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[airframes] replace subsystem by module

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find conf/airframes -name "*.xml" -exec sed -i 's/subsystem/module/g' {} +
this change should be fully backwards compatible
This commit is contained in:
Felix Ruess
2016-03-30 20:28:09 +02:00
parent c70f51ffda
commit 7e68b0f306
159 changed files with 1850 additions and 1851 deletions
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conf/airframes/AGGIEAIR/aggieair_ark_quad_lisa_mx.xml
+10 -10
View File
@@ -12,24 +12,24 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_mx_2.1">
<subsystem name="radio_control" type="sbus">
<module name="radio_control" type="sbus">
<configure name="SBUS_PORT" value="UART5"/>
</subsystem>
</module>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="spektrum"/>
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="spektrum"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
</subsystem>
</module>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="stabilization" type="float_euler"/>
<subsystem name="ins" type="vectornav"/>
<module name="telemetry" type="transparent"/>
<module name="stabilization" type="float_euler"/>
<module name="ins" type="vectornav"/>
</firmware>
conf/airframes/AGGIEAIR/aggieair_rp3_lia.xml
+10 -10
View File
@@ -10,28 +10,28 @@ RP3 Lisa MX
<define name="CONTROL_FREQUENCY" value="100"/>
<configure name="PERIODIC_FREQUENCY" value="100"/>
<target name="ap" board="lisa_mx_2.0">
<subsystem name="radio_control" type="sbus">
<module name="radio_control" type="sbus">
<configure name="SBUS_PORT" value="UART5"/>
</subsystem>
</module>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<subsystem name="control"/>
<subsystem name="navigation"/>
<module name="control"/>
<module name="navigation"/>
<subsystem name="telemetry" type="transparent">
<module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="UART3"/>
<configure name="MODEM_BAUD" value="B57600"/>
</subsystem>
</module>
<subsystem name="ins" type="vectornav">
<module name="ins" type="vectornav">
<configure name="VN_PORT" value="UART2"/>
<configure name="VN_BAUD" value="B921600"/>
</subsystem>
</module>
<define name="AGR_CLIMB" />
</firmware>
conf/airframes/BR/DelFlyDualPWMservo.xml
+16 -16
View File
@@ -197,38 +197,38 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0">
<subsystem name="radio_control" type="superbitrf_rc">
<module name="radio_control" type="superbitrf_rc">
<define name="RADIO_MODE" value="RADIO_GEAR"/>
<!--<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>-->
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
</subsystem>
</module>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
</target>
<subsystem name="motor_mixing"/>
<module name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<module name="actuators" type="pwm">
<define name="SERVO_HZ" value="50"/>
<define name="USE_SERVOS_1AND2"/>
</subsystem>
</module>
<subsystem name="actuators" type="dualpwm">
<module name="actuators" type="dualpwm">
<define name="DUAL_PWM_ON"/>
</subsystem>
<!--<subsystem name="telemetry" type="superbitrf"/>-->
</module>
<!--<module name="telemetry" type="superbitrf"/>-->
<!-- Comment the previous line and uncomment the following one if you need
to use the debug serial interface for telemetry. -->
<subsystem name="telemetry" type="superbitrf"/>
<subsystem name="imu" type="lisa_s_v1.0">
<module name="telemetry" type="superbitrf"/>
<module name="imu" type="lisa_s_v1.0">
<define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
</subsystem>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat">
</module>
<module name="gps" type="ublox"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="1"/>
<define name="AHRS_USE_GPS_HEADING" value="0"/>
</subsystem>
<subsystem name="ins"/>
</module>
<module name="ins"/>
</firmware>
</airframe>
conf/airframes/BR/DreamCacher_bart.xml
+16 -16
View File
@@ -181,22 +181,22 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0">
<subsystem name="radio_control" type="superbitrf_rc">
<module name="radio_control" type="superbitrf_rc">
<define name="RADIO_MODE" value="RADIO_GEAR"/>
<!--<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>-->
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
</subsystem>
</module>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors.
@@ -206,21 +206,21 @@
<!-- Setting the PWM interval to 36KHz -->
<define name="SERVO_HZ" value="36000"/>
<define name="USE_SERVOS_1AND2"/>
</subsystem>
</module>
<!--<subsystem name="telemetry" type="superbitrf"/>-->
<!--<module name="telemetry" type="superbitrf"/>-->
<!-- Comment the previous line and uncomment the following one if you need
to use the debug serial interface for telemetry. -->
<subsystem name="telemetry" type="superbitrf"/>
<subsystem name="imu" type="lisa_s_v1.0">
<module name="telemetry" type="superbitrf"/>
<module name="imu" type="lisa_s_v1.0">
<define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
</subsystem>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat">
</module>
<module name="gps" type="ublox"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="1"/>
<define name="AHRS_USE_GPS_HEADING" value="0"/>
</subsystem>
<subsystem name="ins"/>
</module>
<module name="ins"/>
</firmware>
</airframe>
conf/airframes/BR/asctec_br.xml
+12 -12
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@@ -13,23 +13,23 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0"/>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<module name="fdm" type="jsbsim"/>
</target>
<subsystem name="radio_control" type="spektrum">
<module name="radio_control" type="spektrum">
<define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
<define name="RADIO_MODE" value="RADIO_GEAR"/>
</subsystem>
</module>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="asctec_v2"/>
<subsystem name="actuators" type="pwm"/>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="imu" type="aspirin_v2.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="extended"/>
<module name="motor_mixing"/>
<module name="actuators" type="asctec_v2"/>
<module name="actuators" type="pwm"/>
<module name="telemetry" type="xbee_api"/>
<module name="imu" type="aspirin_v2.1"/>
<module name="gps" type="ublox"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins" type="extended"/>
</firmware>
<modules>
conf/airframes/BR/bebop_default.xml
+11 -11
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@@ -6,22 +6,22 @@
<target name="ap" board="bebop"/>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="udp"/>
<module name="fdm" type="jsbsim"/>
<module name="udp"/>
</target>
<!--define name="USE_SONAR" value="TRUE"/-->
<!-- Subsystem section -->
<subsystem name="telemetry" type="transparent_udp"/>
<subsystem name="radio_control" type="datalink"/>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="bebop"/>
<subsystem name="imu" type="bebop"/>
<subsystem name="gps" type="furuno"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="float_mlkf"/>
<subsystem name="ins" type="extended"/>
<module name="telemetry" type="transparent_udp"/>
<module name="radio_control" type="datalink"/>
<module name="motor_mixing"/>
<module name="actuators" type="bebop"/>
