mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Merge remote branch 'paparazzi/master' into joystick
Conflicts: .gitignore
This commit is contained in:
Gautier Hattenberger
@@ -113,6 +113,10 @@
|
||||
/sw/tools/fp_parser.ml
|
||||
/sw/tools/wiki_gen/wiki_gen
|
||||
|
||||
# /sw/ground_segment/misc
|
||||
/sw/ground_segment/misc/davis2ivy
|
||||
|
||||
|
||||
# /sw/airborne/arch/lpc21/test/bootloader
|
||||
/sw/airborne/arch/lpc21/test/bootloader/bl.dmp
|
||||
/sw/airborne/arch/lpc21/test/bootloader/bl.hex
|
||||
|
||||
@@ -43,6 +43,7 @@ AIRBORNE=sw/airborne
|
||||
COCKPIT=sw/ground_segment/cockpit
|
||||
TMTC=sw/ground_segment/tmtc
|
||||
MULTIMON=sw/ground_segment/multimon
|
||||
MISC=sw/ground_segment/misc
|
||||
LOGALIZER=sw/logalizer
|
||||
SIMULATOR=sw/simulator
|
||||
MAKE=make PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME)
|
||||
@@ -69,7 +70,7 @@ OCAMLRUN=$(shell which ocamlrun)
|
||||
|
||||
all: commands static conf
|
||||
|
||||
static : lib center tools cockpit multimon tmtc logalizer lpc21iap sim_static static_h usb_lib
|
||||
static : lib center tools cockpit multimon tmtc misc logalizer lpc21iap sim_static static_h usb_lib
|
||||
|
||||
conf: conf/conf.xml conf/control_panel.xml
|
||||
|
||||
@@ -98,13 +99,16 @@ cockpit: lib
|
||||
tmtc: lib cockpit
|
||||
cd $(TMTC); $(MAKE) all
|
||||
|
||||
misc:
|
||||
cd $(MISC); $(MAKE) all
|
||||
|
||||
multimon:
|
||||
cd $(MULTIMON); $(MAKE)
|
||||
|
||||
static_h: $(MESSAGES_H) $(MESSAGES2_H) $(UBX_PROTOCOL_H) $(XSENS_PROTOCOL_H) $(DL_PROTOCOL_H) $(DL_PROTOCOL2_H)
|
||||
|
||||
usb_lib:
|
||||
@[ -d sw/airborne/arch/lpc21/lpcusb ] && ((test -x $(ARMGCC) && (cd sw/airborne/arch/lpc21/lpcusb; $(MAKE))) || echo "Not building usb_lib: ARMGCC=$(ARMGCC) not found") || echo "Not building usb_lib: sw/airborne/arch/lpc21/lpcusb directory missing"
|
||||
@[ -d sw/airborne/arch/lpc21/lpcusb ] && ((test -x "$(ARMGCC)" && (cd sw/airborne/arch/lpc21/lpcusb; $(MAKE))) || echo "Not building usb_lib: ARMGCC=$(ARMGCC) not found") || echo "Not building usb_lib: sw/airborne/arch/lpc21/lpcusb directory missing"
|
||||
|
||||
$(MESSAGES_H) : $(MESSAGES_XML) $(CONF_XML) tools
|
||||
$(Q)test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)
|
||||
|
||||
+1
-1
@@ -138,7 +138,7 @@ else
|
||||
LDFLAGS = -D__thumb2__ -T$(LDSCRIPT) -nostartfiles -L$(GCC_LIB_DIR) -O$(OPT) --gc-sections
|
||||
endif
|
||||
LDFLAGS += -Wl,-Map=$(OBJDIR)/$(TARGET).map,--cref,--gc-sections
|
||||
LDLIBS += -lc -lm -lgcc -lcmsis -lstm32
|
||||
LDLIBS += -lc -lm -lgcc -lcmsis -lstm32 -lopencm3_stm32
|
||||
|
||||
CPFLAGS = -j .isr_vector -j .text -j .data
|
||||
CPFLAGS_BIN = -Obinary
|
||||
|
||||
@@ -61,14 +61,6 @@
|
||||
<define name="MAG_Y_SENS" value="4.884119848" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="2.59926404993" integer="16"/>
|
||||
|
||||
<!-- old calibration
|
||||
<define name="MAG_X_NEUTRAL" value="30"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="80"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="19"/>
|
||||
<define name="MAG_X_SENS" value="4.73590916868" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="4.86013203775" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="2.5947951512" integer="16"/>
|
||||
-->
|
||||
<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0. )"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0. )"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 135.)"/>
|
||||
@@ -77,7 +69,7 @@
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_RC_CLIMB"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
|
||||
</section>
|
||||
|
||||
@@ -124,7 +116,7 @@
|
||||
<define name="REF_MAX_R" value="RadOfDeg(180.)"/>
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<!-- gaui props
|
||||
<define name="PHI_PGAIN" value="-900"/>
|
||||
<define name="PHI_DGAIN" value="-200"/>
|
||||
<define name="PHI_IGAIN" value="-200"/>
|
||||
@@ -137,16 +129,42 @@
|
||||
<define name="PSI_DGAIN" value="-200"/>
|
||||
<define name="PSI_IGAIN" value="-10"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value=" 200"/>
|
||||
<define name="THETA_DDGAIN" value=" 200"/>
|
||||
<define name="PSI_DDGAIN" value=" 200"/>
|
||||
-->
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="PHI_PGAIN" value="-2000"/>
|
||||
<define name="PHI_DGAIN" value="-400"/>
|
||||
<define name="PHI_IGAIN" value="-200"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="-2000"/>
|
||||
<define name="THETA_DGAIN" value="-400"/>
|
||||
<define name="THETA_IGAIN" value="-200"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="-2000"/>
|
||||
<define name="PSI_DGAIN" value="-400"/>
|
||||
<define name="PSI_IGAIN" value="-10"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value=" 300"/>
|
||||
<define name="THETA_DDGAIN" value=" 300"/>
|
||||
<define name="PSI_DDGAIN" value=" 300"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<define name="PROPAGATE_FREQUENCY" value="512"/>
|
||||
<define name="H_X" value=" 0.51562740288882"/>
|
||||
<define name="H_Y" value="-0.05707735220832"/>
|
||||
<define name="H_Z" value=" 0.85490967783446"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<!-- <define name="BARO_SENS" value="15." integer="16"/> -->
|
||||
<define name="BARO_SENS" value="10." integer="16"/>
|
||||
<define name="UNTILT_ACCEL" value="1"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
@@ -155,21 +173,29 @@
|
||||
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
|
||||
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
|
||||
<define name="MAX_SUM_ERR" value="2000000"/>
|
||||
|
||||
<!--
|
||||
<define name="HOVER_KP" value="-500"/>
|
||||
<define name="HOVER_KD" value="-200"/>
|
||||
<define name="HOVER_KI" value="-100"/>
|
||||
<define name="HOVER_KI" value="0"/>
|
||||
-->
|
||||
<define name="HOVER_KP" value="-150"/>
|
||||
<define name="HOVER_KD" value="-80"/>
|
||||
<define name="HOVER_KI" value="0"/>
|
||||
|
||||
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
|
||||
<define name="RC_CLIMB_COEF" value ="163"/>
|
||||
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
|
||||
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
|
||||
<define name="INV_M" value ="0.2"/>
