutrals.xml"
settings_modules="modules/light.xml"
gui_color="blue"
/>
</conf>
conf/airframes/ENAC/fixed-wing/apogee.xml
+6 -7
View File
@@ -19,20 +19,19 @@
</modules>
<firmware name="fixedwing">
<define name="USE_I2C1"/>
<!--define name="USE_I2C2"/-->
<!--define name="AGR_CLIMB"/-->
<!--define name="LOITER_TRIM"/-->
<!--define name="PITCH_TRIM"/-->
<configure name="PERIODIC_FREQUENCY" value="100"/>
<target name="sim" board="pc">
<subsystem name="radio_control" type="ppm"/>
</target>
<target name="ap" board="apogee_1.0_chibios">
<subsystem name="radio_control" type="sbus"/>
<configure name="PERIODIC_FREQUENCY" value="100"/>
</target>
<define name="USE_I2C1"/>
<!--define name="USE_I2C2"/-->
<!--define name="AGR_CLIMB"/-->
<!--define name="LOITER_TRIM"/-->
<!--define name="PITCH_TRIM"/-->
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api"/>
conf/airframes/ENAC/fixed-wing/twinjet2.xml
+37 -23
View File
@@ -2,30 +2,17 @@
<!-- Twinjet Multiplex (http://www.multiplex-rc.de/)
Tiny 2.12 board (http://wiki.paparazziuav.org/wiki/index.php/Tiny_v2)
Tilted infrared sensor
MPU9250 Drotek Breakout Board
-->
<airframe name="Twinjet 2 Tiny 2.12">
<airframe name="Black Cat">
<modules>
<!--load name="adp_roll.xml"/-->
<!--load name="ins_vn100.xml"/-->
<!--load name="ets_module_sensors.xml"/-->
<!--load name="infrared_i2c.xml"/-->
<!--load name="max3100.xml"/>
<load name="gsm.xml"/-->
<!--load name="demo_module.xml">
<define name="TEST" value="1"/>
<define name="TEST_FLAG"/>
</load-->
<!--load name="enose.xml"/-->
<load name="light.xml"/>
<load name="infrared_adc.xml"/>
</modules>
<firmware name="fixedwing">
<define name="PITCH_TRIM"/>
<define name="USE_I2C0"/>
<target name="ap" board="tiny_2.11"/>
<target name="sim" board="pc"/>
@@ -33,7 +20,8 @@
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="control" type="adaptive"/>
<subsystem name="ahrs" type="infrared"/>
<subsystem name="imu" type="mpu9250_i2c"/>
<subsystem name="ahrs" type="float_dcm"/>
<subsystem name="ins" type="alt_float"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/>
@@ -41,7 +29,6 @@
<firmware name="setup">
<target name="tunnel" board="tiny_2.11" />
<target name="setup_actuators" board="tiny_2.11" />
</firmware>
<!-- commands section -->
@@ -78,8 +65,8 @@
<let var="yaw" value="@YAW * MOTOR_YAW_RATE"/>
<set servo="MOTOR_LEFT" value="@THROTTLE - $yaw"/>
<set servo="MOTOR_RIGHT" value="@THROTTLE + $yaw"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
<set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
@@ -87,7 +74,31 @@
<define name="MAX_PITCH" value="0.6"/>
</section>
<section name="INFRARED" prefix="IR_">
<section name="IMU" prefix="IMU_">
<!-- Calibration Neutral -->
<define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_Q_SIGN" value="-1"/>
<define name="GYRO_R_SIGN" value="-1"/>
<define name="GYRO_P_NEUTRAL" value="0"/>
<define name="GYRO_Q_NEUTRAL" value="0"/>
<define name="GYRO_R_NEUTRAL" value="0"/>
<define name="ACCEL_X_SIGN" value="1"/>
<define name="ACCEL_Y_SIGN" value="-1"/>
<define name="ACCEL_Z_SIGN" value="-1"/>
<define name="ACCEL_X_NEUTRAL" value="109"/>
<define name="ACCEL_Y_NEUTRAL" value="13"/>
<define name="ACCEL_Z_NEUTRAL" value="-404"/>
<define name="ACCEL_X_SENS" value="2.45045342816" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.44747844234" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.42689216106" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0" unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0" unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0" unit="deg"/>
</section>
<!--section name="INFRARED" prefix="IR_">
<define name="ADC_IR1_NEUTRAL" value="512"/>
<define name="ADC_IR2_NEUTRAL" value="512"/>
<define name="ADC_TOP_NEUTRAL" value="512"/>
@@ -105,7 +116,7 @@
<define name="PITCH_NEUTRAL_DEFAULT" value="0.15" unit="deg"/>
<define name="I2C_DEFAULT_CONF" value="1"/>
</section>
</section-->
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
@@ -121,8 +132,11 @@
<!-- <define name="XBEE_INIT" value="&quot;ATPL2\rATRN1\rATTT80\r&quot;"/> -->
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="LIGHT_LED_1" value="3"/>
<define name="LIGHT_LED_2" value="5"/>
<define name="LIGHT_LED_NAV" value="3"/>
<define name="LIGHT_LED_STROBE" value="4"/>
<define name="USE_LED_4" value="1"/> <!-- CAM_SWITCH is a gpio not a led -->
<define name="LED_4_BANK" value="1"/>
<define name="LED_4_PIN" value="22"/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
conf/airframes/ENAC/quadrotor/blender.xml
+1 -1
View File
@@ -236,7 +236,7 @@
</section>
<section name="CAM" prefix="ROTORCRAFT_CAM_">
<define name="DEFAULT_MODE" value="MODE_MANUAL"/>
<define name="DEFAULT_MODE" value="ROTORCRAFT_CAM_MODE_MANUAL"/>
</section>
<section name="SERVO_SWITCH">
conf/airframes/TUDelft/IMAV2013/ardrone2_raw.xml
+1 -2
View File
@@ -7,7 +7,6 @@
<target name="ap" board="ardrone2_raw">
<define name="USE_INS_NAV_INIT"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
<define name="LINK_HOST" value="\\\"192.168.2.255\\\""/>
<configure name="HOST" value="192.168.2.$(AC_ID)"/>
@@ -33,7 +32,7 @@
<modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/>
<load name="flight_time.xml"/>
<load name="time_countdown.xml"/>
<load name="TUDelft/imav2013.xml"/>
</modules>
conf/airframes/TUDelft/silverlit_lisas.xml
-1
View File
@@ -29,7 +29,6 @@ Lisa/S v1.0 board (http://wiki.paparazziuav.org/wiki/Lisa/S)
<configure name="AHRS_PROPAGATE_FREQUENCY" value="120"/>
<configure name="PERIODIC_FREQUENCY" value="120"/> <!-- 120 seams to be the max of the barometer -->
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/> <!-- NEW -->
</target>
<target name="sim" board="pc"/>
<target name="nps" board="pc">
conf/airframes/ardrone2_raw.xml
-1
View File
@@ -4,7 +4,6 @@
<firmware name="rotorcraft">
<target name="ap" board="ardrone2_raw">
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
<subsystem name="telemetry" type="transparent_udp"/>
<subsystem name="radio_control" type="datalink"/>
</target>
conf/airframes/ardrone2_raw_optitrack.xml
-1
View File
@@ -4,7 +4,6 @@
<firmware name="rotorcraft">
<target name="ap" board="ardrone2_raw">
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
<define name="FAILSAFE_DESCENT_SPEED" value="0.5"/>
<configure name="USE_MAGNETOMETER" value="0"/>
conf/airframes/examples/microjet_twog_aspirin.xml
+5 -5
View File
@@ -10,7 +10,11 @@
<firmware name="fixedwing">
<target name="sim" board="pc"/>
<target name="ap" board="twog_1.0"/>
<target name="ap" board="twog_1.0">
<configure name="PERIODIC_FREQUENCY" value="120"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
</target>
<define name="AGR_CLIMB" />
<define name="LOITER_TRIM" />
@@ -20,10 +24,6 @@
<define name="ASPIRIN_GYRO_LOWPASS" value="ITG3200_DLPF_42HZ"/>
<define name="ASPIRIN_GYRO_SMPLRT_DIV" value="9"/>
<configure name="PERIODIC_FREQUENCY" value="120"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
<subsystem name="imu" type="aspirin_v1.5"/>
conf/airframes/examples/quadrotor_lisa_s.xml
-1
View File
@@ -215,7 +215,6 @@
</subsystem>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
</target>
<target name="nps" board="pc">
conf/airframes/examples/quadrotor_navgo.xml
+38 -37
View File
@@ -196,46 +196,46 @@
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="REF_MIN_ZDD" value="-0.5*9.81"/>
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="130"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/>
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="ADAPT_NOISE_FACTOR" value="1.5"/>
<define name="REF_MIN_ZDD" value="-0.5*9.81"/>
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="130"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/>
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="ADAPT_NOISE_FACTOR" value="1.5"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="30" unit="deg"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="80"/>
<define name="IGAIN" value="20"/>
<define name="NGAIN" value="0"/>
<!-- feedforward -->
<define name="AGAIN" value="0"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="30" unit="deg"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="80"/>
<define name="IGAIN" value="20"/>
<define name="NGAIN" value="0"/>
<!-- feedforward -->
<define name="AGAIN" value="0"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<!--define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/-->
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<!--define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/-->
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<section name="FMS">
<define name="BOOZ_FMS_TIMEOUT" value="0"/>
</section>
<section name="FMS">
<define name="BOOZ_FMS_TIMEOUT" value="0"/>
</section>
<section name="CAM" prefix="ROTORCRAFT_CAM_">
<define name="DEFAULT_MODE" value="MODE_MANUAL"/>
</section>
<section name="CAM" prefix="ROTORCRAFT_CAM_">
<define name="DEFAULT_MODE" value="ROTORCRAFT_CAM_MODE_MANUAL"/>
</section>
<section name="SERVO_SWITCH">
<define name="SERVO_SWITCH_SERVO" value="DROP"/>
@@ -245,14 +245,15 @@
<define name="DropClose()" value="ServoSwitchOff()"/>
</section>
<section name="MISC">
<define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
</section>
<section name="MISC">
<define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
</section>
<section name="GCS">
<define name="ALT_SHIFT_PLUS_PLUS" value="5"/>
<define name="ALT_SHIFT_PLUS" value="1"/>
<define name="ALT_SHIFT_MINUS" value="-1"/>
<define name="SPEECH_NAME" value="Quad NavGo"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
conf/airframes/examples/quadrotor_navstik.xml
+4 -1
View File
@@ -44,7 +44,10 @@
<modules>
<load name="gps_ubx_ucenter.xml"/>
<!-- load name="airspeed_ms45xx.xml"/ -->
<load name="airspeed_ms45xx_i2c.xml">
<define name="MS45XX_I2C_DEV" value="i2c3"/>
<define name="USE_I2C3"/>
</load>
<load name="direct_memory_logger.xml"/>
</modules>
conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl.makefile
-1
View File
@@ -1 +0,0 @@
$(error The ahrs_float_cmpl subsystem has been split, please replace <subsystem name="ahrs" type="float_cmpl"/> with <subsystem name="ahrs" type="float_cmpl_quat"/> in your airframe file.)
conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
+1 -1
View File
@@ -8,7 +8,7 @@
USE_MAGNETOMETER ?= 0
AHRS_ALIGNER_LED ?= none
AHRS_CFLAGS = -DUSE_AHRS
AHRS_CFLAGS = -DUSE_AHRS -DAHRS_FLOAT
AHRS_CFLAGS += -DUSE_AHRS_ALIGNER -DAHRS_GRAVITY_UPDATE_COORDINATED_TURN
ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))
conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
+9 -1
View File
@@ -8,7 +8,7 @@
USE_MAGNETOMETER ?= 0
AHRS_ALIGNER_LED ?= none
AHRS_CFLAGS = -DUSE_AHRS
AHRS_CFLAGS = -DUSE_AHRS -DAHRS_FLOAT
AHRS_CFLAGS += -DUSE_AHRS_ALIGNER -DAHRS_GRAVITY_UPDATE_COORDINATED_TURN
ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))
@@ -27,6 +27,14 @@ AHRS_SRCS += subsystems/ahrs.c
AHRS_SRCS += subsystems/ahrs/ahrs_float_cmpl.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ifdef AHRS_PROPAGATE_FREQUENCY
AHRS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
endif
ifdef AHRS_CORRECT_FREQUENCY
AHRS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
endif
ap.CFLAGS += $(AHRS_CFLAGS)
ap.srcs += $(AHRS_SRCS)
conf/firmwares/subsystems/fixedwing/ahrs_ic.makefile
-2
View File
@@ -1,2 +0,0 @@
$(error The ahrs_ic subsystem has been renamed, please replace <subsystem name="ahrs" type="ic"/> with <subsystem name="ahrs" type="int_cmpl_quat"/> in your airframe file.)
conf/firmwares/subsystems/fixedwing/gps_furuno.makefile
+32
View File
@@ -0,0 +1,32 @@
# Hey Emacs, this is a -*- makefile -*-
# Furuno NMEA GPS unit
GPS_LED ?= none
ap.CFLAGS += -DUSE_GPS -DGPS_USE_LATLONG
ap.CFLAGS += -DGPS_LINK=$(GPS_PORT)
ap.CFLAGS += -DUSE_$(GPS_PORT)
ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
ap.CFLAGS += -DNMEA_PARSE_PROP
ifneq ($(GPS_LED),none)
ap.CFLAGS += -DGPS_LED=$(GPS_LED)
endif
ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_nmea.c $(SRC_SUBSYSTEMS)/gps/gps_furuno.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
sim.CFLAGS += -DUSE_GPS -DGPS_USE_LATLONG
sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
sim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
jsbsim.CFLAGS += -DUSE_GPS -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
jsbsim.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
nps.CFLAGS += -DUSE_GPS -DGPS_USE_LATLONG
nps.srcs += $(SRC_SUBSYSTEMS)/gps.c
nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
conf/firmwares/subsystems/rotorcraft/ahrs_cmpl.makefile
-1
View File
@@ -1 +0,0 @@
$(error The ahrs_cmpl subsystem has been renamed, please replace <subsystem name="ahrs" type="cmpl"/> with <subsystem name="ahrs" type="int_cmpl_euler"/> in your airframe file.)
conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl.makefile
-1
View File
@@ -1 +0,0 @@
$(error The ahrs_float_cmpl subsystem has been split, please replace <subsystem name="ahrs" type="float_cmpl"/> with <subsystem name="ahrs" type="float_cmpl_quat"/> in your airframe file.)
conf/firmwares/subsystems/rotorcraft/ahrs_float_mlkf.makefile
-38
View File
@@ -1,38 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
#
USE_MAGNETOMETER ?= 1
AHRS_ALIGNER_LED ?= none
AHRS_CFLAGS = -DUSE_AHRS -DAHRS_FLOAT
AHRS_CFLAGS += -DUSE_AHRS_ALIGNER
ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))
AHRS_CFLAGS += -DUSE_MAGNETOMETER
else
$(error ahrs_float_mlkf needs a magnetometer)
endif
ifneq ($(AHRS_ALIGNER_LED),none)
AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_mlkf.h\"
AHRS_SRCS += subsystems/ahrs.c
AHRS_SRCS += subsystems/ahrs/ahrs_float_mlkf.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ifdef AHRS_PROPAGATE_FREQUENCY
AHRS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
endif
ifdef AHRS_CORRECT_FREQUENCY
AHRS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
endif
ap.CFLAGS += $(AHRS_CFLAGS)
ap.srcs += $(AHRS_SRCS)
nps.CFLAGS += $(AHRS_CFLAGS)
nps.srcs += $(AHRS_SRCS)
conf/firmwares/subsystems/rotorcraft/ahrs_ic.makefile
-1
View File
@@ -1 +0,0 @@
$(error The ahrs_ic subsystem has been renamed, please replace <subsystem name="ahrs" type="ic"/> with <subsystem name="ahrs" type="int_cmpl_quat"/> in your airframe file.)
conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile
+1 -6
View File
@@ -58,6 +58,7 @@ nps.srcs += $(NPSDIR)/nps_main.c \
$(NPSDIR)/nps_ivy_common.c \
$(NPSDIR)/nps_ivy_rotorcraft.c \
$(NPSDIR)/nps_flightgear.c \
$(NPSDIR)/nps_ivy_mission_commands.c
# for geo mag calculation
nps.srcs += math/pprz_geodetic_wmm2010.c
@@ -67,9 +68,3 @@ nps.srcs += subsystems/datalink/ivy_transport.c
nps.srcs += subsystems/datalink/downlink.c subsystems/datalink/telemetry.c
nps.srcs += $(SRC_FIRMWARE)/rotorcraft_telemetry.c
nps.srcs += $(SRC_FIRMWARE)/datalink.c
USE_MISSION_COMMANDS_IN_NPS ?= 0
ifeq ($(USE_MISSION_COMMANDS_IN_NPS), 1)
nps.srcs += $(NPSDIR)/nps_ivy_mission_commands.c
nps.CFLAGS += -DUSE_MISSION_COMMANDS_IN_NPS
endif
conf/firmwares/subsystems/rotorcraft/gps_furuno.makefile
+24
View File
@@ -0,0 +1,24 @@
# Hey Emacs, this is a -*- makefile -*-
# Furuno NMEA GPS unit
ap.CFLAGS += -DUSE_GPS
ap.CFLAGS += -DGPS_LINK=$(GPS_PORT)
ap.CFLAGS += -DUSE_$(GPS_PORT)
ap.CFLAGS += -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
ap.CFLAGS += -DNMEA_PARSE_PROP
ifneq ($(GPS_LED),none)
ap.CFLAGS += -DGPS_LED=$(GPS_LED)
endif
ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
ap.srcs += $(SRC_SUBSYSTEMS)/gps/gps_nmea.c $(SRC_SUBSYSTEMS)/gps/gps_furuno.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
nps.CFLAGS += -DUSE_GPS
nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
conf/firmwares/subsystems/rotorcraft/ins_ardrone2.makefile
+1 -1
View File
@@ -2,6 +2,6 @@
# simple INS with float vertical filter
#
$(TARGET).CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_ardrone2.h\" -DAUTOPILOT_DISABLE_AHRS_KILL
$(TARGET).CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_ardrone2.h\"
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins/ins_ardrone2.c
conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl_quat.makefile → conf/firmwares/subsystems/shared/ahrs_float_cmpl_quat.makefile
+3
View File
@@ -38,3 +38,6 @@ ap.srcs += $(AHRS_SRCS)
nps.CFLAGS += $(AHRS_CFLAGS)
nps.srcs += $(AHRS_SRCS)
test_ahrs.CFLAGS += $(AHRS_CFLAGS)
test_ahrs.srcs += $(AHRS_SRCS)
conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl_rmat.makefile → conf/firmwares/subsystems/shared/ahrs_float_cmpl_rmat.makefile
+3
View File
@@ -37,3 +37,6 @@ ap.srcs += $(AHRS_SRCS)
nps.CFLAGS += $(AHRS_CFLAGS)
nps.srcs += $(AHRS_SRCS)
test_ahrs.CFLAGS += $(AHRS_CFLAGS)
test_ahrs.srcs += $(AHRS_SRCS)
conf/firmwares/subsystems/shared/ahrs_int_cmpl_euler.makefile
+3
View File
@@ -42,3 +42,6 @@ sim.srcs += $(ahrssim_srcs)
jsbsim.CFLAGS += $(ahrssim_CFLAGS)
jsbsim.srcs += $(ahrssim_srcs)
test_ahrs.CFLAGS += $(AHRS_CFLAGS)
test_ahrs.srcs += $(AHRS_SRCS)
conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile → conf/firmwares/subsystems/shared/ahrs_int_cmpl_quat.makefile
+3
View File
@@ -37,3 +37,6 @@ ap.srcs += $(AHRS_SRCS)
nps.CFLAGS += $(AHRS_CFLAGS)
nps.srcs += $(AHRS_SRCS)
test_ahrs.CFLAGS += $(AHRS_CFLAGS)
test_ahrs.srcs += $(AHRS_SRCS)
conf/firmwares/subsystems/shared/imu_mpu9250_i2c.makefile
+54
View File
@@ -0,0 +1,54 @@
# Hey Emacs, this is a -*- makefile -*-
#
# MPU9250 IMU via I2C
#
# for fixedwing firmware and ap only
ifeq ($(TARGET), ap)
IMU_MPU9250_CFLAGS = -DUSE_IMU
endif
IMU_MPU9250_CFLAGS += -DIMU_TYPE_H=\"imu/imu_mpu9250_i2c.h\"
IMU_MPU9250_SRCS = $(SRC_SUBSYSTEMS)/imu.c
IMU_MPU9250_SRCS += $(SRC_SUBSYSTEMS)/imu/imu_mpu9250_i2c.c
IMU_MPU9250_SRCS += peripherals/mpu9250.c
IMU_MPU9250_SRCS += peripherals/mpu9250_i2c.c
# Magnetometer
IMU_MPU9250_SRCS += peripherals/ak8963.c
# set default i2c bus
ifeq ($(ARCH), lpc21)
MPU9250_I2C_DEV ?= i2c0
else ifeq ($(ARCH), stm32)
MPU9250_I2C_DEV ?= i2c2
endif
ifeq ($(TARGET), ap)
ifndef MPU9250_I2C_DEV
$(error Error: MPU9250_I2C_DEV not configured!)