<module name="imu" type="bebop"/>
<module name="gps" type="furuno"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="float_mlkf"/>
<module name="ins" type="extended"/>
</firmware>
<modules main_freq="512">
conf/airframes/BR/bebop_indi.xml
+14 -14
View File
@@ -6,28 +6,28 @@
<target name="ap" board="bebop"/>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="udp"/>
<module name="fdm" type="jsbsim"/>
<module name="udp"/>
</target>
<!--define name="USE_SONAR" value="TRUE"/-->
<!-- Subsystem section -->
<subsystem name="telemetry" type="transparent_udp"/>
<subsystem name="radio_control" type="datalink"/>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="bebop"/>
<subsystem name="imu" type="bebop"/>
<subsystem name="gps" type="furuno"/>
<subsystem name="stabilization" type="indi"/>
<subsystem name="stabilization" type="rate_indi"/>
<subsystem name="ahrs" type="float_mlkf"/>
<subsystem name="ahrs" type="int_cmpl_quat">
<module name="telemetry" type="transparent_udp"/>
<module name="radio_control" type="datalink"/>
<module name="motor_mixing"/>
<module name="actuators" type="bebop"/>
<module name="imu" type="bebop"/>
<module name="gps" type="furuno"/>
<module name="stabilization" type="indi"/>
<module name="stabilization" type="rate_indi"/>
<module name="ahrs" type="float_mlkf"/>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="TRUE"/>
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
<configure name="SECONDARY_AHRS" value="int_cmpl_quat"/>
</subsystem>
<subsystem name="ins" type="extended"/>
</module>
<module name="ins" type="extended"/>
</firmware>
<modules main_freq="512">
conf/airframes/BR/bebop_indi_frog.xml
+13 -13
View File
@@ -6,27 +6,27 @@
<target name="ap" board="bebop"/>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="udp"/>
<module name="fdm" type="jsbsim"/>
<module name="udp"/>
</target>
<!--define name="USE_SONAR" value="TRUE"/-->
<!-- Subsystem section -->
<subsystem name="telemetry" type="transparent_udp"/>
<subsystem name="radio_control" type="datalink"/>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="bebop"/>
<subsystem name="imu" type="bebop"/>
<subsystem name="gps" type="furuno"/>
<subsystem name="stabilization" type="indi"/>
<subsystem name="ahrs" type="float_mlkf"/>
<subsystem name="ahrs" type="int_cmpl_quat">
<module name="telemetry" type="transparent_udp"/>
<module name="radio_control" type="datalink"/>
<module name="motor_mixing"/>
<module name="actuators" type="bebop"/>
<module name="imu" type="bebop"/>
<module name="gps" type="furuno"/>
<module name="stabilization" type="indi"/>
<module name="ahrs" type="float_mlkf"/>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="TRUE"/>
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
<configure name="SECONDARY_AHRS" value="int_cmpl_quat"/>
</subsystem>
<subsystem name="ins" type="extended"/>
</module>
<module name="ins" type="extended"/>
</firmware>
<modules main_freq="512">
conf/airframes/BR/bebop_indi_frog2.xml
+12 -12
View File
@@ -6,25 +6,25 @@
<target name="ap" board="bebop"/>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="udp"/>
<module name="fdm" type="jsbsim"/>
<module name="udp"/>
</target>
<!--define name="USE_SONAR" value="TRUE"/-->
<!-- Subsystem section -->
<subsystem name="telemetry" type="transparent_udp"/>
<subsystem name="radio_control" type="datalink"/>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="bebop"/>
<subsystem name="imu" type="bebop"/>
<subsystem name="gps" type="furuno"/>
<subsystem name="stabilization" type="indi"/>
<subsystem name="ahrs" type="int_cmpl_quat">
<module name="telemetry" type="transparent_udp"/>
<module name="radio_control" type="datalink"/>
<module name="motor_mixing"/>
<module name="actuators" type="bebop"/>
<module name="imu" type="bebop"/>
<module name="gps" type="furuno"/>
<module name="stabilization" type="indi"/>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="TRUE"/>
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
</subsystem>
<subsystem name="ins" type="extended"/>
</module>
<module name="ins" type="extended"/>
</firmware>
<modules main_freq="512">
conf/airframes/BR/bebop_indi_frog_flip.xml
+13 -13
View File
@@ -6,27 +6,27 @@
<target name="ap" board="bebop"/>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="udp"/>
<module name="fdm" type="jsbsim"/>
<module name="udp"/>
</target>
<!--define name="USE_SONAR" value="TRUE"/-->
<!-- Subsystem section -->
<subsystem name="telemetry" type="transparent_udp"/>
<subsystem name="radio_control" type="datalink"/>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="bebop"/>
<subsystem name="imu" type="bebop"/>
<subsystem name="gps" type="furuno"/>
<subsystem name="stabilization" type="indi"/>
<subsystem name="ahrs" type="float_mlkf"/>
<subsystem name="ahrs" type="int_cmpl_quat">
<module name="telemetry" type="transparent_udp"/>
<module name="radio_control" type="datalink"/>
<module name="motor_mixing"/>
<module name="actuators" type="bebop"/>
<module name="imu" type="bebop"/>
<module name="gps" type="furuno"/>
<module name="stabilization" type="indi"/>
<module name="ahrs" type="float_mlkf"/>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="TRUE"/>
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
<configure name="SECONDARY_AHRS" value="int_cmpl_quat"/>
</subsystem>
<subsystem name="ins" type="extended"/>
</module>
<module name="ins" type="extended"/>
</firmware>
<modules main_freq="512">
conf/airframes/BR/ladybird_kit_bart.xml
+16 -16
View File
@@ -186,22 +186,22 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0">
<subsystem name="radio_control" type="superbitrf_rc">
<module name="radio_control" type="superbitrf_rc">
<define name="RADIO_MODE" value="RADIO_GEAR"/>
<!--<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>-->
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
</subsystem>
</module>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors.
@@ -211,21 +211,21 @@
<!-- Setting the PWM interval to 36KHz -->
<define name="SERVO_HZ" value="36000"/>
<define name="USE_SERVOS_1AND2"/>
</subsystem>
</module>
<!--<subsystem name="telemetry" type="superbitrf"/>-->
<!--<module name="telemetry" type="superbitrf"/>-->
<!-- Comment the previous line and uncomment the following one if you need
to use the debug serial interface for telemetry. -->
<subsystem name="telemetry" type="superbitrf"/>
<subsystem name="imu" type="lisa_s_v1.0">
<module name="telemetry" type="superbitrf"/>
<module name="imu" type="lisa_s_v1.0">
<define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
</subsystem>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat">
</module>
<module name="gps" type="ublox"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="1"/>
<define name="AHRS_USE_GPS_HEADING" value="0"/>
</subsystem>
<subsystem name="ins"/>
</module>
<module name="ins"/>
</firmware>
</airframe>
conf/airframes/BR/ladybird_kit_bart_bluegiga.xml
+16 -16
View File
@@ -186,20 +186,20 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0">
<subsystem name="radio_control" type="datalink">
<module name="radio_control" type="datalink">
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
</subsystem>
</module>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors.