|
||||
<!-- <define name="INV_M" value ="0.2"/> -->
|
||||
</section>
|
||||
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="PGAIN" value="-100"/>
|
||||
<define name="PGAIN" value="-50"/>
|
||||
<define name="DGAIN" value="-100"/>
|
||||
<define name="IGAIN" value="-0"/>
|
||||
<define name="IGAIN" value="-15"/>
|
||||
<define name="NGAIN" value="-0"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
@@ -182,15 +208,19 @@
|
||||
<define name="SENSORS_PARAMS" value=""nps_sensors_params_booz2_a1.h""/>
|
||||
</section>
|
||||
|
||||
<!-- -->
|
||||
<!--
|
||||
<modules main_freq="512">
|
||||
<load name="vehicle_interface_overo_link.xml"/>
|
||||
</modules>
|
||||
<!-- -->
|
||||
-->
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="lisa_l_1.0">
|
||||
<!-- <define name="BOOZ_START_DELAY" value="1"/> -->
|
||||
<!-- <define name="USE_PERSISTENT_SETTINGS"/> -->
|
||||
<!-- <define name="USE_INS_NAV_INIT"/> -->
|
||||
<define name="USE_ADAPT_HOVER"/>
|
||||
<define name="FAILSAFE_GROUND_DETECT"/>
|
||||
<define name="USE_GPS_ACC4R"/>
|
||||
<target name="ap" board="lisa_l_1.0">
|
||||
<subsystem name="radio_control" type="spektrum"/>
|
||||
<subsystem name="actuators" type="asctec"/>
|
||||
</target>
|
||||
@@ -201,29 +231,35 @@
|
||||
</target>
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<subsystem name="imu" type="b2_v1.1"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="gps" type="ublox">
|
||||
<configure name="GPS_BAUD" value="B57600"/>
|
||||
</subsystem>
|
||||
<subsystem name="ahrs" type="cmpl"/>
|
||||
<!-- <subsystem name="ahrs" type="ic"/> -->
|
||||
<subsystem name="ins" type="hff"/>
|
||||
</firmware>
|
||||
|
||||
<firmware name="lisa_l_test_progs">
|
||||
<target name="test_led" board="lisa_l_1.0"/>
|
||||
<target name="test_uart" board="lisa_l_1.0"/>
|
||||
<target name="test_servos" board="lisa_l_1.0"/>
|
||||
<target name="test_telemetry" board="lisa_l_1.0"/>
|
||||
<target name="test_baro" board="lisa_l_1.0"/>
|
||||
<target name="test_imu_b2" board="lisa_l_1.0"/>
|
||||
<target name="test_imu_b2_2" board="lisa_l_1.0"/>
|
||||
<target name="test_imu_aspirin" board="lisa_l_1.0"/>
|
||||
<target name="test_rc_spektrum" board="lisa_l_1.0"/>
|
||||
<target name="test_rc_ppm" board="lisa_l_1.0"/>
|
||||
<target name="test_adc" board="lisa_l_1.0"/>
|
||||
<target name="test_hmc5843" board="lisa_l_1.0"/>
|
||||
<target name="test_itg3200" board="lisa_l_1.0"/>
|
||||
<target name="test_led" board="lisa_l_1.0"/>
|
||||
<target name="test_uart" board="lisa_l_1.0"/>
|
||||
<target name="test_servos" board="lisa_l_1.0"/>
|
||||
<target name="test_telemetry" board="lisa_l_1.0"/>
|
||||
<target name="test_baro" board="lisa_l_1.0"/>
|
||||
<target name="test_imu_b2" board="lisa_l_1.0"/>
|
||||
<target name="test_imu_b2_2" board="lisa_l_1.0"/>
|
||||
<target name="test_imu_aspirin" board="lisa_l_1.0"/>
|
||||
<target name="test_rc_spektrum" board="lisa_l_1.0"/>
|
||||
<target name="test_rc_ppm" board="lisa_l_1.0"/>
|
||||
<target name="test_adc" board="lisa_l_1.0"/>
|
||||
<target name="test_hmc5843" board="lisa_l_1.0"/>
|
||||
<target name="test_itg3200" board="lisa_l_1.0"/>
|
||||
<target name="test_adxl345" board="lisa_l_1.0"/>
|
||||
<target name="test_esc_mkk_simple" board="lisa_l_1.0"/>
|
||||
<target name="test_esc_asctecv1_simple" board="lisa_l_1.0"/>
|
||||
<target name="test_actuators_mkk" board="lisa_l_1.0"/>
|
||||
<target name="test_actuators_asctecv1" board="lisa_l_1.0"/>
|
||||
<target name="tunnel_sw" board="lisa_l_1.0"/>
|
||||
<target name="tunnel_hw" board="lisa_l_1.0"/>
|
||||
</firmware>
|
||||
|
||||
<firmware name="lisa_passthrough">
|
||||
|
||||
@@ -7,6 +7,8 @@ test settings
|
||||
<airframe name="test settings">
|
||||
|
||||
<firmware name="lisa_l_test_progs">
|
||||
<define name="USE_PERMANENT_SETTINGS"/>
|
||||
|
||||
<target name="test_settings" board="lisa_m_1.0"/>
|
||||
</firmware>
|
||||
|
||||
|
||||
@@ -4,28 +4,21 @@
|
||||
<target name="ap" board="booz_1.0">
|
||||
<!--<define name="KILL_MOTORS"/>--> <!-- prevent motors from ever starting -->
|
||||
<!--<define name="RADIO_KILL_SWITCH" value="RADIO_CONTROL_SWITCH1"/>-->
|
||||
<define name="USE_GPS_ACC4R"/>
|
||||
<define name="USE_INS_NAV_INIT"/>
|
||||
|
||||
</target>
|
||||
|
||||
<target name="sim" board="pc">
|
||||
<subsystem name="fdm" type="nps"/>
|
||||
</target>
|
||||
|
||||
<define name="USE_ADAPT_HOVER"/>
|
||||
<define name="GUIDANCE_H_USE_REF"/>
|
||||
<define name="NO_FUCKING_STARTUP_DELAY"/>
|
||||
|
||||
<subsystem name="telemetry" type="transparent_usb"/>
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<subsystem name="actuators" type="mkk">
|
||||
<configure name="MKK_I2C_SCL_TIME" value="150"/><!-- this is optional, 150 is default, e.g. use 50 for 8 motors-->
|
||||
</subsystem>
|
||||
<subsystem name="imu" type="b2_v1.0"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="actuators" type="mkk"/>
|
||||
<subsystem name="imu" type="b2_v1.0"/>
|
||||
<subsystem name="ahrs" type="cmpl"/>
|
||||
<subsystem name="ins" type="hff">
|
||||
<define name="GPS_LAG=0.2"/>
|
||||
</subsystem>
|
||||
</firmware>
|
||||
|
||||
<firmware name="booz2_test_progs">
|
||||
@@ -33,6 +26,8 @@
|
||||
<target name="test_baro" board="booz_1.0"/>
|
||||
<target name="test_spektrum" board="booz_1.0"/>
|
||||
<target name="tunnel" board="booz_1.0"/>
|
||||
<target name="usb_tunnel_0" board="booz_1.0"/>
|
||||
<target name="usb_tunnel_1" board="booz_1.0"/>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
@@ -213,8 +208,7 @@
|
||||
<define name="MILLIAMP_PER_PERCENT" value="0.86" />
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V" />
|
||||
<define name="MAX_BAT_LEVEL" value="12.0" unit="V" />
|
||||
<define name="BATTERY_SENS" value="0.246" integer="16" />
|
||||
<define name="BATTERY_OFFSET" value="0" />
|
||||
<define name="VoltageOfAdc(adc)" value="(0.0246*adc)"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
|
||||
@@ -0,0 +1,32 @@
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<define name="GYRO_P_NEUTRAL" value="93"/>
|
||||
<define name="GYRO_Q_NEUTRAL" value="131"/>
|
||||
<define name="GYRO_R_NEUTRAL" value="-25"/>
