Merge pull request #2148 from EwoudSmeur/tudelft_conf_cleanup2

Rename TUDELFT to tudelft, remove tudelft_ prefix
2026-05-09 22:49:53 +08:00 · 2017-10-30 18:01:43 +01:00
parent 38a106f3e7 2e0a520bb7
commit 764694f4c1
105 changed files with 112 additions and 577 deletions
@@ -67,7 +67,7 @@
    <define name="THRUST_COEF" value="{ 256,  256,  256,  256 }"/>
  </section>

-  <include href="conf/airframes/TUDELFT/calibrations/ladybird1.xml" />
+  <include href="conf/airframes/tudelft/calibrations/ladybird1.xml" />

  <section name="IMU" prefix="IMU_">
    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
@@ -90,7 +90,7 @@
    <define name="CALC_AMSL_BARO" value="TRUE"/>
  </section>

-  <include href="conf/airframes/TUDELFT/calibrations/bebop_bart.xml" />
+  <include href="conf/airframes/tudelft/calibrations/bebop_bart.xml" />

  <section name="IMU" prefix="IMU_">
    <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
@@ -99,7 +99,7 @@
    <define name="CALC_AMSL_BARO" value="TRUE"/>
  </section>

-  <include href="conf/airframes/TUDELFT/calibrations/bebop8.xml" />
+  <include href="conf/airframes/tudelft/calibrations/bebop8.xml" />

  <section name="IMU" prefix="IMU_">
    <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
@@ -101,7 +101,7 @@
    <define name="CALC_AMSL_BARO" value="TRUE"/>
  </section>

-  <include href="conf/airframes/TUDELFT/calibrations/bebop8.xml"/>
+  <include href="conf/airframes/tudelft/calibrations/bebop8.xml"/>

  <section name="IMU" prefix="IMU_">
    <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
@@ -93,7 +93,7 @@
    <define name="CALC_AMSL_BARO" value="TRUE"/>
  </section>

-  <include href="conf/airframes/TUDELFT/calibrations/bebop8.xml"/>
+  <include href="conf/airframes/tudelft/calibrations/bebop8.xml"/>

  <section name="IMU" prefix="IMU_">
    <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
@@ -27,7 +27,7 @@
   airframe="airframes/BR/bebop_indi_frog.xml"
   radio="radios/dummy.xml"
   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_delft.xml"
+   flight_plan="flight_plans/tudelft/rotorcraft_survey_delft.xml"
   settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_secondary.xml"
   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/video_rtp_stream.xml modules/cv_blob_locator.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
   gui_color="#ffff0689b7a1"
@@ -67,7 +67,7 @@
    <define name="THRUST_COEF" value="{ 256,  256,  256,  256 }"/>
  </section>

-  <include href="conf/airframes/TUDELFT/calibrations/ladybird18.xml" />
+  <include href="conf/airframes/tudelft/calibrations/ladybird18.xml" />

  <section name="IMU" prefix="IMU_">
    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
@@ -67,7 +67,7 @@
    <define name="THRUST_COEF" value="{ 256,  256,  256,  256 }"/>
  </section>

-  <include href="conf/airframes/TUDELFT/calibrations/ladybird18.xml" />
+  <include href="conf/airframes/tudelft/calibrations/ladybird18.xml" />

  <section name="IMU" prefix="IMU_">
    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
@@ -67,7 +67,7 @@
    <define name="THRUST_COEF" value="{ 256,  256,  256,  256 }"/>
  </section>

-  <include href="conf/airframes/TUDELFT/calibrations/ladybird18.xml"/>
+  <include href="conf/airframes/tudelft/calibrations/ladybird18.xml"/>

  <section name="IMU" prefix="IMU_">
    <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
@@ -67,7 +67,7 @@
    <define name="THRUST_COEF" value="{ 256,  256,  256,  256 }"/>
  </section>

-  <include href="conf/airframes/TUDELFT/calibrations/ladybird18.xml" />
+  <include href="conf/airframes/tudelft/calibrations/ladybird18.xml" />

  <section name="IMU" prefix="IMU_">
    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
@@ -99,7 +99,7 @@
    <define name="CALC_AMSL_BARO" value="TRUE"/>
  </section>

