[conf] update easystar_ets example

switch to Lisa/MX with IMU and add NPS target
and convert subsystems to modules

conf/airframes/examples/easystar_ets.xml

@@ -2,49 +2,54 @@
 
 <!--
     Multiplex EasyStar, using rudder
-    TWOG v1 board
+    Lisa/MX board
-    Tilted infrared sensor
     XBee 2.4GHz modem in transparent mode
 -->
 
-<airframe name="EasyStar2 - TWOG v1">
+<airframe name="EasyStar2 - Lisa/MX">
 
   <firmware name="fixedwing">
-    <target name="ap" 			board="twog_1.0"/>
+    <target name="ap" 			board="lisa_mx_2.1"/>
     <target name="sim" 			board="pc"/>
+    <target name="nps"          board="pc">
+      <module name="fdm" type="jsbsim"/>
+    </target>
 
     <define name="AGR_CLIMB"/>
     <define name="LOITER_TRIM"/>
     <define name="WIND_INFO"/>
-    <define name="USE_I2C0"/>
     <define name="USE_AIRSPEED"/>
     <define name="USE_BARO_ETS"/>
 
-    <subsystem name="radio_control" type="ppm"/>
+    <module name="radio_control" type="ppm"/>
-    <subsystem name="telemetry"     type="transparent"/>
+    <module name="telemetry"     type="transparent"/>
-    <subsystem name="control"/>
+    <module name="control"/>
-    <subsystem name="gps"           type="ublox"/>
+    <module name="imu"           type="lisa_mx_v2.1"/>
-    <subsystem name="navigation"/>
+    <module name="gps"           type="ublox"/>
-    <subsystem name="ins" type="alt_float"/>
+    <module name="navigation"/>
+    <module name="ahrs"          type="int_cmpl_quat"/>
+    <module name="ins" type="alt_float"/>
+
+    <module name="airspeed_ets">
+      <configure name="AIRSPEED_ETS_I2C_DEV" value="i2c1"/>
+    </module>
+    <module name="baro_ets">
+      <configure name="BARO_ETS_I2C_DEV" value="i2c1"/>
+    </module>
+    <module name="air_data"/>
+    <module name="geo_mag"/>
+    <module name="gps_ubx_ucenter"/>
   </firmware>
 
   <firmware name="setup">
     <target name="tunnel" 		board="twog_1.0" />
   </firmware>
 
-  <modules>
+  <!-- commands section -->
-    <load name="airspeed_ets.xml"/>
-    <load name="baro_ets.xml"/>
-    <load name="air_data.xml"/>
-    <load name="infrared_adc.xml"/>
-    <load name="ahrs_infrared.xml"/>
-  </modules>
-
-<!-- commands section -->
   <servos>
     <servo name="THROTTLE"      no="0" min="1120" neutral="1120" max="1920"/>
-    <servo name="ELEVATOR"      no="6" min="1100" neutral="1514" max="1900"/>
+    <servo name="ELEVATOR"      no="1" min="1100" neutral="1514" max="1900"/>
-    <servo name="RUDDER"        no="7" min="950" neutral="1612" max="2050"/>
+    <servo name="RUDDER"        no="2" min="950" neutral="1612" max="2050"/>
   </servos>
 
   <commands>
@@ -70,27 +75,20 @@
     <define name="MAX_PITCH" value="40" unit="deg"/>
   </section>
 
-  <section name="INFRARED" prefix="IR_">
+  <section name="IMU" prefix="IMU_">
-    <define name="ADC_IR1_NEUTRAL" value="512"/>
+    <!-- ACCEL and GYRO calibration left out to take default datasheet values -->
-    <define name="ADC_IR2_NEUTRAL" value="510"/>
-    <define name="ADC_TOP_NEUTRAL" value="516"/>
 
-    <define name="LATERAL_CORRECTION" value="0.7"/>
+    <!-- replace this with your own mag calibration -->
-    <define name="LONGITUDINAL_CORRECTION" value="0.7"/>
+    <define name="MAG_X_NEUTRAL" value="-45"/>
-    <define name="VERTICAL_CORRECTION" value="1."/>
+    <define name="MAG_Y_NEUTRAL" value="334"/>
+    <define name="MAG_Z_NEUTRAL" value="7"/>
+    <define name="MAG_X_SENS" value="4.47647816128" integer="16"/>
+    <define name="MAG_Y_SENS" value="4.71085671542" integer="16"/>
+    <define name="MAG_Z_SENS" value="4.41585354498" integer="16"/>
 
-    <define name="HORIZ_SENSOR_TILTED" value="1"/>
+    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
-    <define name="IR1_SIGN" value="1"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
-    <define name="IR2_SIGN" value="-1"/>
+    <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
-    <define name="TOP_SIGN" value="1"/>
-
-    <define name="ROLL_NEUTRAL_DEFAULT" value="-5.3" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="-3" unit="deg"/>
-
-    <define name="CORRECTION_UP" value="1."/>
-    <define name="CORRECTION_DOWN" value="1."/>
-    <define name="CORRECTION_LEFT" value="1."/>
-    <define name="CORRECTION_RIGHT" value="1."/>
   </section>
 
   <section name="BAT">
@@ -175,4 +173,10 @@
     <define name="HOME_RADIUS" value="90" unit="m"/>
   </section>
 
+  <section name="SIMULATOR" prefix="NPS_">
+    <define name="JSBSIM_MODEL" value="easystar" type="string"/>
+    <define name="JSBSIM_LAUNCHSPEED" value="10" unit="m/s"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
+  </section>
+
 </airframe>

conf/conf_example.xml

@@ -37,10 +37,10 @@
    ac_id="8"
    airframe="airframes/examples/easystar_ets.xml"
    radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_fixedwing.xml"
+   telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/air_data.xml modules/infrared_adc.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml"
    gui_color="red"
   />
   <aircraft