|
||||
<define name="GYRO_P_SENS" value="5.0" integer="16"/>
|
||||
<define name="GYRO_Q_SENS" value="5.0" integer="16"/>
|
||||
<define name="GYRO_R_SENS" value="5.0" integer="16"/>
|
||||
<define name="GYRO_PQ_SENS" value="0.0" integer="16"/>
|
||||
<define name="GYRO_PR_SENS" value="0.0" integer="16"/>
|
||||
<define name="GYRO_QR_SENS" value="0.0" integer="16"/>
|
||||
|
||||
<define name="ACCEL_X_NEUTRAL" value="4"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="-14"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="-5"/>
|
||||
<define name="ACCEL_X_SENS" value="39" integer="16"/>
|
||||
<define name="ACCEL_Y_SENS" value="39" integer="16"/>
|
||||
<define name="ACCEL_Z_SENS" value="39" integer="16"/>
|
||||
<define name="ACCEL_XY_SENS" value="0.0" integer="16"/>
|
||||
<define name="ACCEL_XZ_SENS" value="0.0" integer="16"/>
|
||||
<define name="ACCEL_YZ_SENS" value="0.0" integer="16"/>
|
||||
|
||||
<define name="MAG_X_NEUTRAL" value="-21"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="10"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="12"/>
|
||||
<define name="MAG_X_SENS" value="3.17378921476" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="3.14663275967" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="3.26531022727" integer="16"/>
|
||||
<define name="MAG_XY_SENS" value="0.0" integer="16"/>
|
||||
<define name="MAG_XZ_SENS" value="0.0" integer="16"/>
|
||||
<define name="MAG_YZ_SENS" value="0.0" integer="16"/>
|
||||
|
||||
</section>
|
||||
@@ -158,7 +158,7 @@
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
<define name="BARO_SENS" value="10." integer="16"/>
|
||||
<define name="BARO_SENS" value="3.3" integer="16"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
@@ -167,14 +167,14 @@
|
||||
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
|
||||
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
|
||||
<define name="MAX_SUM_ERR" value="2000000"/>
|
||||
<define name="HOVER_KP" value="-500"/>
|
||||
<define name="HOVER_KD" value="-200"/>
|
||||
<define name="HOVER_KI" value="-100"/>
|
||||
<define name="HOVER_KP" value="-150"/>
|
||||
<define name="HOVER_KD" value="-80"/>
|
||||
<define name="HOVER_KI" value="-20"/>
|
||||
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
|
||||
<define name="RC_CLIMB_COEF" value ="163"/>
|
||||
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
|
||||
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
|
||||
<define name="INV_M" value ="0.2"/>
|
||||
<define name="INV_M" value ="0.21"/>
|
||||
</section>
|
||||
|
||||
|
||||
@@ -230,8 +230,8 @@
|
||||
<target name="test_telemetry" board="lisa_m_1.0"/>
|
||||
<target name="test_imu_aspirin" board="lisa_m_1.0"/>
|
||||
<target name="test_rc_spektrum" board="lisa_m_1.0"/>
|
||||
<!--<target name="test_baro" board="lisa_m_1.0"/>
|
||||
<target name="test_imu" board="lisa_m_1.0"/>
|
||||
<target name="test_baro" board="lisa_m_1.0"/>
|
||||
<!--<target name="test_imu" board="lisa_m_1.0"/>
|
||||
<target name="test_rc_ppm" board="lisa_m_1.0"/>
|
||||
<target name="test_adc" board="lisa_m_1.0"/>
|
||||
<target name="test_hmc5843" board="lisa_m_1.0"/>
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
<!-- this is a microkopter frame equiped with Lisa/L and generic china pwm motor controllers -->
|
||||
|
||||
<airframe name="lisa_asctec">
|
||||
<airframe name="lisa_pwm_aspirin">
|
||||
|
||||
<servos min="0" neutral="0" max="0xff">
|
||||
<servo name="FRONT" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
@@ -38,7 +38,7 @@
|
||||
|
||||
|
||||
<section name="SUPERVISION" prefix="SUPERVISION_">
|
||||
<define name="MIN_MOTOR" value="1090"/>
|
||||
<define name="MIN_MOTOR" value="1150"/>
|
||||
<define name="MAX_MOTOR" value="2000"/>
|
||||
<define name="TRIM_A" value="0"/>
|
||||
<define name="TRIM_E" value="0"/>
|
||||
@@ -51,46 +51,19 @@
|
||||
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
|
||||
</section>
|
||||
|
||||
<include href="conf/airframes/esden/calib/aspirin_012.xml"/>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<define name="GYRO_P_NEUTRAL" value="27"/>
|
||||
<define name="GYRO_Q_NEUTRAL" value="-10"/>
|
||||
<define name="GYRO_R_NEUTRAL" value="20"/>
|
||||
<define name="GYRO_P_SENS" value="5.0" integer="16"/>
|
||||
<define name="GYRO_Q_SENS" value="5.0" integer="16"/>
|
||||
<define name="GYRO_R_SENS" value="5.0" integer="16"/>
|
||||
<define name="GYRO_PQ_SENS" value="0.0" integer="16"/>
|
||||
<define name="GYRO_PR_SENS" value="0.0" integer="16"/>
|
||||
<define name="GYRO_QR_SENS" value="0.0" integer="16"/>
|
||||
|
||||
<define name="ACCEL_X_NEUTRAL" value="4"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="-14"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="-5"/>
|
||||
<define name="ACCEL_X_SENS" value="39" integer="16"/>
|
||||
<define name="ACCEL_Y_SENS" value="39" integer="16"/>
|
||||
<define name="ACCEL_Z_SENS" value="39" integer="16"/>
|
||||
<define name="ACCEL_XY_SENS" value="0.0" integer="16"/>
|
||||
<define name="ACCEL_XZ_SENS" value="0.0" integer="16"/>
|
||||
<define name="ACCEL_YZ_SENS" value="0.0" integer="16"/>
|
||||
|
||||
<define name="MAG_X_NEUTRAL" value="0"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="0"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="0"/>
|
||||
<define name="MAG_X_SENS" value="1." integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="1." integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="1." integer="16"/>
|
||||
<define name="MAG_XY_SENS" value="0.0" integer="16"/>
|
||||
<define name="MAG_XZ_SENS" value="0.0" integer="16"/>
|
||||
<define name="MAG_YZ_SENS" value="0.0" integer="16"/>
|
||||
|
||||
<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0. )"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0. )"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 45. )"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 225. )"/>
|
||||
|
||||
</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_AUTO1" value="AP_MODE_ATTITUDE_RC_CLIMB"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/>
|
||||
</section>
|
||||
|
||||
@@ -137,16 +110,17 @@
|
||||