@@ -209,21 +209,21 @@
<!-- Setting the PWM interval to 36KHz -->
<define name="SERVO_HZ" value="36000"/>
<define name="USE_SERVOS_1AND2"/>
</subsystem>
</module>
<!--<subsystem name="telemetry" type="superbitrf"/>-->
<!--<module name="telemetry" type="superbitrf"/>-->
<!-- Comment the previous line and uncomment the following one if you need
to use the debug serial interface for telemetry. -->
<subsystem name="telemetry" type="bluegiga"/>
<subsystem name="imu" type="lisa_s_v1.0">
<module name="telemetry" type="bluegiga"/>
<module name="imu" type="lisa_s_v1.0">
<define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
</subsystem>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat">
</module>
<module name="gps" type="ublox"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="1"/>
<define name="AHRS_USE_GPS_HEADING" value="0"/>
</subsystem>
<subsystem name="ins"/>
</module>
<module name="ins"/>
</firmware>
</airframe>
conf/airframes/BR/ladybird_kit_bart_bluegiga_optitrack.xml
+13 -13
View File
@@ -197,15 +197,15 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0">
<subsystem name="radio_control" type="datalink">
</subsystem>
<module name="radio_control" type="datalink">
</module>
<configure name="USE_MAGNETOMETER" value="0"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors.
@@ -215,19 +215,19 @@
<!-- Setting the PWM interval to 36KHz -->
<define name="SERVO_HZ" value="36000"/>
<define name="USE_SERVOS_1AND2"/>
</subsystem>
</module>
<!--<subsystem name="telemetry" type="superbitrf"/>-->
<!--<module name="telemetry" type="superbitrf"/>-->
<!-- Comment the previous line and uncomment the following one if you need
to use the debug serial interface for telemetry. -->
<subsystem name="telemetry" type="bluegiga"/>
<subsystem name="imu" type="lisa_s_v1.0">
<module name="telemetry" type="bluegiga"/>
<module name="imu" type="lisa_s_v1.0">
<define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
</subsystem>
</module>
<subsystem name="gps" type="datalink"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins"/>
<module name="gps" type="datalink"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins"/>
</firmware>
</airframe>
conf/airframes/BR/ladybird_kit_indi_bart.xml
+16 -16
View File
@@ -195,22 +195,22 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0">
<subsystem name="radio_control" type="superbitrf_rc">
<module name="radio_control" type="superbitrf_rc">
<define name="RADIO_MODE" value="RADIO_GEAR"/>
<!--<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>-->
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
</subsystem>
</module>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors.
@@ -220,21 +220,21 @@
<!-- Setting the PWM interval to 36KHz -->
<define name="SERVO_HZ" value="36000"/>
<define name="USE_SERVOS_1AND2"/>
</subsystem>
</module>
<!--<subsystem name="telemetry" type="superbitrf"/>-->
<!--<module name="telemetry" type="superbitrf"/>-->
<!-- Comment the previous line and uncomment the following one if you need
to use the debug serial interface for telemetry. -->
<subsystem name="telemetry" type="superbitrf"/>
<subsystem name="imu" type="lisa_s_v1.0">
<module name="telemetry" type="superbitrf"/>
<module name="imu" type="lisa_s_v1.0">
<define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
</subsystem>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="indi"/>
<subsystem name="ahrs" type="int_cmpl_quat">
</module>
<module name="gps" type="ublox"/>
<module name="stabilization" type="indi"/>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="0"/>
<define name="AHRS_USE_GPS_HEADING" value="0"/>
</subsystem>
<subsystem name="ins" type="extended"/>
</module>
<module name="ins" type="extended"/>
</firmware>
</airframe>
conf/airframes/BR/mavtec4_br.xml
+12 -12
View File
@@ -13,23 +13,23 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_mx_2.1"/>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<module name="fdm" type="jsbsim"/>
</target>
<subsystem name="radio_control" type="spektrum">
<module name="radio_control" type="spektrum">
<define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
<define name="RADIO_MODE" value="RADIO_GEAR"/>
</subsystem>
</module>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="asctec_v2"/>
<subsystem name="actuators" type="pwm"/>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="imu" type="lisa_mx_v2.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="float_mlkf"/>
<subsystem name="ins" type="hff"/>
<module name="motor_mixing"/>
<module name="actuators" type="asctec_v2"/>
<module name="actuators" type="pwm"/>
<module name="telemetry" type="xbee_api"/>
<module name="imu" type="lisa_mx_v2.1"/>
<module name="gps" type="ublox"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="float_mlkf"/>
<module name="ins" type="hff"/>
</firmware>
<modules>
conf/airframes/CDW/cdw_asctec.xml
+11 -11
View File
@@ -10,26 +10,26 @@
<configure name="MODEM_PORT" value="UART3"/>
<configure name="GPS_PORT" value="UART2"/>
<!-- <define name="ACTUATORS_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="ppm"/>
<module name="radio_control" type="ppm"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_EXTRA1"/>
<define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="1"/>
<define name="USE_I2C_ACTUATORS_REBOOT_HACK"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="asctec_v2"/>
<module name="motor_mixing"/>
<module name="actuators" type="asctec_v2"/>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="imu" type="aspirin_v2.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="hff"/>
<module name="telemetry" type="xbee_api"/>
<module name="imu" type="aspirin_v2.1"/>
<module name="gps" type="ublox"/>
<module name="stabilization" type="int_euler"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins" type="hff"/>
</firmware>
<section name="AUTOPILOT">
conf/airframes/CDW/cdw_bebop.xml
+12 -12
View File
@@ -8,26 +8,26 @@
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="udp"/>
<module name="fdm" type="jsbsim"/>
<module name="udp"/>
<define name="STABILIZATION_INDI_G2_R" value="0.0"/>
</target>
<!--define name="USE_SONAR" value="TRUE"/-->
<!-- Subsystem section -->
<subsystem name="telemetry" type="transparent_udp"/>
<subsystem name="radio_control" type="datalink"/>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="bebop"/>
<subsystem name="imu" type="bebop"/>
<subsystem name="gps" type="furuno"/>
<subsystem name="stabilization" type="indi"/>
<subsystem name="ahrs" type="int_cmpl_quat">
<module name="telemetry" type="transparent_udp"/>
<module name="radio_control" type="datalink"/>
<module name="motor_mixing"/>
<module name="actuators" type="bebop"/>
<module name="imu" type="bebop"/>
<module name="gps" type="furuno"/>
<module name="stabilization" type="indi"/>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="TRUE"/>
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
</subsystem>
<subsystem name="ins" type="extended"/>
</module>
<module name="ins" type="extended"/>
</firmware>
<modules main_freq="512">
conf/airframes/CDW/cdw_chimu_tiny2_pt_spi.xml
+8 -8
View File
@@ -176,22 +176,22 @@ YAPA + XSens + XBee
</target>
<!-- <target name="sim" board="pc"/> -->
<subsystem name="radio_control" type="ppm"/>
<subsystem name="gps" type="ublox" />
<module name="radio_control" type="ppm"/>
<module name="gps" type="ublox" />
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<module name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B9600"/>
</subsystem>
</module>
<!-- Actuators -->
<subsystem name="control"/>
<module name="control"/>
<!-- Sensors -->
<subsystem name="navigation"/>
<module name="navigation"/>