-  <include href="conf/airframes/TUDELFT/calibrations/bebop5.xml" />
+  <include href="conf/airframes/tudelft/calibrations/bebop5.xml" />

  <section name="IMU" prefix="IMU_">
    <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
@@ -16,7 +16,7 @@
   airframe="airframes/CDW/cdw_bebop.xml"
   radio="radios/dummy.xml"
   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_delft.xml"
+   flight_plan="flight_plans/tudelft/rotorcraft_survey_delft.xml"
   settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_secondary.xml settings/control/rotorcraft_speed.xml"
   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/video_rtp_stream.xml modules/cv_blob_locator.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
   gui_color="#ffff0689b7a1"
@@ -27,7 +27,7 @@
   airframe="airframes/CDW/cdw_mavtec.xml"
   radio="radios/R6107SP_7ch.xml"
   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_imav2015_competition.xml"
+   flight_plan="flight_plans/tudelft/rotorcraft_survey_imav2015_competition.xml"
   settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2.xml"
   settings_modules="modules/geo_mag.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/gps_ubx_ucenter.xml modules/switch_servo.xml modules/ahrs_float_mlkf.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
   gui_color="blue"
@@ -1,215 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-<!-- RM airframe with INDI and video logging-->
-<airframe name="ardrone2_indi">
-  <firmware name="rotorcraft">
-    <target name="ap" board="ardrone2">
-      <define name="FAILSAFE_DESCENT_SPEED" value="0.5"/>
-      <configure name="USE_MAGNETOMETER" value="1"/>
-      <define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
-    </target>
-
-    <target name="nps" board="pc">
-      <module name="fdm" type="jsbsim"/>
-    </target>
-
-    <define name="USE_SONAR" value="TRUE"/>
-
-	<!-- Subsystem section -->
-    <module name="telemetry" type="transparent_udp"/>
-    <module name="radio_control" type="datalink"/>
-    <module name="motor_mixing"/>
-    <module name="actuators" type="ardrone2"/>
-    <module name="imu" type="ardrone2"/>
-    <!-- gps: "ublox" or change to "sirf" for usage with parrot flight recorder -->
-    <module name="gps" type="datalink"/>
-    <module name="stabilization" type="indi_simple"/>
-    <module name="ahrs" type="int_cmpl_quat">
-      <configure name="USE_MAGNETOMETER" value="TRUE"/>
-      <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
-    </module>
-    <module name="ins" type="extended"/>
-  </firmware>
-
-  <modules main_freq="512">
-    <module name="bat_voltage_ardrone2"/>
-	<module name="opticflow_hover"/>
-	<module name="mavlink_decoder">
-		<configure name="MAVLINK_PORT" value="UART1"/>
-		<configure name="MAVLINK_BAUD" value="B115200"/>
-	</module>
-	<module name="px4flow"/>
-  </modules>
-
-  <commands>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="3000"/>
-  </commands>
-
-  <servos driver="Default">
-    <servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
-    <servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
-    <servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
-    <servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
-  </servos>
-
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <define name="TRIM_ROLL" value="0"/>
-    <define name="TRIM_PITCH" value="0"/>
-    <define name="TRIM_YAW" value="0"/>
-
-    <!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
-    <define name="TYPE" value="QUAD_X"/>
-  </section>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
-    <set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
-    <set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
-    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
-    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
-  </command_laws>
-
-  <section name="IMU" prefix="IMU_">
-    <!-- Accelero -->
-    <define name="ACCEL_X_NEUTRAL" value="2048"/>
-    <define name="ACCEL_Y_NEUTRAL" value="2048"/>
-    <define name="ACCEL_Z_NEUTRAL" value="2048"/>
-
-    <!-- Magneto calibration -->
-    <define name="MAG_X_NEUTRAL" value="0"/>
-    <define name="MAG_Y_NEUTRAL" value="0"/>
-    <define name="MAG_Z_NEUTRAL" value="-180"/>
-    <define name="MAG_X_SENS" value="16." integer="16"/>
-    <define name="MAG_Y_SENS" value="16." integer="16"/>
-    <define name="MAG_Z_SENS" value="16." integer="16"/>
-
-    <!-- Magneto current calibration -->