<define name="REF_MAX_R" value="RadOfDeg(180.)"/>
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
|
||||
|
||||
<!-- Old settings with exponential throttle motor controllers
|
||||
<!-- feedback -->
|
||||
<define name="PHI_PGAIN" value="-550"/>
|
||||
<define name="PHI_DGAIN" value="-210"/>
|
||||
<define name="PHI_IGAIN" value="-200"/>
|
||||
<define name="PHI_PGAIN" value="-250"/>
|
||||
<define name="PHI_DGAIN" value="-200"/>
|
||||
<define name="PHI_IGAIN" value="-150"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="-550"/>
|
||||
<define name="THETA_DGAIN" value="-210"/>
|
||||
<define name="THETA_IGAIN" value="-200"/>
|
||||
<define name="THETA_PGAIN" value="-250"/>
|
||||
<define name="THETA_DGAIN" value="-200"/>
|
||||
<define name="THETA_IGAIN" value="-150"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="-600"/>
|
||||
<define name="PSI_PGAIN" value="-900"/>
|
||||
<define name="PSI_DGAIN" value="-200"/>
|
||||
<define name="PSI_IGAIN" value="-10"/>
|
||||
|
||||
@@ -154,7 +128,33 @@
|
||||
<define name="PHI_DDGAIN" value=" 200"/>
|
||||
<define name="THETA_DDGAIN" value=" 200"/>
|
||||
<define name="PSI_DDGAIN" value=" 200"/>
|
||||
-->
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="PHI_PGAIN" value="-1900"/>
|
||||
<define name="PHI_DGAIN" value="-380"/>
|
||||
<define name="PHI_IGAIN" value="-200"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="-1900"/>
|
||||
<define name="THETA_DGAIN" value="-380"/>
|
||||
<define name="THETA_IGAIN" value="-200"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="-2000"/>
|
||||
<define name="PSI_DGAIN" value="-400"/>
|
||||
<define name="PSI_IGAIN" value="-10"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value=" 300"/>
|
||||
<define name="THETA_DDGAIN" value=" 300"/>
|
||||
<define name="PSI_DDGAIN" value=" 300"/>
|
||||
|
||||
</section>
|
||||
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<define name="PROPAGATE_FREQUENCY" value="512"/>
|
||||
<define name="H_X" value=" 0.51562740288882"/>
|
||||
<define name="H_Y" value="-0.05707735220832"/>
|
||||
<define name="H_Z" value=" 0.85490967783446"/>
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
@@ -167,17 +167,17 @@
|
||||
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
|
||||
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
|
||||
<define name="MAX_SUM_ERR" value="2000000"/>
|
||||
<define name="HOVER_KP" value="-500"/>
|
||||
<define name="HOVER_KD" value="-200"/>
|
||||
<define name="HOVER_KI" value="-100"/>
|
||||
<define name="HOVER_KP" value="-150"/>
|
||||
<define name="HOVER_KD" value="-80"/>
|
||||
<!--define name="HOVER_KI" value="-100"/-->
|
||||
<define name="HOVER_KI" value="0"/>
|
||||
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
|
||||
<define name="RC_CLIMB_COEF" value ="163"/>
|
||||
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
|
||||
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
|
||||
<define name="INV_M" value ="0.2"/>
|
||||
<define name="INV_M" value ="0.15"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="PGAIN" value="-100"/>
|
||||
<define name="DGAIN" value="-100"/>
|
||||
@@ -220,8 +220,11 @@
|
||||
</target>
|
||||
|
||||
<subsystem name="imu" type="aspirin"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="ahrs" type="cmpl"/>
|
||||
<subsystem name="gps" type="ublox">
|
||||
<configure name="GPS_BAUD" value="B57600"/>
|
||||
</subsystem>
|
||||
<!--subsystem name="ahrs" type="cmpl"/-->
|
||||
<subsystem name="ahrs" type="ic"/>
|
||||
</firmware>
|
||||
|
||||
<firmware name="lisa_l_test_progs">
|
||||
|
||||
@@ -14,14 +14,10 @@
|
||||
<define name="USE_MAX11040"/>
|
||||
<define name="MAX11040_DEBUG"/>
|
||||
</target>
|
||||
<subsystem name="telemetry" type="xbee_api">
|
||||
<param name="MODEM_BAUD" value="B57600"/>
|
||||
</subsystem>
|
||||
<subsystem name="telemetry" type="xbee_api"/>
|
||||
<subsystem name="control"/>
|
||||
<subsystem name="attitude" type="infrared"/>
|
||||
<subsystem name="gps" type="ublox_lea5h">
|
||||
<param name="GPS_BAUD" value="B38400"/>
|
||||
</subsystem>
|
||||
<subsystem name="gps" type="ublox_lea5h"/>
|
||||
<subsystem name="navigation"/>
|
||||
</firmware>
|
||||
|
||||
|
||||
@@ -7,14 +7,10 @@
|
||||
<firmware name="fixedwing">
|
||||
<target name="ap" board="tiny_2.11">
|
||||
</target>
|
||||
<subsystem name="telemetry" type="xbee_api">
|
||||
<param name="MODEM_BAUD" value="B57600"/>
|
||||
</subsystem>
|
||||
<subsystem name="telemetry" type="xbee_api"/>
|
||||
<subsystem name="control"/>
|
||||
<subsystem name="attitude" type="infrared"/>
|
||||
<subsystem name="gps" type="ublox_lea5h">
|
||||
<param name="GPS_BAUD" value="B38400"/>
|
||||
</subsystem>
|
||||
<subsystem name="gps" type="ublox_lea5h"/>
|
||||
<subsystem name="navigation"/>
|
||||
</firmware>
|
||||
|
||||
|
||||
@@ -10,12 +10,14 @@
|
||||
<airframe name="Funjet mm 1">
|
||||
|
||||
<firmware name="fixedwing">
|
||||
<define name="AGR_CLIMB"/>
|
||||
<define name="LOITER_TRIM"/>
|
||||
<define name="ALT_KALMAN"/>
|
||||
<define name="WIND_INFO"/>
|
||||
<define name="WIND_INFO_RET"/>
|
||||
<define name="USE_PERSISTENT_SETTINGS"/>
|
||||
|
||||
<target name="ap" board="tiny_2.11">
|
||||
<define name="AGR_CLIMB"/>
|
||||
<define name="LOITER_TRIM"/>
|
||||
<define name="ALT_KALMAN"/>
|
||||
<define name="WIND_INFO"/>
|
||||
<define name="WIND_INFO_RET"/>
|
||||
<define name="USE_I2C0"/>
|
||||
<define name="SENSOR_SYNC_SEND"/>
|
||||
<define name="ADC_CHANNEL_GENERIC1" value="ADC_3"/>
|
||||
@@ -25,30 +27,22 @@
|
||||
</target>
|
||||
|
||||
<target name="sim" board="pc">
|
||||
<define name="AGR_CLIMB"/>
|
||||
<define name="LOITER_TRIM"/>
|
||||
<define name="ALT_KALMAN"/>
|
||||
<define name="WIND_INFO"/>
|
||||
<define name="WIND_INFO_RET"/>
|
||||
</target>
|
||||
|
||||
<!-- RC -->
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" type="xbee_api">
|
||||
<param name="MODEM_BAUD" value="B57600"/>
|
||||
</subsystem>
|
||||
<subsystem name="telemetry" type="xbee_api"/>
|
||||
<!-- Actuators are automatically chosen according to board-->
|
||||
<subsystem name="control"/>
|
||||
<!-- Sensors -->
|
||||
<subsystem name="attitude" type="infrared"/>