endif
endif
# convert i2cx to upper/lower case
MPU9250_I2C_DEV_UPPER=$(shell echo $(MPU9250_I2C_DEV) | tr a-z A-Z)
MPU9250_I2C_DEV_LOWER=$(shell echo $(MPU9250_I2C_DEV) | tr A-Z a-z)
IMU_MPU9250_CFLAGS += -DIMU_MPU9250_I2C_DEV=$(MPU9250_I2C_DEV_LOWER)
IMU_MPU9250_CFLAGS += -DUSE_$(MPU9250_I2C_DEV_UPPER)
# Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
ap.CFLAGS += $(IMU_MPU9250_CFLAGS)
ap.srcs += $(IMU_MPU9250_SRCS)
test_imu.CFLAGS += $(IMU_MPU9250_CFLAGS)
test_imu.srcs += $(IMU_MPU9250_SRCS)
#
# NPS simulator
#
include $(CFG_SHARED)/imu_nps.makefile
conf/firmwares/subsystems/shared/radio_control_sbus_dual.makefile
+1 -2
View File
@@ -14,7 +14,7 @@ ifneq ($(RADIO_CONTROL_LED),none)
ap.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
endif
RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus.h\"
RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus_dual.h\"
RC_FBW_CFLAGS += -DRADIO_CONTROL
@@ -28,7 +28,6 @@ RC_FBW_CFLAGS += -DUSE_$(SBUS1_PORT_UPPER) -D$(SBUS1_PORT_UPPER)_BAUD=B100000
RC_FBW_CFLAGS += -DUSE_$(SBUS2_PORT_UPPER) -D$(SBUS2_PORT_UPPER)_BAUD=B100000
RC_FBW_CFLAGS += -DSBUS1_UART_DEV=$(SBUS1_PORT_LOWER)
RC_FBW_CFLAGS += -DSBUS2_UART_DEV=$(SBUS2_PORT_LOWER)
RC_FBW_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus_dual.h\"
RC_FBW_CFLAGS += -DRADIO_CONTROL_TYPE_SBUS
RC_SRCS += $(SRC_SUBSYSTEMS)/radio_control.c
RC_SRCS += $(SRC_SUBSYSTEMS)/radio_control/sbus_dual.c
conf/firmwares/test_progs.makefile
+1 -1
View File
@@ -349,7 +349,7 @@ test_imu.srcs += math/pprz_geodetic_int.c math/pprz_geodetic_float.c math/pprz
test_ahrs.ARCHDIR = $(ARCH)
test_ahrs.CFLAGS += $(COMMON_TEST_CFLAGS)
test_ahrs.srcs += $(COMMON_TEST_SRCS)
test_ahrs.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
test_ahrs.CFLAGS += $(COMMON_TELEMETRY_CFLAGS) -DPERIODIC_TELEMETRY
test_ahrs.srcs += $(COMMON_TELEMETRY_SRCS)
test_ahrs.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
test_ahrs.srcs += test/subsystems/test_ahrs.c
conf/flight_plans/rotorcraft_basic_superbitrf.xml
+1 -1
View File
@@ -43,7 +43,7 @@
<!-- Check if battery is empty, then Land Here -->
<exception cond="electrical.bat_low && !(nav_block == BLOCK_Land) && !(nav_block == BLOCK_Flare) && !(nav_block == BLOCK_Landed)" deroute="Land_Here"/>
<!-- Check if time is up(10 seconds range), then Land Here -->
<exception cond="10 > time_until_land && !(nav_block == BLOCK_Land) && !(nav_block == BLOCK_Flare) && !(nav_block == BLOCK_Landed)" deroute="Land_Here"/>
<exception cond="10 > time_until_end && !(nav_block == BLOCK_Land) && !(nav_block == BLOCK_Flare) && !(nav_block == BLOCK_Landed)" deroute="Land_Here"/>
</exceptions>
<blocks>
<block name="Init">
conf/messages.dtd
+4 -2
View File
@@ -6,14 +6,16 @@
name CDATA #REQUIRED
>
<!ELEMENT message (field*)>
<!ELEMENT message (description?,field*)>
<!ATTLIST message
name CDATA #REQUIRED
id CDATA #REQUIRED
link CDATA #IMPLIED
>
<!ELEMENT field EMPTY>
<!ELEMENT description (#PCDATA)>
<!ELEMENT field (#PCDATA)>
<!ATTLIST field
name CDATA #REQUIRED
type CDATA #REQUIRED
conf/messages.xml
+47 -41
View File
@@ -9,10 +9,12 @@
</message>
<message name="ALIVE" id="2">
<description>alive/heartbeat message containing the MD5sum of the aircraft configuration</description>
<field name="md5sum" type="uint8[]"/>
</message>
<message name="PONG" id="3">
<description>Answer to PING datalink message, to measure latencies</description>
</message>
<message name="TAKEOFF" id="4">
@@ -70,8 +72,8 @@
<field name="utm_east" type="int32" unit="cm" alt_unit="m"/>
<field name="utm_north" type="int32" unit="cm" alt_unit="m"/>
<field name="course" type="int16" unit="decideg" alt_unit="deg"/>
<field name="alt" type="int32" unit="mm" alt_unit="m"/>
<field name="speed" type="uint16" unit="cm/s" alt_unit="m/s"/>
<field name="alt" type="int32" unit="mm" alt_unit="m">Altitude above geoid (MSL)</field>
<field name="speed" type="uint16" unit="cm/s" alt_unit="m/s">norm of 2d ground speed in cm/s</field>
<field name="climb" type="int16" unit="cm/s" alt_unit="m/s"/>
<field name="week" type="uint16" unit="weeks"/>
<field name="itow" type="uint32" unit="ms"/>
@@ -471,7 +473,7 @@
<message name="GPS_LLA" id="59">
<field name="lat" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="alt" type="int32" unit="mm" alt_unit="m"/>
<field name="alt" type="int32" unit="mm" alt_unit="m">altitude above WGS84 reference ellipsoid</field>
<field name="course" type="int16" unit="decideg" alt_unit="deg"/>
<field name="speed" type="uint16" unit="cm/s" alt_unit="m/s"/>
<field name="climb" type="int16" unit="cm/s" alt_unit="m/s"/>
@@ -1384,8 +1386,8 @@
<field name="ecef_z" type="int32" unit="cm" alt_unit="m"/>
<field name="lat" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="alt" type="int32" unit="mm" alt_unit="m"/>
