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[conf] update easystar_ets example
switch to Lisa/MX with IMU and add NPS target and convert subsystems to modules
This commit is contained in:
Felix Ruess
@@ -2,49 +2,54 @@
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<!--
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Multiplex EasyStar, using rudder
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TWOG v1 board
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Tilted infrared sensor
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Lisa/MX board
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XBee 2.4GHz modem in transparent mode
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-->
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<airframe name="EasyStar2 - TWOG v1">
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<airframe name="EasyStar2 - Lisa/MX">
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<firmware name="fixedwing">
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<target name="ap" board="twog_1.0"/>
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<target name="ap" board="lisa_mx_2.1"/>
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<target name="sim" board="pc"/>
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<target name="nps" board="pc">
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<module name="fdm" type="jsbsim"/>
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</target>
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<define name="AGR_CLIMB"/>
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<define name="LOITER_TRIM"/>
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<define name="WIND_INFO"/>
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<define name="USE_I2C0"/>
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<define name="USE_AIRSPEED"/>
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<define name="USE_BARO_ETS"/>
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="telemetry" type="transparent"/>
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<subsystem name="control"/>
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<subsystem name="gps" type="ublox"/>
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<subsystem name="navigation"/>
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<subsystem name="ins" type="alt_float"/>
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<module name="radio_control" type="ppm"/>
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<module name="telemetry" type="transparent"/>
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<module name="control"/>
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<module name="imu" type="lisa_mx_v2.1"/>
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<module name="gps" type="ublox"/>
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<module name="navigation"/>
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<module name="ahrs" type="int_cmpl_quat"/>
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<module name="ins" type="alt_float"/>
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<module name="airspeed_ets">
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<configure name="AIRSPEED_ETS_I2C_DEV" value="i2c1"/>
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</module>
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<module name="baro_ets">
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<configure name="BARO_ETS_I2C_DEV" value="i2c1"/>
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</module>
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<module name="air_data"/>
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<module name="geo_mag"/>
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<module name="gps_ubx_ucenter"/>
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</firmware>
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<firmware name="setup">
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<target name="tunnel" board="twog_1.0" />
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</firmware>
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<modules>
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<load name="airspeed_ets.xml"/>
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<load name="baro_ets.xml"/>
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<load name="air_data.xml"/>
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<load name="infrared_adc.xml"/>
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<load name="ahrs_infrared.xml"/>
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</modules>
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<!-- commands section -->
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<servos>
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<servo name="THROTTLE" no="0" min="1120" neutral="1120" max="1920"/>
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<servo name="ELEVATOR" no="6" min="1100" neutral="1514" max="1900"/>
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<servo name="RUDDER" no="7" min="950" neutral="1612" max="2050"/>
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<servo name="ELEVATOR" no="1" min="1100" neutral="1514" max="1900"/>
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<servo name="RUDDER" no="2" min="950" neutral="1612" max="2050"/>
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</servos>
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<commands>
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@@ -70,27 +75,20 @@
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<define name="MAX_PITCH" value="40" unit="deg"/>
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</section>
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<section name="INFRARED" prefix="IR_">
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<define name="ADC_IR1_NEUTRAL" value="512"/>
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<define name="ADC_IR2_NEUTRAL" value="510"/>
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<define name="ADC_TOP_NEUTRAL" value="516"/>
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<section name="IMU" prefix="IMU_">
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<!-- ACCEL and GYRO calibration left out to take default datasheet values -->
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<define name="LATERAL_CORRECTION" value="0.7"/>
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<define name="LONGITUDINAL_CORRECTION" value="0.7"/>
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<define name="VERTICAL_CORRECTION" value="1."/>
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<!-- replace this with your own mag calibration -->
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<define name="MAG_X_NEUTRAL" value="-45"/>
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<define name="MAG_Y_NEUTRAL" value="334"/>
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<define name="MAG_Z_NEUTRAL" value="7"/>
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<define name="MAG_X_SENS" value="4.47647816128" integer="16"/>
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<define name="MAG_Y_SENS" value="4.71085671542" integer="16"/>
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<define name="MAG_Z_SENS" value="4.41585354498" integer="16"/>
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<define name="HORIZ_SENSOR_TILTED" value="1"/>
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<define name="IR1_SIGN" value="1"/>
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<define name="IR2_SIGN" value="-1"/>
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<define name="TOP_SIGN" value="1"/>
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<define name="ROLL_NEUTRAL_DEFAULT" value="-5.3" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="-3" unit="deg"/>
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<define name="CORRECTION_UP" value="1."/>
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<define name="CORRECTION_DOWN" value="1."/>
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<define name="CORRECTION_LEFT" value="1."/>
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<define name="CORRECTION_RIGHT" value="1."/>
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<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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</section>
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<section name="BAT">
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@@ -175,4 +173,10 @@
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<define name="HOME_RADIUS" value="90" unit="m"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="JSBSIM_MODEL" value="easystar" type="string"/>
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<define name="JSBSIM_LAUNCHSPEED" value="10" unit="m/s"/>
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<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
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</section>
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</airframe>
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@@ -37,10 +37,10 @@
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ac_id="8"
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airframe="airframes/examples/easystar_ets.xml"
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radio="radios/cockpitSX.xml"
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telemetry="telemetry/default_fixedwing.xml"
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telemetry="telemetry/default_fixedwing_imu.xml"
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flight_plan="flight_plans/basic.xml"
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settings="settings/fixedwing_basic.xml"
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settings_modules="modules/air_data.xml modules/infrared_adc.xml"
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settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml"
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gui_color="red"
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/>
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<aircraft
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