<subsystem name="spi_slave_hs"/>
<subsystem name="ins" type="alt_float"/>
<module name="spi_slave_hs"/>
<module name="ins" type="alt_float"/>
</firmware>
</airframe>
conf/airframes/CDW/cdw_chimu_tiny_fw_spi.xml
+8 -8
View File
@@ -166,20 +166,20 @@
</target>
<target name="sim" board="pc"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="gps" type="ublox" />
<module name="radio_control" type="ppm"/>
<module name="gps" type="ublox" />
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<module name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B9600"/>
</subsystem>
</module>
<!-- Actuators -->
<subsystem name="control"/>
<module name="control"/>
<!-- Sensors -->
<subsystem name="navigation"/>
<!-- <subsystem name="gps" type="ublox"/> -->
<module name="navigation"/>
<!-- <module name="gps" type="ublox"/> -->
<subsystem name="spi_slave_hs"/>
<module name="spi_slave_hs"/>
</firmware>
conf/airframes/CDW/cdw_classix.xml
+7 -7
View File
@@ -184,8 +184,8 @@
<define name="USE_AD0_3"/>
<define name="ADC_6" value="AdcBank0\(3\)"/>
<subsystem name="control"/>
<subsystem name="navigation"/>
<module name="control"/>
<module name="navigation"/>
</target>
<target name="fbw" board="classix">
@@ -198,8 +198,8 @@
</target>
<target name="sim" board="pc">
<subsystem name="control"/>
<subsystem name="navigation"/>
<module name="control"/>
<module name="navigation"/>
</target>
<define name="DC_IMAGE_BUFFER" value="65000" />
@@ -209,12 +209,12 @@
<define name="LOITER_TRIM"/>
<define name="RADIO_CONTROL_AUTO1"/>
<subsystem name="radio_control" type="ppm"/>
<module name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api">
<module name="telemetry" type="xbee_api">
<configure name="MODEM_PORT" value="UART0"/>
<configure name="MODEM_BAUD" value="B9600"/>
</subsystem>
</module>
<module name="ins" type="xsens">
<configure name="XSENS_PORT" value="uart1"/>
conf/airframes/CDW/cdw_mavtec.xml
+12 -12
View File
@@ -7,27 +7,27 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_mx_2.1">
<subsystem name="radio_control" type="ppm"/>
<module name="radio_control" type="ppm"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_EXTRA1"/>
<define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="1"/>
<define name="USE_I2C_ACTUATORS_REBOOT_HACK"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="asctec_v2"/>
<subsystem name="actuators" type="pwm"/>
<module name="motor_mixing"/>
<module name="actuators" type="asctec_v2"/>
<module name="actuators" type="pwm"/>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="imu" type="lisa_mx_v2.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="float_mlkf"/>
<subsystem name="ins" type="hff"/>
<module name="telemetry" type="xbee_api"/>
<module name="imu" type="lisa_mx_v2.1"/>
<module name="gps" type="ublox"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="float_mlkf"/>
<module name="ins" type="hff"/>
</firmware>
<section name="AUTOPILOT">
conf/airframes/CDW/cdw_tricopter.xml
+11 -11
View File
@@ -32,18 +32,18 @@ LiPo/LiIo-Zellen: 3
<define name="USE_ATTITUDE_REF" value="1" />
<define name="AHRS_PROPAGATE_LOW_PASS_RATES" value="1" />
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="mkk_v2"/>
<subsystem name="actuators" type="pwm">
<module name="radio_control" type="ppm"/>
<module name="telemetry" type="xbee_api"/>
<module name="motor_mixing"/>
<module name="actuators" type="mkk_v2"/>
<module name="actuators" type="pwm">
<define name="USE_PWM0"/>
</subsystem>
<subsystem name="imu" type="aspirin_v2.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/>
<subsystem name="ins" type="hff"/>
</module>
<module name="imu" type="aspirin_v2.1"/>
<module name="gps" type="ublox"/>
<module name="stabilization" type="int_euler"/>
<module name="ahrs" type="int_cmpl_euler"/>
<module name="ins" type="hff"/>
</firmware>
<section name="AUTOPILOT">
conf/airframes/CDW/cdw_twoseastwenty.xml
+19 -19
View File
@@ -20,22 +20,22 @@
<configure name="CPU_LED" value="1"/>
<define name="LINK_MCU_LED" value="4"/>
<!-- FBW -->
<subsystem name="actuators" type="dummy"/>
<subsystem name="intermcu" type="uart">
<module name="actuators" type="dummy"/>
<module name="intermcu" type="uart">
<configure name="INTERMCU_PORT" value="UART2"/>
</subsystem>
<subsystem name="radio_control" type="sbus_dual">
</module>
<module name="radio_control" type="sbus_dual">
<configure name="SBUS1_PORT" value="UART3"/>
<configure name="SBUS2_PORT" value="UART5"/>
</subsystem>
</module>
<!-- AP -->
<subsystem name="control"/>
<subsystem name="navigation"/>
<module name="control"/>
<module name="navigation"/>
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<module name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B9600"/>
<configure name="MODEM_PORT" value="UART3"/>
</subsystem>
</module>
<module name="ins" type="xsens700">
<configure name="XSENS_PORT" value="uart1"/>
<configure name="XSENS_BAUD" value="B230400"/>
@@ -48,28 +48,28 @@
<configure name="HAS_LUFTBOOT" value="0"/>
<!-- no usb -->
<!-- RC -->
<subsystem name="radio_control" type="sbus_dual">
<module name="radio_control" type="sbus_dual">
<configure name="SBUS1_PORT" value="UART3"/>
<configure name="SBUS2_PORT" value="UART5"/>
</subsystem>
</module>
<!-- FBW <-> AP -->
<subsystem name="intermcu" type="uart">
<module name="intermcu" type="uart">
<configure name="INTERMCU_PORT" value="UART1"/>
</subsystem>
</module>
<!-- SERVO'S -->
<subsystem name="actuators" type="pwm"/>
<module name="actuators" type="pwm"/>
<define name="USE_SERVOS_7AND8"/>
</target>
<target name="sim" board="pc">
<subsystem name="radio_control" type="ppm"/>
<module name="radio_control" type="ppm"/>
<!-- AP -->
<subsystem name="control"/>
<subsystem name="navigation"/>
<module name="control"/>
<module name="navigation"/>
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<module name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B9600"/>
<configure name="MODEM_PORT" value="UART3"/>
</subsystem>
</module>
<module name="ins" type="xsens700">
<configure name="XSENS_PORT" value="uart1"/>
<configure name="XSENS_BAUD" value="B230400"/>
conf/airframes/CDW/cdw_yapa_xsens.xml
+5 -5
View File
@@ -16,15 +16,15 @@
<define name="LOITER_TRIM"/>
<define name="TUNE_AGRESSIVE_CLIMB"/>
<define name="AGR_CLIMB"/>
<subsystem name="radio_control" type="ppm"/>
<module name="radio_control" type="ppm"/>
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<module name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B9600"/>
</subsystem>
</module>
<!-- Actuators -->
<subsystem name="control"/>
<module name="control"/>
<!-- Sensors -->
<subsystem name="navigation"/>
<module name="navigation"/>
<module name="ins" type="xsens">
<configure name="XSENS_PORT" value="uart0"/>
<configure name="XSENS_BAUD" value="B230400"/>
conf/airframes/CDW/test/ChimuJTinyFwSpi.xml
+8 -8
View File
@@ -166,21 +166,21 @@
</target>
<target name="sim" board="pc"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="gps" type="ublox" />
<module name="radio_control" type="ppm"/>
<module name="gps" type="ublox" />
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<module name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B9600"/>
</subsystem>
</module>
<!-- Actuators -->
<subsystem name="control"/>
<module name="control"/>
<!-- Sensors -->
<subsystem name="navigation"/>
<!-- <subsystem name="gps" type="ublox"/> -->
<module name="navigation"/>
<!-- <module name="gps" type="ublox"/> -->
<subsystem name="spi_slave_hs"/>
<module name="spi_slave_hs"/>
</firmware>
conf/airframes/CDW/test/ChimuLisaFw.xml
+6 -6
View File
@@ -144,17 +144,17 @@
<define name="AGR_CLIMB" />
<define name="LOITER_TRIM" />
<subsystem name="radio_control" type="ppm"/>