<field name="hmsl" type="int32" unit="mm" alt_unit="m"/>
<field name="alt" type="int32" unit="mm" alt_unit="m">altitude above WGS84 reference ellipsoid</field>
<field name="hmsl" type="int32" unit="mm" alt_unit="m">height above mean sea level (geoid)</field>
<field name="ecef_xd" type="int32" unit="cm/s" alt_unit="m/s"/>
<field name="ecef_yd" type="int32" unit="cm/s" alt_unit="m/s"/>
<field name="ecef_zd" type="int32" unit="cm/s" alt_unit="m/s"/>
@@ -1923,10 +1925,14 @@
<field name="wn" type="float"/>
</message>
<!--215 is free -->
<!--216 is free -->
<!--217 is free -->
<!--218 is free -->
<message name="INFO_MSG" id="215">
<field name="msg" type="char[]"/>
</message>
<!--216 is free -->
<!--217 is free -->
<!--218 is free -->
<message name="WEATHER" id="219">
<field name="p_amb" type="float" unit="Pa" alt_unit="mBar" alt_unit_coef="0.01"/>
<field name="t_amb" type="float" unit="deg C"/>
@@ -2313,16 +2319,16 @@
<field name="insert" type="uint8" values="APPEND|PREPEND|REPLACE_CURRENT|REPLACE_ALL"/>
<field name="wp_east" type="float" unit="m"/>
<field name="wp_north" type="float" unit="m"/>
<field name="wp_alt" type="float" unit="m"/>
<field name="wp_alt" type="float" unit="m">altitude above geoid (MSL)</field>
<field name="duration" type="float" unit="s"/>
</message>
<message name="MISSION_GOTO_WP_LLA" id="21" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="insert" type="uint8" values="APPEND|PREPEND|REPLACE_CURRENT|REPLACE_ALL"/>
<field name="wp_lat" type="float" unit="deg"/>
<field name="wp_lon" type="float" unit="deg"/>
<field name="wp_alt" type="float" unit="m"/>
<field name="wp_lat" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="wp_lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="wp_alt" type="int32" unit="mm" alt_unit="m">altitude above geoid (MSL)</field>
<field name="duration" type="float" unit="s"/>
</message>
@@ -2331,7 +2337,7 @@
<field name="insert" type="uint8" values="APPEND|PREPEND|REPLACE_CURRENT|REPLACE_ALL"/>
<field name="center_east" type="float" unit="m"/>
<field name="center_north" type="float" unit="m"/>
<field name="center_alt" type="float" unit="m"/>
<field name="center_alt" type="float" unit="m">altitude above geoid (MSL)</field>
<field name="radius" type="float" unit="m"/>
<field name="duration" type="float" unit="s"/>
</message>
@@ -2339,9 +2345,9 @@
<message name="MISSION_CIRCLE_LLA" id="23" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="insert" type="uint8" values="APPEND|PREPEND|REPLACE_CURRENT|REPLACE_ALL"/>
<field name="center_lat" type="float" unit="deg"/>
<field name="center_lon" type="float" unit="deg"/>
<field name="center_alt" type="float" unit="m"/>
<field name="center_lat" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="center_lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="center_alt" type="int32" unit="mm" alt_unit="m">altitude above geoid (MSL)</field>
<field name="radius" type="float" unit="m"/>
<field name="duration" type="float" unit="s"/>
</message>
@@ -2353,18 +2359,18 @@
<field name="segment_north_1" type="float" unit="m"/>
<field name="segment_east_2" type="float" unit="m"/>
<field name="segment_north_2" type="float" unit="m"/>
<field name="segment_alt" type="float" unit="m"/>
<field name="segment_alt" type="float" unit="m">altitude above geoid (MSL)</field>
<field name="duration" type="float" unit="s"/>
</message>
<message name="MISSION_SEGMENT_LLA" id="25" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="insert" type="uint8" values="APPEND|PREPEND|REPLACE_CURRENT|REPLACE_ALL"/>
<field name="segment_lat_1" type="float" unit="deg"/>
<field name="segment_lon_1" type="float" unit="deg"/>
<field name="segment_lat_2" type="float" unit="deg"/>
<field name="segment_lon_2" type="float" unit="deg"/>
<field name="segment_alt" type="float" unit="m"/>
<field name="segment_lat_1" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="segment_lon_1" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="segment_lat_2" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="segment_lon_2" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="segment_alt" type="int32" unit="mm" alt_unit="m">altitude above geoid (MSL)</field>
<field name="duration" type="float" unit="s"/>
</message>
@@ -2381,7 +2387,7 @@
<field name="point_north_4" type="float" unit="m"/>
<field name="point_east_5" type="float" unit="m"/>
<field name="point_north_5" type="float" unit="m"/>
<field name="path_alt" type="float" unit="m"/>
<field name="path_alt" type="float" unit="m">altitude above geoid (MSL)</field>
<field name="duration" type="float" unit="s"/>
<field name="nb" type="uint8"/>
</message>
@@ -2389,17 +2395,17 @@
<message name="MISSION_PATH_LLA" id="27" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="insert" type="uint8" values="APPEND|PREPEND|REPLACE_CURRENT|REPLACE_ALL"/>