|
||||
<subsystem name="gps" type="ublox_lea5h">
|
||||
<param name="GPS_BAUD" value="B38400"/>
|
||||
</subsystem>
|
||||
<subsystem name="gps" type="ublox_lea5h"/>
|
||||
<!-- Nav -->
|
||||
<subsystem name="navigation"/>
|
||||
<!-- Interfaces -->
|
||||
<subsystem name="i2c"/>
|
||||
<!--subsystem name="spi"/-->
|
||||
</firmware>
|
||||
|
||||
<firmware name="setup">
|
||||
@@ -60,16 +54,14 @@
|
||||
|
||||
<!-- modules -->
|
||||
<modules>
|
||||
<load name="humid_sht_i2c.xml"/>
|
||||
<!--load name="windturbine.xml"/>
|
||||
<!--load name="adc_generic.xml"/>
|
||||
<load name="windturbine.xml"/>
|
||||
<load name="dust_gp2y.xml"/>
|
||||
<load name="light_temt.xml"/>
|
||||
<load name="temp_temod.xml"/>
|
||||
<load name="adc_generic.xml"/>
|
||||
<load name="trig_test.xml"/>
|
||||
<load name="airspeed_ets.xml"/>
|
||||
<load name="alt_srf08.xml"/>
|
||||
<load name="mag_micromag_fw.xml"/>
|
||||
<load name="baro_bmp.xml"/>
|
||||
<load name="baro_scp.xml"/>
|
||||
<load name="humid_hih.xml"/>
|
||||
@@ -79,6 +71,8 @@
|
||||
<load name="humid_dpicco.xml"/>
|
||||
<load name="humid_sht.xml"/>
|
||||
<load name="baro_MS5534A.xml"/>
|
||||
<load name="humid_sht_i2c.xml"/>
|
||||
<load name="mag_micromag_fw.xml"/>
|
||||
<load name="baro_scp_i2c.xml"/-->
|
||||
</modules>
|
||||
|
||||
|
||||
@@ -29,17 +29,13 @@
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
|
||||
<!-- Communication -->
|
||||
<subsystem name="telemetry" type="xbee_api">
|
||||
<param name="MODEM_BAUD" value="B57600"/>
|
||||
</subsystem>
|
||||
<subsystem name="telemetry" type="xbee_api"/>
|
||||
|
||||
<!-- Actuators are automatically chosen according to board-->
|
||||
<subsystem name="control"/>
|
||||
<!-- Sensors -->
|
||||
<!--subsystem name="attitude" type="infrared"/-->
|
||||
<subsystem name="gps" type="ublox_lea5h">
|
||||
<param name="GPS_BAUD" value="B38400"/>
|
||||
</subsystem>
|
||||
<subsystem name="gps" type="ublox_lea5h"/>
|
||||
<!-- Nav -->
|
||||
<subsystem name="navigation"/>
|
||||
<!-- Interfaces -->
|
||||
|
||||
@@ -36,7 +36,7 @@
|
||||
|
||||
<modules>
|
||||
<load name="adc_generic.xml">
|
||||
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1" />
|
||||
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_7" />
|
||||
</load>
|
||||
</modules>
|
||||
|
||||
|
||||
@@ -131,6 +131,29 @@ tunnel_bb.CFLAGS += -DUSE_LED
|
||||
tunnel_bb.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
|
||||
|
||||
|
||||
#
|
||||
# usb tunnels
|
||||
#
|
||||
usb_tunnel_0.ARCHDIR = $(ARCH)
|
||||
usb_tunnel_0.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
|
||||
usb_tunnel_0.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400 -DPERIPHERALS_AUTO_INIT
|
||||
usb_tunnel_0.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED
|
||||
usb_tunnel_0.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c
|
||||
usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
|
||||
usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
|
||||
usb_tunnel_0.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
|
||||
usb_tunnel_0.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
|
||||
|
||||
usb_tunnel_1.ARCHDIR = $(ARCH)
|
||||
usb_tunnel_1.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
|
||||
usb_tunnel_1.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400 -DPERIPHERALS_AUTO_INIT
|
||||
usb_tunnel_1.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED
|
||||
usb_tunnel_1.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c
|
||||
usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
|
||||
usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
|
||||
usb_tunnel_1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
|
||||
usb_tunnel_1.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
|
||||
|
||||
|
||||
#
|
||||
# test GPS
|
||||
@@ -189,6 +212,7 @@ test_usb.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
|
||||
# -DTIME_LED=1
|
||||
test_usb.CFLAGS += -DUSE_LED
|
||||
test_usb.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
|
||||
test_usb.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
|
||||
|
||||
#test_usb.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
|
||||
#test_usb.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
|
||||
|
||||
@@ -735,7 +735,7 @@ tunnel_hw.srcs += $(SRC_ARCH)/led_hw.c
|
||||
tunnel_hw.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
|
||||
tunnel_hw.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
|
||||
tunnel_hw.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
|
||||
tunnel_hw.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400
|
||||
tunnel_hw.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
|
||||
tunnel_hw.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
|
||||
tunnel_hw.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
|
||||
|
||||
@@ -769,4 +769,5 @@ test_settings.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK
|
||||
test_settings.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
|
||||
test_settings.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=$(MODEM_PORT)
|
||||
test_settings.srcs += subsystems/settings.c
|
||||
|
||||
test_settings.srcs += $(SRC_ARCH)/subsystems/settings_arch.c
|
||||
test_settings.CFLAGS += -DUSE_PERSISTENT_SETTINGS
|
||||
|
||||
@@ -156,27 +156,27 @@ test_telemetry.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
|
||||
## MODEM_PORT
|
||||
## MODEM_BAUD
|
||||
##
|
||||
#test_baro.ARCHDIR = $(ARCH)
|
||||
#test_baro.CFLAGS = -I$(SRC_LISA) -I$(SRC_ARCH) -I$(SRC_BOARD) -DPERIPHERALS_AUTO_INIT
|
||||
#test_baro.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
|
||||
#test_baro.srcs = $(SRC_AIRBORNE)/mcu.c \
|
||||
# $(SRC_ARCH)/mcu_arch.c \
|
||||
# $(SRC_BOARD)/test_baro.c \
|
||||
# $(SRC_ARCH)/stm32_exceptions.c \
|
||||
# $(SRC_ARCH)/stm32_vector_table.c
|
||||
#test_baro.CFLAGS += -DUSE_LED
|
||||
#test_baro.srcs += $(SRC_ARCH)/led_hw.c
|
||||
#test_baro.CFLAGS += -DUSE_SYS_TIME
|
||||
#test_baro.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
|
||||
#test_baro.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
|
||||
#test_baro.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