<module name="radio_control" type="ppm"/>
<!-- Communication -->
<subsystem name="telemetry" type="transparent">
<module name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="B9600"/>
</subsystem>
</module>
<subsystem name="control"/>
<module name="control"/>
<!-- Sensors -->
<subsystem name="gps" type="ublox_utm"/>
<subsystem name="navigation"/>
<module name="gps" type="ublox_utm"/>
<module name="navigation"/>
</firmware>
conf/airframes/CDW/test/ChimuTinyFw.xml
+8 -8
View File
@@ -167,21 +167,21 @@
</target>
<target name="sim" board="pc"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="gps" type="ublox" >
<module name="radio_control" type="ppm"/>
<module name="gps" type="ublox" >
<configure name="GPS_PORT" value="gps_i2c" />
</subsystem>
</module>
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<module name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B9600"/>
</subsystem>
</module>
<!-- Actuators -->
<subsystem name="control"/>
<module name="control"/>
<!-- Sensors -->
<subsystem name="navigation"/>
<!-- <subsystem name="gps" type="ublox"/> -->
<module name="navigation"/>
<!-- <module name="gps" type="ublox"/> -->
</firmware>
conf/airframes/CDW/test/yapa3_aspirin2.xml
+13 -13
View File
@@ -240,29 +240,29 @@
<!-- Sensors -->
<!--
<subsystem name="ahrs" type="int_cmpl_quat">
<module name="ahrs" type="int_cmpl_quat">
<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" />
</subsystem>
<subsystem name="imu" type="aspirin_i2c"/>
</module>
<module name="imu" type="aspirin_i2c"/>
-->
<subsystem name="imu" type="aspirin2_i2c"/>
<subsystem name="ahrs" type="float_dcm">
<module name="imu" type="aspirin2_i2c"/>
<module name="ahrs" type="float_dcm">
<!-- <configure name="USE_MAGNETOMETER" /> -->
</subsystem>
</module>
<subsystem name="ins" type="alt_float"/>
<subsystem name="radio_control" type="ppm"/>
<module name="ins" type="alt_float"/>
<module name="radio_control" type="ppm"/>
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<module name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B9600"/>
</subsystem>
</module>
<!-- Actuators -->
<subsystem name="control"/>
<module name="control"/>
<!-- Sensors -->
<subsystem name="navigation"/>
<subsystem name="gps" type="ublox_utm"/>
<module name="navigation"/>
<module name="gps" type="ublox_utm"/>
</firmware>
conf/airframes/CRIDEA/cridea_quadsuave.xml
+13 -13
View File
@@ -18,35 +18,35 @@
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
<subsystem name="radio_control" type="ppm">
<module name="radio_control" type="ppm">
<configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/>
</subsystem>
</module>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<module name="fdm" type="jsbsim"/>
</target>
<subsystem name="gps" type="ublox"/>
<module name="gps" type="ublox"/>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
<define name="USE_SERVOS_7AND8"/>
</subsystem>
</module>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.1"/>
<module name="telemetry" type="transparent"/>
<module name="imu" type="aspirin_v2.1"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat">
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat">
<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
</subsystem>
</module>
<configure name="GPS_LED" value="4"/>
<configure name="RADIO_CONTROL_LED" value="3"/>
<configure name="AHRS_ALIGNER_LED" value="2"/>
<subsystem name="ins"/>
<module name="ins"/>
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
</firmware>
conf/airframes/ESDEN/esden_cocto_lm2a2.xml
+15 -15
View File
@@ -196,33 +196,33 @@ B2L -> CW
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0">
<subsystem name="radio_control" type="spektrum">
<module name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_FLAP"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</subsystem>
</module>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
<define name="USE_SERVOS_7AND8"/>
</subsystem>
</module>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins"/>
<module name="telemetry" type="transparent"/>
<module name="imu" type="aspirin_v2.1"/>
<module name="gps" type="ublox"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins"/>
<!--define name="USE_INS_NAV_INIT"/-->
<!--subsystem name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/-->
<!--module name="stabilization" type="int_euler"/>
<module name="ahrs" type="int_cmpl_euler"/-->
</firmware>
</airframe>
conf/airframes/ESDEN/esden_gain_scheduling_example.xml
+17 -17
View File
@@ -185,35 +185,35 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0">
<subsystem name="radio_control" type="ppm">
<module name="radio_control" type="ppm">
<configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/>
</subsystem>
</module>
<configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
<define name="USE_SERVOS_7AND8"/>
</subsystem>
</module>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.1"/>
<!--subsystem name="imu" type="aspirin_v1.0"/-->
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat">
<module name="telemetry" type="transparent"/>
<module name="imu" type="aspirin_v2.1"/>
<!--module name="imu" type="aspirin_v1.0"/-->
<module name="gps" type="ublox"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="0"/>
<define name="AHRS_USE_GPS_HEADING" value="1"/>
</subsystem>
<subsystem name="ins"/>
</module>
<module name="ins"/>
<!--define name="USE_INS_NAV_INIT"/-->
<!--subsystem name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/-->
<!--module name="stabilization" type="int_euler"/>
<module name="ahrs" type="int_cmpl_euler"/-->
</firmware>
</airframe>
conf/airframes/ESDEN/esden_hexy_ll11a2pwm.xml
+15 -15
View File
@@ -192,33 +192,33 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.1">
<subsystem name="radio_control" type="spektrum">
<module name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_FLAP"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</subsystem>
</module>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
<define name="USE_SERVOS_7AND8"/>
</subsystem>
</module>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins"/>
<module name="telemetry" type="transparent"/>
<module name="imu" type="aspirin_v2.1"/>
<module name="gps" type="ublox"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins"/>
<!--define name="USE_INS_NAV_INIT"/-->
<!--subsystem name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/-->
<!--module name="stabilization" type="int_euler"/>
<module name="ahrs" type="int_cmpl_euler"/-->
</firmware>
</airframe>
conf/airframes/ESDEN/esden_hexy_lm2a2pwm.xml
+15 -15
View File
@@ -150,34 +150,34 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0">
<subsystem name="radio_control" type="spektrum">
<module name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_FLAP"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</subsystem>
</module>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
<define name="USE_SERVOS_7AND8"/>
</subsystem>
</module>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.1"/>
<module name="telemetry" type="transparent"/>
<module name="imu" type="aspirin_v2.1"/>
<define name="LISA_M_LONGITUDINAL_X"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins"/>
<module name="gps" type="ublox"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins"/>
<!--define name="USE_INS_NAV_INIT"/-->
<!--subsystem name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/-->
<!--module name="stabilization" type="int_euler"/>
<module name="ahrs" type="int_cmpl_euler"/-->
</firmware>
</airframe>
conf/airframes/ESDEN/esden_lisa2_hex.xml
+16 -16
View File
@@ -168,34 +168,34 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0">