<field name="point_lat_1" type="float" unit="deg"/>
<field name="point_lon_1" type="float" unit="deg"/>
<field name="point_lat_2" type="float" unit="deg"/>
<field name="point_lon_2" type="float" unit="deg"/>
<field name="point_lat_3" type="float" unit="deg"/>
<field name="point_lon_3" type="float" unit="deg"/>
<field name="point_lat_4" type="float" unit="deg"/>
<field name="point_lon_4" type="float" unit="deg"/>
<field name="point_lat_5" type="float" unit="deg"/>
<field name="point_lon_5" type="float" unit="deg"/>
<field name="path_alt" type="float" unit="m"/>
<field name="point_lat_1" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="point_lon_1" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="point_lat_2" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="point_lon_2" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="point_lat_3" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="point_lon_3" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="point_lat_4" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="point_lon_4" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="point_lat_5" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="point_lon_5" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="path_alt" type="int32" unit="mm" alt_unit="m">altitude above geoid (MSL)</field>
<field name="duration" type="float" unit="s"/>
<field name="nb" type="uint8"/>
</message>
@@ -2411,18 +2417,18 @@
<field name="survey_north_1" type="float" unit="m"/>
<field name="survey_east_2" type="float" unit="m"/>
<field name="survey_north_2" type="float" unit="m"/>
<field name="survey_alt" type="float" unit="m"/>
<field name="survey_alt" type="float" unit="m">altitude above geoid (MSL)</field>
<field name="duration" type="float" unit="s"/>
</message>
<message name="MISSION_SURVEY_LLA" id="29" link="forwarded">
<field name="ac_id" type="uint8"/>
<field name="insert" type="uint8" values="APPEND|PREPEND|REPLACE_CURRENT|REPLACE_ALL"/>
<field name="survey_lat_1" type="float" unit="deg"/>
<field name="survey_lon_1" type="float" unit="deg"/>
<field name="survey_lat_2" type="float" unit="deg"/>
<field name="survey_lon_2" type="float" unit="deg"/>
<field name="survey_alt" type="float" unit="m"/>
<field name="survey_lat_1" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="survey_lon_1" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="survey_lat_2" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="survey_lon_2" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="survey_alt" type="int32" unit="mm" alt_unit="m">altitude above geoid (MSL)</field>
<field name="duration" type="float" unit="s"/>
</message>
conf/modules/configure_actuators_mkk_v2.xml
+16
View File
@@ -4,6 +4,22 @@
<doc>
<description>Configure Mikrokopter MKK v2.0 BLDC motor controllers (requires subsystem actuators_mkk_v2)</description>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="mkk">
<dl_setting var="config_mkk_v2.addr" min="0" step="1" max="3" module="modules/config/config_mkk_v2" shortname="Get" values="0x52|0x54|0x56|0x58" handler="GetConfig"/>
<dl_setting var="config_mkk_v2.nb_err" min="0" step="1" max="3000" shortname="err" />
<dl_setting var="config_mkk_v2_eeprom.revision" min="0" step="1" max="255" shortname="ee.rev" />
<dl_setting var="config_mkk_v2_eeprom.SetMask" min="0" step="1" max="255" module="modules/config/config_mkk_v2" shortname="ee.reset" handler="ResetDefault" />
<dl_setting var="config_mkk_v2_eeprom.PwmScaling" min="0" step="1" max="255" module="modules/config/config_mkk_v2" shortname="ee.pwm" handler="SetPwmScaling" />
<dl_setting var="config_mkk_v2_eeprom.CurrentLimit" min="0" step="1" max="255" module="modules/config/config_mkk_v2" shortname="ee.amp.lim" handler="SetCurrentLimit" />
<dl_setting var="config_mkk_v2_eeprom.TempLimit" min="0" step="1" max="255" module="modules/config/config_mkk_v2" shortname="ee.tmp.lim" handler="SetTempLimit" />
<dl_setting var="config_mkk_v2_eeprom.CurrentScaling" min="0" step="1" max="255" module="modules/config/config_mkk_v2" shortname="ee.amp.scl" handler="SetCurrentScaling" />
<dl_setting var="config_mkk_v2_eeprom.BitConfig" min="4" step="1" max="5" module="modules/config/config_mkk_v2" shortname="ee.bit.msk" values="Normal|Reversed" handler="SetBitConfig" />
<dl_setting var="config_mkk_v2_eeprom.crc" min="0" step="1" max="255" shortname="ee.crc" />
</dl_settings>
</dl_settings>
</settings>
<header>
<file name="config_mkk_v2.h"/>
</header>
conf/modules/digital_cam_shoot_rc.xml
+26
View File
@@ -0,0 +1,26 @@
<!DOCTYPE module SYSTEM "./module.dtd">
<module name="digital_cam_shoot_rc" dir="digital_cam">
<doc>
<description>
Digital camera control using radio channel.