|
||||
#test_baro.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
|
||||
#test_baro.srcs += downlink.c pprz_transport.c
|
||||
#test_baro.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
|
||||
#test_baro.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
|
||||
#test_baro.srcs += $(SRC_BOARD)/baro_board.c
|
||||
#test_baro.CFLAGS += -DUSE_I2C2
|
||||
#test_baro.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
|
||||
test_baro.ARCHDIR = $(ARCH)
|
||||
test_baro.CFLAGS = -I$(SRC_LISA) -I$(SRC_ARCH) -I$(SRC_BOARD) -DPERIPHERALS_AUTO_INIT
|
||||
test_baro.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
|
||||
test_baro.srcs = $(SRC_AIRBORNE)/mcu.c \
|
||||
$(SRC_ARCH)/mcu_arch.c \
|
||||
$(SRC_BOARD)/test_baro.c \
|
||||
$(SRC_ARCH)/stm32_exceptions.c \
|
||||
$(SRC_ARCH)/stm32_vector_table.c
|
||||
test_baro.CFLAGS += -DUSE_LED
|
||||
test_baro.srcs += $(SRC_ARCH)/led_hw.c
|
||||
test_baro.CFLAGS += -DUSE_SYS_TIME
|
||||
test_baro.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
|
||||
test_baro.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
|
||||
test_baro.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
|
||||
test_baro.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
|
||||
test_baro.srcs += downlink.c pprz_transport.c
|
||||
test_baro.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
|
||||
test_baro.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
|
||||
test_baro.srcs += $(SRC_BOARD)/baro_board.c
|
||||
test_baro.CFLAGS += -DUSE_I2C2
|
||||
test_baro.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
|
||||
#
|
||||
#
|
||||
##
|
||||
|
||||
@@ -93,6 +93,8 @@ endif
|
||||
# or
|
||||
# include subsystems/rotorcraft/telemetry_xbee_api.makefile
|
||||
#
|
||||
ap.srcs += subsystems/settings.c
|
||||
ap.srcs += $(SRC_ARCH)/subsystems/settings_arch.c
|
||||
ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
|
||||
|
||||
# I2C is needed for speed controllers and barometers on lisa
|
||||
@@ -153,7 +155,6 @@ ap.srcs += subsystems/electrical.c
|
||||
ap.CFLAGS += -DUSE_DAC
|
||||
ap.srcs += $(SRC_ARCH)/mcu_periph/dac_arch.c
|
||||
else ifeq ($(ARCH), stm32)
|
||||
#ap.srcs += lisa/lisa_analog_plug.c
|
||||
ap.CFLAGS += -DUSE_ADC
|
||||
ap.CFLAGS += -DUSE_AD1 -DUSE_AD1_1 -DUSE_AD1_2 -DUSE_AD1_3 -DUSE_AD1_4
|
||||
ap.CFLAGS += -DUSE_ADC1_2_IRQ_HANDLER
|
||||
|
||||
@@ -23,6 +23,7 @@ tunnel.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
|
||||
# for the usb_tunnel we need to set PCLK higher with the flag USE_USB_HIGH_PCLK
|
||||
|
||||
# a configuration program to access both uart through usb
|
||||
ifeq ($(ARCH), lpc21)
|
||||
usb_tunnel_0.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200 -DPERIPHERALS_AUTO_INIT
|
||||
usb_tunnel_0.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED -DUSE_USB_HIGH_PCLK
|
||||
usb_tunnel_0.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c
|
||||
@@ -38,6 +39,9 @@ usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
|
||||
usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
|
||||
usb_tunnel_1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
|
||||
usb_tunnel_1.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
|
||||
else
|
||||
$(error usb_tunnel currently only implemented for the lpc21)
|
||||
endif
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -133,6 +133,8 @@ ns_srcs += $(SRC_ARCH)/sys_time_hw.c
|
||||
#
|
||||
|
||||
ns_srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
|
||||
ns_srcs += subsystems/settings.c
|
||||
ns_srcs += $(SRC_ARCH)/subsystems/settings_arch.c
|
||||
|
||||
#
|
||||
# ANALOG
|
||||
@@ -186,6 +188,9 @@ sim.srcs += $(SRC_ARCH)/sim_ap.c
|
||||
sim.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport
|
||||
sim.srcs += downlink.c $(SRC_FIRMWARE)/datalink.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c
|
||||
|
||||
sim.srcs += subsystems/settings.c
|
||||
sim.srcs += $(SRC_ARCH)/subsystems/settings_arch.c
|
||||
|
||||
######################################################################
|
||||
##
|
||||
## JSBSIM THREAD SPECIFIC
|
||||
|
||||
@@ -1,9 +1,15 @@
|
||||
|
||||
#serial USB (e.g. /dev/ttyACM0)
|
||||
|
||||
ifeq ($(ARCH), lpc21)
|
||||
ap.CFLAGS += -DDOWNLINK -DDOWNLINK_FBW_DEVICE=UsbS -DDOWNLINK_AP_DEVICE=UsbS -DPPRZ_UART=UsbS
|
||||
ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ -DUSE_USB_SERIAL -DUSE_USB_HIGH_PCLK
|
||||
ap.srcs += $(SRC_FIXEDWING)/downlink.c $(SRC_FIRMWARE)/datalink.c $(SRC_FIXEDWING)/pprz_transport.c
|
||||
ap.srcs += $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c
|
||||
ap.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c
|
||||
else
|
||||
ifneq ($(ARCH), sim)
|
||||
$(error telemetry_transparent_usb currently only implemented for the lpc21)
|
||||
endif
|
||||
endif
|
||||
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
# Complementary filter for attitude estimation
|
||||
#
|
||||
|
||||
ap.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED) -DAHRS_FIXED_POINT
|
||||
ap.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
|
||||
stm_passthrough.srcs += $(SRC_SUBSYSTEMS)/ahrs.c
|
||||
stm_passthrough.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
|
||||
stm_passthrough.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_int_cmpl_euler.c
|
||||
|
||||
@@ -14,7 +14,7 @@ endif
|
||||
|
||||
# Simulator
|
||||
sim.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
|
||||
sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
|
||||
sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=11
|
||||
sim.srcs += mcu_periph/i2c.c
|
||||
sim.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c
|
||||
|
||||
|
||||
@@ -22,7 +22,7 @@ ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
|
||||
|
||||
ifeq ($(ARCH), lpc21)
|
||||
ap.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c0
|
||||
ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
|
||||
ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=11
|
||||
endif
|
||||
|
||||
ifeq ($(ARCH), stm32)
|
||||
|
||||
@@ -0,0 +1,5 @@
|
||||
#
|
||||
# empty dummy actuators for testing
|
||||
#
|
||||
|
||||
ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_dummy.c