<subsystem name="radio_control" type="ppm">
<module name="radio_control" type="ppm">
<configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/>
</subsystem>
</module>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
<define name="USE_SERVOS_7AND8"/>
</subsystem>
</module>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.1"/>
<module name="telemetry" type="transparent"/>
<module name="imu" type="aspirin_v2.1"/>
<define name="LISA_M_LONGITUDINAL_X"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat">
<module name="gps" type="ublox"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="0"/>
</subsystem>
<subsystem name="ins"/>
</module>
<module name="ins"/>
<!--define name="USE_INS_NAV_INIT"/-->
<!--subsystem name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/-->
<!--module name="stabilization" type="int_euler"/>
<module name="ahrs" type="int_cmpl_euler"/-->
</firmware>
</airframe>
conf/airframes/ESDEN/esden_qs_asp22.xml
+17 -17
View File
@@ -194,35 +194,35 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0">
<subsystem name="radio_control" type="ppm">
<module name="radio_control" type="ppm">
<configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/>
</subsystem>
</module>
<configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
<define name="USE_SERVOS_7AND8"/>
</subsystem>
</module>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.2"/>
<!-- <subsystem name="imu" type="aspirin_v1.5"/> -->
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat">
<module name="telemetry" type="transparent"/>
<module name="imu" type="aspirin_v2.2"/>
<!-- <module name="imu" type="aspirin_v1.5"/> -->
<module name="gps" type="ublox"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="0"/>
<define name="AHRS_USE_GPS_HEADING" value="0"/>
</subsystem>
<subsystem name="ins"/>
</module>
<module name="ins"/>
<!--define name="USE_INS_NAV_INIT"/-->
<!--subsystem name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/-->
<!--module name="stabilization" type="int_euler"/>
<module name="ahrs" type="int_cmpl_euler"/-->
</firmware>
</airframe>
conf/airframes/ESDEN/esden_quady_ll11a2pwm.xml
+15 -15
View File
@@ -185,33 +185,33 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.1">
<subsystem name="radio_control" type="spektrum">
<module name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_FLAP"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</subsystem>
</module>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
<define name="USE_SERVOS_7AND8"/>
</subsystem>
</module>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins"/>
<module name="telemetry" type="transparent"/>
<module name="imu" type="aspirin_v2.1"/>
<module name="gps" type="ublox"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins"/>
<!--define name="USE_INS_NAV_INIT"/-->
<!--subsystem name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/-->
<!--module name="stabilization" type="int_euler"/>
<module name="ahrs" type="int_cmpl_euler"/-->
</firmware>
</airframe>
conf/airframes/ESDEN/esden_quady_lm1a1pwm.xml
+15 -15
View File
@@ -146,33 +146,33 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_1.0">
<subsystem name="radio_control" type="spektrum">
<module name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_FLAP"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</subsystem>
</module>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
<define name="USE_SERVOS_7AND8"/>
</subsystem>
</module>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v1.0"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins"/>
<module name="telemetry" type="transparent"/>
<module name="imu" type="aspirin_v1.0"/>
<module name="gps" type="ublox"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins"/>
<!--define name="USE_INS_NAV_INIT"/-->
<!--subsystem name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/-->
<!--module name="stabilization" type="int_euler"/>
<module name="ahrs" type="int_cmpl_euler"/-->
</firmware>
</airframe>
conf/airframes/ESDEN/esden_quady_lm2a2pwm.xml
+15 -15
View File
@@ -153,34 +153,34 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0">
<subsystem name="radio_control" type="spektrum">
<module name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_FLAP"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</subsystem>
</module>
<configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
<define name="USE_SERVOS_7AND8"/>
</subsystem>
</module>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins"/>
<module name="telemetry" type="transparent"/>
<module name="imu" type="aspirin_v2.1"/>
<module name="gps" type="ublox"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins"/>
<!--define name="USE_INS_NAV_INIT"/-->
<!--subsystem name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/-->
<!--module name="stabilization" type="int_euler"/>
<module name="ahrs" type="int_cmpl_euler"/-->
</firmware>
</airframe>
conf/airframes/ESDEN/esden_quady_lm2a2pwmppm.xml
+15 -15
View File
@@ -150,31 +150,31 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0">
<subsystem name="radio_control" type="ppm">
<module name="radio_control" type="ppm">
<configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/>
</subsystem>
</module>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
<define name="USE_SERVOS_7AND8"/>
</subsystem>
</module>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins"/>
<module name="telemetry" type="transparent"/>
<module name="imu" type="aspirin_v2.1"/>
<module name="gps" type="ublox"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins"/>
<!--define name="USE_INS_NAV_INIT"/-->
<!--subsystem name="stabilization" type="int_euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/-->
<!--module name="stabilization" type="int_euler"/>
<module name="ahrs" type="int_cmpl_euler"/-->
</firmware>
</airframe>
conf/airframes/ESDEN/esden_quady_ls10pwm.xml
+15 -15
View File
@@ -149,35 +149,35 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0">
<subsystem name="radio_control" type="spektrum">
<module name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_FLAP"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="0"/>
</subsystem>
</module>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
<define name="USE_SERVOS_1AND2"/>
</subsystem>
</module>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="lisa_s_v1.0"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins"/>
<module name="telemetry" type="transparent"/>
<module name="imu" type="lisa_s_v1.0"/>
<module name="gps" type="ublox"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins"/>
<!--define name="USE_INS_NAV_INIT"/-->
<!--subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/-->
<!--module name="stabilization" type="euler"/>
<module name="ahrs" type="int_cmpl_euler"/-->
</firmware>
</airframe>
conf/airframes/LS/ls_ladybird_lisa_s_bluegiga_small_gps_messages.xml
+15 -15
View File
@@ -192,7 +192,7 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0">
<subsystem name="radio_control" type="datalink">
<module name="radio_control" type="datalink">
<!-- To store the binding parameters for the superbit radio in your
airframe file uncomment the following three lines and set the
correct values based on the output of the superbitrf telemetry
@@ -200,19 +200,19 @@
<!--define name="RADIO_TRANSMITTER_ID" value="1335259868"/--> <!-- Esden (1BitSquared) Dx6i: TX 1 -->
<!--define name="RADIO_TRANSMITTER_CHAN" value="6"/-->
<!--define name="RADIO_TRANSMITTER_PROTOCOL" value="0x01"/-->
</subsystem>
</module>
<configure name="USE_MAGNETOMETER" value="0"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors.