-    <define name="MAG_X_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Y_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Z_CURRENT_COEF" value="0.0"/>
-
-    <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>
-
-  <!-- local magnetic field -->
-  <!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
-  <section name="AHRS" prefix="AHRS_">
-    <!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
-
-    <!-- Delft -->
-    <define name="H_X" value="0.3892503"/>
-    <define name="H_Y" value="0.0017972"/>
-    <define name="H_Z" value="0.9211303"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-    <define name="SONAR_MAX_RANGE" value="3.2"/>
-    <define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
-   <!-- Use GPS altitude measurments and set the R gain -->
-    <!--<define name="USE_GPS_ALT" value="1"/>-->
-    <!--<define name="VFF_R_GPS" value="0.01"/>-->
-  </section>
-
-
-  <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
-    <!-- setpoint limits for attitude stabilization rc flight -->
-    <define name="SP_MAX_PHI" value="45" unit="deg"/>
-    <define name="SP_MAX_THETA" value="45" unit="deg"/>
-    <define name="SP_MAX_R" value="180" unit="deg/s"/>
-    <define name="DEADBAND_A" value="0"/>
-    <define name="DEADBAND_E" value="0"/>
-    <define name="DEADBAND_R" value="250"/>
-  </section>
-
-  <section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
-    <!-- attitude reference generation model -->
-    <define name="REF_OMEGA_P" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_P" value="0.9"/>
-    <define name="REF_MAX_P" value="600." unit="deg/s"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_Q" value="0.9"/>
-    <define name="REF_MAX_Q" value="600." unit="deg/s"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_R" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_R" value="0.9"/>
-    <define name="REF_MAX_R" value="600." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
-  </section>
-
-  <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
-    <!-- control effectiveness -->
-    <define name="G1_P" value="0.032"/>
-    <define name="G1_Q" value="0.025"/>
-    <define name="G1_R" value="0.0032"/>
-    <define name="G2_R" value="0.16"/>
-
-    <!-- reference acceleration for attitude control -->
-    <define name="REF_ERR_P" value="380.0"/>
-    <define name="REF_ERR_Q" value="380.0"/>
-    <define name="REF_ERR_R" value="250.0"/>
-    <define name="REF_RATE_P" value="21.6"/>
-    <define name="REF_RATE_Q" value="21.6"/>
-    <define name="REF_RATE_R" value="21.0"/>
-
-    <!-- second order filter parameters -->
-    <define name="FILT_CUTOFF" value="3.2"/>
-    <define name="FILT_CUTOFF_R" value="3.2"/>
-
-    <!-- first order actuator dynamics -->
-    <define name="ACT_DYN_P" value="0.06"/>
-    <define name="ACT_DYN_Q" value="0.06"/>
-    <define name="ACT_DYN_R" value="0.06"/>
-
-    <!-- Adaptive Learning Rate -->
-    <define name="USE_ADAPTIVE" value="FALSE"/>
-    <define name="ADAPTIVE_MU" value="0.0001"/>
-  </section>
-
-  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-    <define name="HOVER_KP" value="283"/>
-    <define name="HOVER_KD" value="82"/>
-    <define name="HOVER_KI" value="13"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
-  </section>
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <!-- Good weather -->
-    <define name="MAX_BANK" value="20" unit="deg"/>
-    <!-- Bad weather -->
-    <!-- define name="MAX_BANK" value="32" unit="deg"/ -->
-    <define name="PGAIN" value="79"/>
-    <define name="DGAIN" value="100"/>
-    <define name="IGAIN" value="30"/>
-  </section>
-
-  <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
-    <define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
-    <define name="JSBSIM_INIT" value="reset00" type="string"/>
-    <define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.h" type="string"/>
-  </section>
-
-  <section name="AUTOPILOT">
-    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
-    <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_MODULE"/>
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="9.8" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="10.2" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="12.6" unit="V"/>
-  </section>
-</airframe>
@@ -71,7 +71,7 @@
    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[3]"/>
  </command_laws>