|
||||
@@ -41,7 +41,7 @@ ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
|
||||
|
||||
ifeq ($(ARCH), lpc21)
|
||||
ap.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c0
|
||||
ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=$(MKK_I2C_SCL_TIME) -DI2C0_SCLH=$(MKK_I2C_SCL_TIME) -DI2C0_VIC_SLOT=10
|
||||
ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=$(MKK_I2C_SCL_TIME) -DI2C0_SCLH=$(MKK_I2C_SCL_TIME) -DI2C0_VIC_SLOT=11
|
||||
else ifeq ($(ARCH), stm32)
|
||||
ap.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1
|
||||
ap.CFLAGS += -DUSE_I2C1
|
||||
|
||||
@@ -3,15 +3,14 @@
|
||||
#
|
||||
|
||||
ifdef AHRS_ALIGNER_LED
|
||||
ap.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED) -DAHRS_FIXED_POINT
|
||||
else
|
||||
ap.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_FIXED_POINT
|
||||
ap.CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
|
||||
endif
|
||||
ap.CFLAGS += -DUSE_AHRS_CMPL
|
||||
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs.c
|
||||
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
|
||||
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_int_cmpl_euler.c
|
||||
|
||||
sim.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=3 -DAHRS_FIXED_POINT
|
||||
sim.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=3
|
||||
sim.srcs += $(SRC_SUBSYSTEMS)/ahrs.c
|
||||
sim.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
|
||||
sim.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_int_cmpl_euler.c
|
||||
|
||||
@@ -22,7 +22,7 @@ sim.ARCHDIR = $(ARCH)
|
||||
|
||||
sim.CFLAGS += -DSITL -DNPS
|
||||
sim.CFLAGS += `pkg-config glib-2.0 --cflags` -I /usr/include/meschach
|
||||
sim.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lmeschach -lpcre -lglibivy
|
||||
sim.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lpcre -lglibivy -lgsl -lgslcblas
|
||||
sim.CFLAGS += -I$(NPSDIR) -I$(SRC_FIRMWARE) -I$(SRC_BOOZ) -I$(SRC_BOOZ_SIM) -I$(SRC_BOARD) -I../simulator -I$(PAPARAZZI_HOME)/conf/simulator/nps
|
||||
|
||||
# use the paparazzi-jsbsim package if it is installed, otherwise look for JSBsim under /opt/jsbsim
|
||||
@@ -74,6 +74,8 @@ sim.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
|
||||
#sim.CFLAGS += -DUSE_LED
|
||||
sim.srcs += sys_time.c
|
||||
|
||||
sim.srcs += subsystems/settings.c
|
||||
sim.srcs += $(SRC_ARCH)/subsystems/settings_arch.c
|
||||
|
||||
sim.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport
|
||||
sim.srcs += $(SRC_FIRMWARE)/telemetry.c \
|
||||
|
||||
@@ -10,10 +10,5 @@ ifneq ($(GPS_LED),none)
|
||||
ap.CFLAGS += -DGPS_LED=$(GPS_LED)
|
||||
endif
|
||||
|
||||
ifeq ($(ARCH), lpc21)
|
||||
ap.CFLAGS += -D$(GPS_PORT)_VIC_SLOT=5
|
||||
endif
|
||||
|
||||
|
||||
sim.CFLAGS += -DUSE_GPS
|
||||
sim.srcs += $(SRC_BOOZ)/booz_gps.c
|
||||
|
||||
@@ -10,9 +10,5 @@ ifneq ($(GPS_LED),none)
|
||||
ap.CFLAGS += -DGPS_LED=$(GPS_LED)
|
||||
endif
|
||||
|
||||
ifeq ($(ARCH), lpc21)
|
||||
ap.CFLAGS += -D$(GPS_PORT)_VIC_SLOT=5
|
||||
endif
|
||||
|
||||
sim.CFLAGS += -DUSE_GPS
|
||||
sim.srcs += $(SRC_BOOZ)/booz_gps.c
|
||||
|
||||
@@ -50,7 +50,7 @@ imu_CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
|
||||
|
||||
imu_CFLAGS += -DUSE_AMI601
|
||||
imu_srcs += peripherals/ami601.c
|
||||
imu_CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11
|
||||
imu_CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=12
|
||||
|
||||
|
||||
# Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
|
||||
|
||||
@@ -57,7 +57,7 @@ imu_srcs += $(SRC_ARCH)/peripherals/ms2100_arch.c
|
||||
ifeq ($(ARCH), lpc21)
|
||||
imu_CFLAGS += -DSSP_VIC_SLOT=9
|
||||
imu_CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
|
||||
imu_CFLAGS += -DMS2100_DRDY_VIC_SLOT=11
|
||||
imu_CFLAGS += -DMS2100_DRDY_VIC_SLOT=12
|
||||
else ifeq ($(ARCH), stm32)
|
||||
imu_CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
|
||||
imu_CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
|
||||
|
||||
@@ -58,7 +58,7 @@ ifeq ($(ARCH), lpc21)
|
||||
imu_CFLAGS += -DSSP_VIC_SLOT=9
|
||||
imu_CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
|
||||
#FIXME ms2100 not used on this imu
|
||||
imu_CFLAGS += -DMS2100_DRDY_VIC_SLOT=11
|
||||
imu_CFLAGS += -DMS2100_DRDY_VIC_SLOT=12
|
||||
else ifeq ($(ARCH), stm32)
|
||||
imu_CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
|
||||
imu_CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
|
||||
|
||||
@@ -70,7 +70,7 @@ imu_srcs += peripherals/ami601.c
|
||||
imu_CFLAGS += -DUSE_I2C1
|
||||
|
||||
ifeq ($(ARCH), lpc21)
|
||||
imu_CFLAGS += -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
|
||||
imu_CFLAGS += -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=12 -DI2C1_BUF_LEN=16
|
||||
else ifeq ($(ARCH), stm32)
|
||||
#FIXME
|
||||
endif
|
||||
|
||||
@@ -12,7 +12,3 @@ ap.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(MODEM_PORT) -DPPRZ_UART=$(MODEM_PORT
|
||||
ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ
|
||||
ap.srcs += downlink.c pprz_transport.c
|
||||
ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/telemetry.c
|
||||
|
||||
ifeq ($(ARCH), lpc21)
|
||||
ap.CFLAGS += -D$(MODEM_PORT)_VIC_SLOT=6
|
||||
endif
|
||||
|
||||
@@ -0,0 +1,16 @@
|
||||
|
||||
#serial USB (e.g. /dev/ttyACM0)
|
||||
|
||||
ifeq ($(ARCH), lpc21)
|
||||
ap.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=UsbS -DPPRZ_UART=UsbS
|
||||
ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ -DUSE_USB_SERIAL
|
||||
ap.srcs += downlink.c pprz_transport.c
|
||||
ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/telemetry.c
|
||||
ap.srcs += $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c
|
||||
ap.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c
|
||||
else
|
||||
ifneq ($(ARCH), sim)
|
||||
$(error telemetry_transparent_usb currently only implemented for the lpc21)
|
||||
endif
|
||||
endif
|
||||
|
||||
@@ -13,7 +13,3 @@ ap.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(MODEM_PORT) -DXBEE_UART=$(MODEM_PORT
|
||||
ap.CFLAGS += -DDOWNLINK_TRANSPORT=XBeeTransport -DDATALINK=XBEE
|
||||
ap.srcs += downlink.c xbee.c
|
||||
ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/telemetry.c
|
||||
|
||||
ifeq ($(ARCH), lpc21)