@@ -222,18 +222,18 @@
<!-- Setting the PWM interval to 36KHz -->
<define name="SERVO_HZ" value="36000"/>
<define name="USE_SERVOS_1AND2"/>
</subsystem>
</module>
<subsystem name="telemetry" type="bluegiga"/>
<module name="telemetry" type="bluegiga"/>
<!-- Comment the previous line and uncomment the following one if you need
to use the debug serial interface for telemetry. -->
<!--subsystem name="telemetry" type="transparent"/-->
<subsystem name="imu" type="lisa_s_v1.0">
<!--module name="telemetry" type="transparent"/-->
<module name="imu" type="lisa_s_v1.0">
<define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
</subsystem>
<subsystem name="gps" type="datalink"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins"/>
</module>
<module name="gps" type="datalink"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins"/>
</firmware>
</airframe>
conf/airframes/LS/ls_quadrotor_altura_lisa_m_2_0.xml
+13 -13
View File
@@ -4,32 +4,32 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0">
<subsystem name="radio_control" type="spektrum">
<module name="radio_control" type="spektrum">
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<define name="RADIO_MODE" value="RADIO_FLAP"/>
<!--define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="1"/-->
</subsystem>
</module>
<configure name="NO_LUFTBOOT" value="1"/>
<configure name="FLASH_MODE" value="SWD" />
<!-- MPU6000 is configured to output data at 2kHz, but polled at 512Hz PERIODIC_FREQUENCY -->
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
<define name="USE_SERVOS_7AND8"/>
</subsystem>
</module>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="imu" type="mpu6000_hmc5883">
<module name="telemetry" type="xbee_api"/>
<module name="imu" type="mpu6000_hmc5883">
<!-- the default i2c2 port is used -->
</subsystem>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat">
</module>
<module name="gps" type="ublox"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat">
<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
</subsystem>
<subsystem name="ins"/>
</module>
<module name="ins"/>
</firmware>
<modules>
conf/airframes/LS/ls_quadrotor_bebop_small_gps_messages.xml
+10 -10
View File
@@ -8,21 +8,21 @@
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<module name="fdm" type="jsbsim"/>
</target>
<!--define name="USE_SONAR" value="TRUE"/-->
<!-- Subsystem section -->
<subsystem name="telemetry" type="transparent_udp"/>
<subsystem name="radio_control" type="datalink"/>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="bebop"/>
<subsystem name="imu" type="bebop"/>
<subsystem name="gps" type="datalink"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="extended"/>
<module name="telemetry" type="transparent_udp"/>
<module name="radio_control" type="datalink"/>
<module name="motor_mixing"/>
<module name="actuators" type="bebop"/>
<module name="imu" type="bebop"/>
<module name="gps" type="datalink"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins" type="extended"/>
</firmware>
<modules main_freq="512">
conf/airframes/LS/ls_quadrotor_mavtec_lisa_m_2_0.xml
+14 -14
View File
@@ -11,32 +11,32 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_m_2.0">
<subsystem name="radio_control" type="spektrum">
<module name="radio_control" type="spektrum">
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<define name="RADIO_MODE" value="RADIO_FLAP"/>
<!--define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="1"/-->
</subsystem>
</module>
<configure name="NO_LUFTBOOT" value="1"/>
<!-- MPU6000 is configured to output data at 2kHz, but polled at 512Hz PERIODIC_FREQUENCY -->
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
</subsystem>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="imu" type="aspirin_v2.2"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat">
</module>
<module name="telemetry" type="xbee_api"/>
<module name="imu" type="aspirin_v2.2"/>
<module name="gps" type="ublox"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat">
<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
</subsystem>
<subsystem name="ins"/>
</module>
<module name="ins"/>
</firmware>
<firmware name="test_progs">
conf/airframes/MTO/test_enac_ptu.xml
+13 -13
View File
@@ -30,31 +30,31 @@
<configure name="PERIODIC_FREQUENCY" value="100"/>
<target name="ap" board="apogee_1.0_chibios">
<subsystem name="radio_control" type="sbus"/>
<module name="radio_control" type="sbus"/>
</target>
<target name="sim" board="pc">
<subsystem name="radio_control" type="ppm"/>
<module name="radio_control" type="ppm"/>
</target>
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="sdlog"/>
<module name="telemetry" type="xbee_api"/>
<module name="sdlog"/>
<!-- Actuators are automatically chosen according to board-->
<subsystem name="imu" type="apogee"/>
<subsystem name="ahrs" type="float_dcm"/>
<subsystem name="ins" type="alt_float"/>
<subsystem name="control"/>
<subsystem name="navigation"/>
<module name="imu" type="apogee"/>
<module name="ahrs" type="float_dcm"/>
<module name="ins" type="alt_float"/>
<module name="control"/>
<module name="navigation"/>
<!-- Sensors -->
<subsystem name="gps" type="ublox"/>
<module name="gps" type="ublox"/>
<subsystem name="current_sensor">
<module name="current_sensor">
<configure name="ADC_CURRENT_SENSOR" value="ADC_1"/>
</subsystem>
</module>
<subsystem name="spi_master"/>
<module name="spi_master"/>
</firmware>
conf/airframes/OPENUAS/openuas_ardrone2.xml
+11 -11
View File
@@ -24,24 +24,24 @@
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<module name="fdm" type="jsbsim"/>
</target>
<define name="USE_SONAR" value="TRUE"/>
<!-- Subsystem section -->
<subsystem name="telemetry" type="transparent_udp"/>
<subsystem name="radio_control" type="datalink"/>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="ardrone2"/>
<subsystem name="imu" type="ardrone2"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="indi"/>
<subsystem name="ahrs" type="int_cmpl_quat">
<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"/>
<module name="gps" type="ublox"/>
<module name="stabilization" type="indi"/>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="TRUE"/>
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
</subsystem>
<subsystem name="ins" type="extended"/>
</module>
<module name="ins" type="extended"/>
</firmware>
<modules main_freq="512">
conf/airframes/OPENUAS/openuas_itsybitsy.xml
+15 -15
View File
@@ -198,7 +198,7 @@
<firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0">
<subsystem name="radio_control" type="superbitrf_rc"> <!-- type="ppm" -->
<module name="radio_control" type="superbitrf_rc"> <!-- type="ppm" -->
<!-- To store the binding parameters for the superbit radio in your
airframe file uncomment the following three lines and set the
correct values based on the output of the superbitrf telemetry
@@ -208,19 +208,19 @@
<!--define name="RADIO_TRANSMITTER_PROTOCOL" value="0x01"/--><!--DSM_DSM2_2-->
<define name="RADIO_MODE" value="RADIO_FLAP"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
</subsystem>
</module>
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<module name="motor_mixing"/>
<module name="actuators" type="pwm">
<!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors.
