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fix CRLF line endings to LF only

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This commit is contained in:
Felix Ruess
2010-07-12 18:58:43 +00:00
parent b48e002b6f
commit 6f8a53b90c
1 changed files with 71 additions and 71 deletions
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conf/airframes/easystar2.xml
+71 -71
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@@ -1,10 +1,10 @@
<!DOCTYPE airframe SYSTEM "airframe.dtd"> <!DOCTYPE airframe SYSTEM "airframe.dtd">
<!-- <!--
Multiplex EasyStar, using rudder Multiplex EasyStar, using rudder
TWOG v1 board TWOG v1 board
Tilted infrared sensor Tilted infrared sensor
XBee 2.4GHz modem in transparent mode XBee 2.4GHz modem in transparent mode
--> -->
<airframe name="EasyStar2 - TWOG v1"> <airframe name="EasyStar2 - TWOG v1">
@@ -15,17 +15,17 @@
<!-- commands section --> <!-- commands section -->
<servos> <servos>
<servo name="THROTTLE" no="0" min="1120" neutral="1120" max="1920"/> <servo name="THROTTLE" no="0" min="1120" neutral="1120" max="1920"/>
<servo name="ELEVATOR" no="6" min="1100" neutral="1514" max="1900"/> <servo name="ELEVATOR" no="6" min="1100" neutral="1514" max="1900"/>
<servo name="RUDDER" no="7" min="2050" neutral="1612" max="950"/> <servo name="RUDDER" no="7" min="2050" neutral="1612" max="950"/>
<servo name="CAM_PAN" no="3" min="1000" neutral="1500" max="2000"/> <servo name="CAM_PAN" no="3" min="1000" neutral="1500" max="2000"/>
<servo name="CAM_TILT" no="4" min="1000" neutral="1450" max="2000"/> <servo name="CAM_TILT" no="4" min="1000" neutral="1450" max="2000"/>
</servos> </servos>
<commands> <commands>
<axis name="THROTTLE" failsafe_value="0"/> <axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/> <axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/> <axis name="PITCH" failsafe_value="0"/>
<axis name="CAM_PAN" failsafe_value="0"/> <axis name="CAM_PAN" failsafe_value="0"/>
<axis name="CAM_TILT" failsafe_value="0"/> <axis name="CAM_TILT" failsafe_value="0"/>
</commands> </commands>
@@ -33,16 +33,16 @@
<rc_commands> <rc_commands>
<set command="ROLL" value="@ROLL"/> <set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/> <set command="PITCH" value="@PITCH"/>
<set command="THROTTLE" value="@THROTTLE"/> <set command="THROTTLE" value="@THROTTLE"/>
<set command="CAM_PAN" value="@CAM_PAN"/> <set command="CAM_PAN" value="@CAM_PAN"/>
<set command="CAM_TILT" value="@CAM_TILT"/> <set command="CAM_TILT" value="@CAM_TILT"/>
</rc_commands> </rc_commands>
<command_laws> <command_laws>
<set servo="THROTTLE" value="@THROTTLE"/> <set servo="THROTTLE" value="@THROTTLE"/>
<set servo="RUDDER" value="@ROLL"/> <set servo="RUDDER" value="@ROLL"/>
<set servo="ELEVATOR" value="@PITCH"/> <set servo="ELEVATOR" value="@PITCH"/>
<set servo="CAM_PAN" value="@CAM_PAN"/> <set servo="CAM_PAN" value="@CAM_PAN"/>
<set servo="CAM_TILT" value="@CAM_TILT"/> <set servo="CAM_TILT" value="@CAM_TILT"/>
</command_laws> </command_laws>
@@ -94,51 +94,51 @@
<define name="CARROT" value="4." unit="s"/> <define name="CARROT" value="4." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(2.0*MAX_DIST_FROM_HOME)"/> <define name="KILL_MODE_DISTANCE" value="(2.0*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/> <define name="CONTROL_RATE" value="60" unit="Hz"/>
<define name="NO_XBEE_API_INIT" value="TRUE"/> <define name="NO_XBEE_API_INIT" value="TRUE"/>
<define name="ALT_KALMAN_ENABLED" value="TRUE"/> <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="TRIGGER_DELAY" value="1."/> <define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="90."/> <define name="DEFAULT_CIRCLE_RADIUS" value="90."/>
<define name="MIN_CIRCLE_RADIUS" value="60."/> <define name="MIN_CIRCLE_RADIUS" value="60."/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.0" unit="volt"/> <define name="POWER_CTL_BAT_NOMINAL" value="11.0" unit="volt"/>
<!-- outer loop --> <!-- outer loop -->
<define name="ALTITUDE_PGAIN" value="-0.075" unit="(m/s)/m"/> <define name="ALTITUDE_PGAIN" value="-0.075" unit="(m/s)/m"/>