|
||||
ap.CFLAGS += -D$(MODEM_PORT)_VIC_SLOT=6
|
||||
endif
|
||||
|
||||
@@ -16,3 +16,7 @@ AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
|
||||
|
||||
ap.CFLAGS += $(AHRS_CFLAGS)
|
||||
ap.srcs += $(AHRS_SRCS)
|
||||
|
||||
sim.CFLAGS += $(AHRS_CFLAGS)
|
||||
sim.srcs += $(AHRS_SRCS)
|
||||
|
||||
|
||||
@@ -14,10 +14,6 @@ $(TARGET).ARCHDIR = $(ARCH)
|
||||
$(TARGET).OOCD_INTERFACE=flossjtag
|
||||
#$(TARGET).OOCD_INTERFACE=jtagkey-tiny
|
||||
|
||||
# ----------------------------------------------------------------------
|
||||
# add the opencm3_stm32 lib
|
||||
LDLIBS += -lopencm3_stm32
|
||||
|
||||
# -----------------------------------------------------------------------
|
||||
|
||||
ifndef FLASH_MODE
|
||||
|
||||
@@ -63,6 +63,11 @@
|
||||
</program>
|
||||
|
||||
<program name="Http Server" command="sw/ground_segment/tmtc/boa"/>
|
||||
|
||||
<program name="Weather Station" command="sw/ground_segment/misc/davis2ivy">
|
||||
<arg flag="-b" variable="ivy_bus"/>
|
||||
<arg flag="-d" constant="/dev/ttyUSB1"/>
|
||||
</program>
|
||||
</section>
|
||||
|
||||
|
||||
|
||||
@@ -84,7 +84,7 @@
|
||||
</block>
|
||||
<block name="land">
|
||||
<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG, nav_radius)"/>
|
||||
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 15 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
|
||||
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 15 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
|
||||
</block>
|
||||
<block name="final">
|
||||
<!-- <exception cond="ground_alt + 6 > estimator_z" deroute="flare"/> -->
|
||||
@@ -130,7 +130,7 @@
|
||||
</block>
|
||||
<block name="bomb">
|
||||
<call fun="nav_compute_baseleg(WP_START, WP_DROP, WP_BASELEG, nav_radius)"/>
|
||||
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10)" wp="BASELEG"/>
|
||||
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10)" wp="BASELEG"/>
|
||||
</block>
|
||||
<block name="align">
|
||||
<go approaching_time="0" from="START" hmode="route" wp="DROP"/>
|
||||
@@ -149,7 +149,7 @@
|
||||
</block>
|
||||
<block name="bombfake">
|
||||
<call fun="nav_compute_baseleg(WP_START, WP_DROP, WP_BASELEG, nav_radius)"/>
|
||||
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10)" wp="BASELEG"/>
|
||||
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10)" wp="BASELEG"/>
|
||||
</block>
|
||||
<block name="alignfake">
|
||||
<go approaching_time="0" from="START" hmode="route" wp="DROP"/>
|
||||
|
||||
@@ -148,7 +148,7 @@
|
||||
<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="BASELEG"/>
|
||||
<set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
|
||||
<circle radius="nav_radius"
|
||||
until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))"
|
||||
until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))"
|
||||
wp="BASELEG"/>
|
||||
</block>
|
||||
|
||||
|
||||
@@ -78,7 +78,7 @@
|
||||
<block name="land">
|
||||
<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
|
||||
<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
|
||||
<circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10), 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
|
||||
<circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
|
||||
</block>
|
||||
<block name="final">
|
||||
<exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
|
||||
|
||||
@@ -112,7 +112,7 @@
|
||||
<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG, nav_radius)"/>
|
||||
<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="BASELEG"/>
|
||||
<set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
|
||||
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
|
||||
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
|
||||
</block>
|
||||
<block name="final">
|
||||
<exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
|
||||
|
||||
@@ -111,7 +111,7 @@
|
||||
<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG, nav_radius)"/>
|
||||
<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="BASELEG"/>
|
||||
<set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
|
||||
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
|
||||
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
|
||||
</block>
|
||||
<block name="final">
|
||||
<exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
|
||||
|
||||
@@ -77,7 +77,7 @@
|
||||
<block name="land">
|
||||
<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
|
||||
<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
|
||||
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 20 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
|
||||
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 20 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
|
||||
</block>
|
||||
<block name="final">
|
||||
<exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
|
||||
|
||||
@@ -80,7 +80,7 @@
|
||||
<block name="land">
|
||||
<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
|
||||
<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
|
||||
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
|
||||
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
|
||||
</block>
|
||||
<block name="final">
|
||||
<exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
|
||||
|
||||
@@ -18,7 +18,7 @@
|
||||
<block name="land">
|
||||
<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
|
||||
<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
|
||||
<circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10), 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
|
||||
<circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
|
||||
</block>
|
||||
<block name="final">
|
||||
<exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
|
||||
|
||||
@@ -130,7 +130,7 @@
|
||||
<block name="land">
|
||||
<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG, nav_radius)"/>
|
||||
<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="BASELEG"/>
|
||||
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
|
||||
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
|
||||
</block>
|
||||
<block name="final">
|
||||
<exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user