@@ -230,20 +230,20 @@
<!-- Setting the PWM interval to 36KHz -->
<define name="SERVO_HZ" value="36000"/>
<define name="USE_SERVOS_1AND2"/>
</subsystem>
</module>
<subsystem name="telemetry" type="superbitrf"/>
<module name="telemetry" type="superbitrf"/>
<!-- Comment the previous line and uncomment the following one if you need
to use the debug serial interface for telemetry. -->
<!--subsystem name="telemetry" type="transparent"/-->
<subsystem name="imu" type="lisa_s_v1.0">
<!--module name="telemetry" type="transparent"/-->
<module name="imu" type="lisa_s_v1.0">
<define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
</subsystem>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
</module>
<module name="gps" type="ublox"/>
<module name="stabilization" type="int_quat"/>
<module name="ahrs" type="int_cmpl_quat"/>
<!-- <configure name="USE_MAGNETOMETER" value="TRUE"/>
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>-->
<subsystem name="ins"/>
<module name="ins"/>
</firmware>
</airframe>
conf/airframes/OPENUAS/openuas_leapfrogeye.xml
+13 -13
View File
@@ -6,26 +6,26 @@
<target name="ap" board="bebop"/>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="udp"/>
<module name="fdm" type="jsbsim"/>
<module name="udp"/>
</target>
<!--define name="USE_SONAR" value="TRUE"/-->
<!-- Subsystem section -->
<subsystem name="telemetry" type="transparent_udp"/>
<subsystem name="radio_control" type="datalink"/>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="bebop"/>
<subsystem name="imu" type="bebop"/>
<subsystem name="gps" type="furuno"/>
<subsystem name="stabilization" type="indi"/>
<subsystem name="ahrs" type="int_cmpl_quat">
<module name="telemetry" type="transparent_udp"/>
<module name="radio_control" type="datalink"/>
<module name="motor_mixing"/>
<module name="actuators" type="bebop"/>
<module name="imu" type="bebop"/>
<module name="gps" type="furuno"/>
<module name="stabilization" type="indi"/>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="TRUE"/>
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
</subsystem>
<subsystem name="ins" type="extended"/>
<subsystem name="guidance" type="indi"/>
</module>
<module name="ins" type="extended"/>
<module name="guidance" type="indi"/>
</firmware>
<modules main_freq="512">
conf/airframes/OPENUAS/openuas_mentor.xml
+15 -15
View File
@@ -17,8 +17,8 @@
</target>
<target name="sim" board="pc"/>
<target name="nps" board="pc">
<!-- Note NPS needs the ppm type radio_control subsystem -->
<subsystem name="fdm" type="jsbsim"/>
<!-- Note NPS needs the ppm type radio_control module -->
<module name="fdm" type="jsbsim"/>
</target>
<define name="USE_AIRSPEED"/>
<define name="AGR_CLIMB"/>
@@ -27,31 +27,31 @@
<define name="WIND_INFO_RET"/>
<!-- Sensors -->
<subsystem name="imu" type="aspirin_v2.1"/>
<module name="imu" type="aspirin_v2.1"/>
<!--
<subsystem name="ahrs" type="float_dcm">
<module name="ahrs" type="float_dcm">
<configure name="USE_MAGNETOMETER" value="FALSE"/>
<define name="USE_AHRS_GPS_ACCELERATIONS"/>
</subsystem>
</module>
-->
<subsystem name="ahrs" type="int_cmpl_quat">
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="TRUE"/>
<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN"/>
</subsystem>
<subsystem name="ins" type="alt_float"/>
<subsystem name="radio_control" type="ppm"/>
</module>
<module name="ins" type="alt_float"/>
<module name="radio_control" type="ppm"/>
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<module name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B57600"/>
<configure name="MODEM_PORT" value="UART2"/>
</subsystem>
</module>
<!-- Actuators -->
<subsystem name="control" type="energy"/>
<module name="control" type="energy"/>
<!-- Sensors -->
<subsystem name="navigation"/>
<subsystem name="gps" type="ublox">
<module name="navigation"/>
<module name="gps" type="ublox">
<configure name="GPS_PORT" value="UART1"/>
</subsystem>
</module>
</firmware>
<!-- ************************* MODULES ************************* -->
conf/airframes/OPENUAS/openuas_moksha.xml
+14 -14
View File
@@ -62,20 +62,20 @@ make -C $PAPARAZZI_HOME -f Makefile.ac AIRCRAFT=Moksha ap.compile
<define name="BAT_CHECKER_DELAY" value="80"/><!-- amount of time it take for the bat to check --><!-- to avoid bat low spike detection when strong pullup withch draws short sudden power-->
<!-- <define name="LOW_BATTERY_KILL_DELAY" value="80"/>-->
<define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="80"/>
<!-- <subsystem name="current_sensor">-->
<!-- <module name="current_sensor">-->
<!-- <define name="USE_ADC_1"/>??-->
<!-- <configure name="ADC_CURRENT_SENSOR" value="ADC_1"/>-->
<!--</subsystem>-->
<subsystem name="radio_control" type="ppm">
<!--</module>-->
<module name="radio_control" type="ppm">
<!-- for debugging PPM value the one below -->
<!--<define name="TELEMETRY_MODE_FBW" value="1"/> -->
</subsystem>
</module>
</target>
<!-- ****************************** SIM *********************************-->
<!--
<target name="sim" board="pc">
<subsystem name="radio_control" type="ppm"/>
<module name="radio_control" type="ppm"/>
</target>
-->
<!-- **************************** set for all *******************************-->
@@ -87,16 +87,16 @@ make -C $PAPARAZZI_HOME -f Makefile.ac AIRCRAFT=Moksha ap.compile
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<subsystem name="telemetry" type="transparent">
<module name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="B9600"/>
<configure name="MODEM_PORT" value="UART1"/>
</subsystem>
</module>
<subsystem name="control" type="energy"/>
<subsystem name="spi_slave_hs"/>
<module name="control" type="energy"/>
<module name="spi_slave_hs"/>
<subsystem name="ins" type="alt_float"/>
<subsystem name="gps" type="ublox">
<module name="ins" type="alt_float"/>
<module name="gps" type="ublox">
<configure name="GPS_BAUD" value="B38400"/>
<configure name="GPS_PORT" value="UART0"/>
<!--
@@ -105,8 +105,8 @@ make -C $PAPARAZZI_HOME -f Makefile.ac AIRCRAFT=Moksha ap.compile
<define name="USE_GPS_UBX_RXM_RAW"/>
<define name="USE_GPS_UBX_RXM_SFRB"/>
<define name="LOG_RAW_GPS"/>-->
</subsystem>
<subsystem name="navigation"/>
</module>
<module name="navigation"/>
</firmware>
<modules main_freq="120">
@@ -379,7 +379,7 @@ Psi -109
<!-- The prebank is an adjustment to the roll setting which is done when the aircraft is trying to do a circle and when it is close to the circumference of the circle. This way it does not fly straight into the circumference but instead it starts to make a roll as the one needed to fly in circles.
There is a value in the airframe file COURSE_PRE_BANK_CORRECTION which can be used to increase o decrease the effect. If set to 1 then the normal prebank is done. If set to 0.5 then half of the additional roll is done. This causes the aircraft to not roll enough in order to fly the intended circle and it ends up flying in a larger circle. A value > 1 makes it fly a smaller circle.
https://github.com/paparazzi/paparazzi/blob/master/sw/airborne/subsystems/nav.c#L132
https://github.com/paparazzi/paparazzi/blob/master/sw/airborne/modules/nav.c#L132
-->
<define name="COURSE_PRE_BANK_CORRECTION" value="1.0"/>
<!-- TODO: Tune value -->

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