-  <include href="conf/airframes/TUDELFT/IMAV2013/calibrations/$AC_ID_calib.xml"/>
+  <include href="conf/airframes/tudelft/IMAV2013/calibrations/$AC_ID_calib.xml"/>
  <section name="IMU" prefix="IMU_">
    <!-- Body to IMU is no difference -->
    <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
@@ -3,7 +3,7 @@

 <!--
     Applicable configuration:
-     airframe="airframes/TUDELFT/IMAV2013/tudelft_mavrick_lisa_s.xml"
+     airframe="airframes/tudelft/IMAV2013/mavrick_lisa_s.xml"
     radio="radios/cockpitSX.xml"
     telemetry="telemetry/default_fixedwing.xml"
     flight_plan="flight_plans/fixedwing_basic.xml"
@@ -3,7 +3,7 @@

 <!--
     Applicable configuration:
-     airframe="airframes/TUDELFT/IMAV2013/tudelft_walkera_V120D02S.xml"
+     airframe="airframes/tudelft/IMAV2013/walkera_V120D02S.xml"
     radio="radios/cockpitSX.xml"
     telemetry="telemetry/default_rotorcraft.xml"
     flight_plan="flight_plans/rotorcraft_basic.xml"
@@ -3,7 +3,7 @@

 <!--
     Applicable configuration:
-     airframe="airframes/TUDELFT/IMAV2013/tudelft_walkera_genius_v1.xml"
+     airframe="airframes/tudelft/IMAV2013/walkera_genius_v1.xml"
     radio="radios/cockpitSX.xml"
     telemetry="telemetry/default_rotorcraft.xml"
     flight_plan="flight_plans/rotorcraft_basic.xml"
@@ -73,7 +73,7 @@
    <define name="CALC_AMSL_BARO" value="TRUE"/>
  </section>

-  <include href="conf/airframes/TUDELFT/calibrations/bebop2_$AC_ID.xml" />
+  <include href="conf/airframes/tudelft/calibrations/bebop2_$AC_ID.xml" />

  <!-- local magnetic field -->
  <!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
@@ -81,7 +81,7 @@
    <define name="CALC_AMSL_BARO" value="TRUE"/>
  </section>

-  <include href="conf/airframes/TUDELFT/calibrations/bebop2_$AC_ID.xml" />
+  <include href="conf/airframes/tudelft/calibrations/bebop2_$AC_ID.xml" />

  <!-- local magnetic field -->
  <!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
@@ -77,7 +77,7 @@
    <define name="CALC_AMSL_BARO" value="TRUE"/>
  </section>

-  <include href="conf/airframes/TUDELFT/calibrations/bebop7.xml" />
+  <include href="conf/airframes/tudelft/calibrations/bebop7.xml" />

  <section name="IMU" prefix="IMU_">
    <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
@@ -72,7 +72,7 @@
    <define name="CALC_AMSL_BARO" value="TRUE"/>
  </section>

-  <include href="conf/airframes/TUDELFT/calibrations/bebop7.xml" />
+  <include href="conf/airframes/tudelft/calibrations/bebop7.xml" />

  <section name="IMU" prefix="IMU_">
    <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
@@ -109,7 +109,7 @@
    <define name="CALC_AMSL_BARO" value="TRUE"/>
  </section>

-  <include href="conf/airframes/TUDELFT/calibrations/bebop5.xml" />
+  <include href="conf/airframes/tudelft/calibrations/bebop5.xml" />

  <section name="IMU" prefix="IMU_">
    <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
@@ -90,7 +90,7 @@
    <define name="CALC_AMSL_BARO" value="TRUE"/>
  </section>

-  <include href="conf/airframes/TUDELFT/calibrations/bebopTUBB17.xml"/>
+  <include href="conf/airframes/tudelft/calibrations/bebopTUBB17.xml"/>

  <section name="IMU" prefix="IMU_">
    <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
@@ -74,7 +74,7 @@
    <define name="CALC_AMSL_BARO" value="TRUE"/>
  </section>

-  <include href="conf/airframes/TUDELFT/calibrations/bebop7.xml" />
+  <include href="conf/airframes/tudelft/calibrations/bebop7.xml" />

  <section name="IMU" prefix="IMU_">
    <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
--- a/Show More
+++ b/Show More