With this module you can take pictures using a radio channel.
When you put the channel to max the picture are taken.
If the channel goes high for more than 0.75s a picture is taken every 1sec.
Only usable for fixedwing firmware.
</description>
<define name="DC_RADIO_SHOOT" value="RADIO_xxx" description="specifies the channel to be used to trigger the camera by radio transmiter"/>
</doc>
<depend require="digital_cam"/>
<header>
<file name="dc_shoot_rc.h"/>
</header>
<periodic fun="dc_shoot_rc_periodic()" freq="4" autorun="TRUE"/>
<makefile>
<define name="DIGITAL_CAM_SHOOT_RC"/>
<file name="dc_shoot_rc.c"/>
</makefile>
</module>
conf/modules/flight_time.xml
-25
View File
@@ -1,25 +0,0 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="flight_time" dir="time">
<doc>
<description>
Flight time calculator.
Allows to check how much time is left before the end of the competition.
</description>
</doc>
<settings>
<dl_settings>
<dl_settings name="flight time">
<dl_setting var="time_until_land" module="modules/time/flight_time" min="0" step="1" max="1800" param="FLIGHT_TIME_LEFT"/>
</dl_settings>
</dl_settings>
</settings>
<header>
<file name="flight_time.h"/>
</header>
<init fun="flight_time_init()"/>
<periodic fun="flight_time_periodic()" freq="1"/>
<makefile>
<file name="flight_time.c"/>
</makefile>
</module>
conf/modules/imu_mpu9250.xml
+28
View File
@@ -0,0 +1,28 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="imu_mpu9250" dir="sensors">
<doc>
<description>
Test module for the mpu9250 with I2C
Report RAW values on telemetry
</description>
<configure name="IMU_MPU9250_I2C_DEV" value="i2c1" description="I2C device to use (e.g. i2c1)"/>
<define name="IMU_MPU9250_ADDR" value="MPU9250_ADDR|MPU9250_ADDR_ALT" description="Use regular or alternate I2C address"/>
</doc>
<header>
<file name="imu_mpu9250.h"/>
</header>
<init fun="imu_mpu9250_init()"/>
<periodic fun="imu_mpu9250_periodic()"/>
<periodic fun="imu_mpu9250_report()" freq="10" autorun="TRUE"/>
<event fun="imu_mpu9250_event()"/>
<makefile>
<file name="imu_mpu9250.c"/>
<file name="mpu9250.c" dir="peripherals"/>
<file name="mpu9250_i2c.c" dir="peripherals"/>
<file name="ak8963.c" dir="peripherals"/>
<define name="USE_I2C"/>
<define name="IMU_MPU9250_I2C_DEV" value="$(IMU_MPU9250_I2C_DEV)"/>
</makefile>
</module>
conf/modules/mission_rotorcraft.xml
+3
View File
@@ -30,4 +30,7 @@
<file name="mission_common.c"/>
<file name="mission_rotorcraft_nav.c"/>
</makefile>
<makefile target="nps">
<define name="USE_MISSION_COMMANDS_IN_NPS"/>
</makefile>
</module>
conf/modules/time_countdown.xml
+28
View File
@@ -0,0 +1,28 @@
<?xml version="1.0" encoding="utf-8"?>
<!DOCTYPE module SYSTEM "module.dtd">
<module name="time_countdown" dir="time">
<doc>
<description>
Count down time.
Set an initial countdown value in seconds (re-settable via settings/GCS) and countdown @a time_until_end variable to zero.
E.g. allows to check how much time is left before the end of the competition.
</description>
<define name="TIME_COUNTDOWN_START_VALUE" value="10000" description="initial countdown value in seconds"/>
</doc>
<settings>
<dl_settings>
<dl_settings name="time">
<dl_setting var="time_until_end" module="modules/time/time_countdown" min="0" step="1" max="1800" param="TIME_COUNTDOWN_START_VALUE"/>
</dl_settings>
</dl_settings>
</settings>
<header>
<file name="time_countdown.h"/>
</header>
<init fun="time_countdown_init()"/>
<periodic fun="time_countdown_periodic_1hz()" freq="1"/>
<makefile>
<file name="time_countdown.c"/>
</makefile>
</module>

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