<define name="ALTITUDE_MAX_CLIMB" value="4." unit="m/s"/> <define name="ALTITUDE_MAX_CLIMB" value="4." unit="m/s"/>
<!-- auto throttle inner loop --> <!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5" unit="%"/> <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5" unit="%"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.4" unit="%"/> <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.4" unit="%"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.8" unit="%"/> <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.8" unit="%"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" unit="pprz_t"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" unit="pprz_t"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000" unit="pprz_t"/> <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000" unit="pprz_t"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.02" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_PGAIN" value="-0.02" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/> <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05" unit="rad/(m/s)"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05" unit="rad/(m/s)"/>
<!-- auto airspeed and altitude inner loop --> <!-- auto airspeed and altitude inner loop -->
<define name="AUTO_AIRSPEED_SETPOINT" value="14.5" unit="m/s"/> <define name="AUTO_AIRSPEED_SETPOINT" value="14.5" unit="m/s"/>
<define name="AUTO_AIRSPEED_PGAIN" value="0.060"/> <define name="AUTO_AIRSPEED_PGAIN" value="0.060"/>
<define name="AUTO_AIRSPEED_IGAIN" value="0.050"/> <define name="AUTO_AIRSPEED_IGAIN" value="0.050"/>
<define name="AUTO_GROUNDSPEED_SETPOINT" value="6.0" unit="m/s"/> <define name="AUTO_GROUNDSPEED_SETPOINT" value="6.0" unit="m/s"/>
<define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/> <define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
<define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/> <define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>
<define name="AUTO_PITCH_PGAIN" value="-0.125"/> <define name="AUTO_PITCH_PGAIN" value="-0.125"/>
<define name="AUTO_PITCH_IGAIN" value="0.025"/> <define name="AUTO_PITCH_IGAIN" value="0.025"/>
<define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/> <define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
<define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-25)"/> <define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-25)"/>
<define name="THROTTLE_SLEW" value="1.0"/> <define name="THROTTLE_SLEW" value="1.0"/>
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.7"/> <define name="COURSE_PGAIN" value="-0.7"/>
<define name="ROLL_MAX_SETPOINT" value="RadOfDeg(35)" unit="radians"/> <define name="ROLL_MAX_SETPOINT" value="RadOfDeg(35)" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="RadOfDeg(25)" unit="radians"/> <define name="PITCH_MAX_SETPOINT" value="RadOfDeg(25)" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="RadOfDeg(-25)" unit="radians"/> <define name="PITCH_MIN_SETPOINT" value="RadOfDeg(-25)" unit="radians"/>
<define name="PITCH_PGAIN" value="-20000."/> <define name="PITCH_PGAIN" value="-20000."/>
<define name="PITCH_DGAIN" value="1.5"/> <define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="2500"/> <define name="ELEVATOR_OF_ROLL" value="2500"/>
<define name="ROLL_ATTITUDE_GAIN" value="-7400"/> <define name="ROLL_ATTITUDE_GAIN" value="-7400"/>
<define name="ROLL_RATE_GAIN" value="-200"/> <define name="ROLL_RATE_GAIN" value="-200"/>
</section> </section>
@@ -147,15 +147,15 @@
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/> <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section> </section>
<section name="AGGRESSIVE" prefix="AGR_"> <section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!--> <define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!--> <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_THROTTLE" value="0.70"/><!-- Gaz for Aggressive Climb --> <define name="CLIMB_THROTTLE" value="0.70"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="RadOfDeg(18)"/><!-- Pitch for Aggressive Climb --> <define name="CLIMB_PITCH" value="RadOfDeg(18)"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent --> <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="RadOfDeg(-20)"/><!-- Pitch for Aggressive Decent --> <define name="DESCENT_PITCH" value="RadOfDeg(-20)"/><!-- Pitch for Aggressive Decent -->
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude --> <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
<define name="DESCENT_NAV_RATIO" value="1.0"/> <define name="DESCENT_NAV_RATIO" value="1.0"/>
</section> </section>
<section name="FAILSAFE" prefix="FAILSAFE_"> <section name="FAILSAFE" prefix="FAILSAFE_">
@@ -165,11 +165,11 @@
<define name="DEFAULT_PITCH" value="RadOfDeg(0)" unit="rad"/> <define name="DEFAULT_PITCH" value="RadOfDeg(0)" unit="rad"/>
<define name="HOME_RADIUS" value="90" unit="m"/> <define name="HOME_RADIUS" value="90" unit="m"/>
</section> </section>
<section name="DATALINK" prefix="DATALINK_"> <section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="PPRZ"/> <define name="DEVICE_TYPE" value="PPRZ"/>
<define name="DEVICE_ADDRESS" value="...."/> <define name="DEVICE_ADDRESS" value="...."/>
</section> </section>
<makefile> <makefile>
CONFIG = \"tiny_2_1_1.h\" CONFIG = \"tiny_2_1_1.h\"
@@ -179,7 +179,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 -DUSE_MODULES ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 -DUSE_MODULES
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
ap.srcs += commands.c ap.srcs += commands.c
@@ -190,47 +190,47 @@ ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
# Radio configuration # Radio configuration
ap.CFLAGS += -DRADIO_CONTROL ap.CFLAGS += -DRADIO_CONTROL
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
# Telemetry configuration # Telemetry configuration
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B57600 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B57600
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
ap.CFLAGS += -DINTER_MCU ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c ap.srcs += inter_mcu.c
# ADC configuration # ADC configuration
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
ap.srcs += $(SRC_ARCH)/adc_hw.c ap.srcs += $(SRC_ARCH)/adc_hw.c
# GPS configuration # GPS configuration
ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG -DGPS_LED=2 ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG -DGPS_LED=2
ap.srcs += gps_ubx.c gps.c latlong.c ap.srcs += gps_ubx.c gps.c latlong.c
ap.CFLAGS += -DINFRARED -DALT_KALMAN ap.CFLAGS += -DINFRARED -DALT_KALMAN
ap.srcs += infrared.c estimator.c ap.srcs += infrared.c estimator.c
# Control loops # Control loops
ap.CFLAGS += -DNAV -DLOITER_TRIM ap.CFLAGS += -DNAV -DLOITER_TRIM
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
ap.srcs += nav_line.c ap.srcs += nav_line.c
ap.srcs += nav_survey_rectangle.c ap.srcs += nav_survey_rectangle.c
# Camera control # Camera control
#ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL #ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
#-DTEST_CAM #-DTEST_CAM
#ap.srcs += cam.c point.c #ap.srcs += cam.c point.c
# EagleTree sensors (altimeter and airspeed) # EagleTree sensors (altimeter and airspeed)
ap.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0 -DAGR_CLIMB ap.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0 -DAGR_CLIMB
ap.srcs += airspeed.c airspeed_ets.c baro_ets.c i2c.c $(SRC_ARCH)/i2c_hw.c ap.srcs += airspeed.c airspeed_ets.c baro_ets.c i2c.c $(SRC_ARCH)/i2c_hw.c
# Config for SITL simulation # Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN -DUSE_MODULES sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN -DUSE_MODULES
sim.srcs += nav_line.c nav_survey_rectangle.c sim.srcs += nav_line.c nav_survey_rectangle.c
sim.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0 -DAGR_CLIMB sim.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0 -DAGR_CLIMB
sim.srcs += airspeed.c airspeed_ets.c baro_ets.c i2c.c $(SRC_ARCH)/i2c_hw.c sim.srcs += airspeed.c airspeed_ets.c baro_ets.c i2c.c $(SRC_ARCH)/i2c_hw.c
</makefile> </makefile>