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This commit is contained in:
Antoine Drouin
2009-01-16 05:45:21 +00:00
parent 206fe22540
commit 8a77bd0773
8 changed files with 35 additions and 26 deletions
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conf/airframes/booz2_a1.xml
+6 -4
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@@ -8,10 +8,10 @@
</servos>
<commands>
<axis name="DELTA_A" failsafe_value="0"/>
<axis name="DELTA_E" failsafe_value="0"/>
<axis name="DELTA_R" failsafe_value="0"/>
<axis name="DELTA_T" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<section name="BUSS_BLMC" prefix="BUSS_BLMC_">
@@ -20,6 +20,8 @@
<section name="SUPERVISION" prefix="SUPERVISION_">
<define name="FRONT_ROTOR_CW" value="1"/>
<define name="MIN_MOTOR" value="2"/>
<define name="MAX_MOTOR" value="210"/>
<define name="TRIM_A" value="2"/>
<define name="TRIM_E" value="-1"/>
<define name="TRIM_R" value="3"/>
conf/airframes/booz2_a2.xml
+2 -7
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@@ -66,11 +66,6 @@
</section>
<section name="SUPERVISION" prefix="BOOZ_SUPERVISION_">
<define name="MIN_CMD" value="30"/>
<define name="MAX_CMD" value="200"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
<define name="SP_MAX_PHI" value="3000"/>
@@ -91,8 +86,8 @@
</section>
<section name="FILTER" prefix="FILTER_">
<define name="ALIGNMENT_DPHI" value="BOOZ_ANGLE_I_OF_F(RadOfDeg(4.))"/>
<define name="ALIGNMENT_DTHETA" value="BOOZ_ANGLE_I_OF_F(RadOfDeg(3.))"/>
<define name="ALIGNMENT_DPHI" value="BOOZ_ANGLE_I_OF_F(RadOfDeg(12.))"/>
<define name="ALIGNMENT_DTHETA" value="BOOZ_ANGLE_I_OF_F(RadOfDeg(-3.5))"/>
<define name="ALIGNMENT_DPSI" value="BOOZ_ANGLE_I_OF_F(0.)"/>
</section>
conf/autopilot/booz2_actuators_asctec.makefile
+2 -5
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@@ -1,15 +1,12 @@
# asctec controllers
ap.CFLAGS += -DACTUATORS=\"actuators_asctec_twi_blmc_hw.h\"
ap.srcs += $(BOOZ_PRIV_ARCH)/actuators_asctec_twi_blmc_hw.c actuators.c
ap.srcs += $(BOOZ_PRIV_ARCH)/actuators_asctec_twi_blmc_hw.c
# on I2C0
ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
# supervision
ap.srcs += $(BOOZ_PRIV)/booz_supervision_int_nomix.c
# asctec controllers
sim.CFLAGS += -DACTUATORS=\"actuators_asctec_twi_blmc_hw.h\"
sim.srcs += $(BOOZ_PRIV_ARCH)/actuators_asctec_twi_blmc_hw.c actuators.c
# supervision
sim.srcs += $(BOOZ_PRIV)/booz_supervision_int_nomix.c
conf/autopilot/booz2_actuators_buss.makefile
+1 -3
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@@ -18,12 +18,10 @@
#
ap.CFLAGS += -DACTUATORS=\"actuators_buss_twi_blmc_hw.h\" -DUSE_BUSS_TWI_BLMC
ap.srcs += $(BOOZ_PRIV_ARCH)/actuators_buss_twi_blmc_hw.c actuators.c
ap.srcs += $(BOOZ_PRIV_ARCH)/actuators_buss_twi_blmc_hw.c
# on I2C0
ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
# supervision
ap.srcs += $(BOOZ_PRIV)/booz_supervision_int.c
# Simulator
conf/autopilot/booz2_autopilot.makefile
+1 -1
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@@ -59,7 +59,7 @@ ap.srcs += $(BOOZ_PRIV)/booz2_telemetry.c \
ap.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart1
ap.srcs += $(BOOZ_PRIV)/booz2_datalink.c
ap.srcs += commands.c
ap.srcs += $(BOOZ_PRIV)/booz2_commands.c
ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA -DRC_LED=1
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
conf/messages.xml
+16 -5
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@@ -1044,10 +1044,10 @@
<message name="BOOZ2_CMD" id="143">
<field name="cmd_a" type="int32"/>
<field name="cmd_e" type="int32"/>
<field name="cmd_r" type="int32"/>
<field name="cmd_t" type="int32"/>
<field name="cmd_roll" type="int32"/>
<field name="cmd_pitch" type="int32"/>
<field name="cmd_yaw" type="int32"/>
<field name="cmd_thrust" type="int32"/>
</message>
@@ -1111,8 +1111,19 @@
<field name="lat" type="int32"/>
</message>
<message name="BOOZ2_TUNE_HOVER" id="150">
<field name="cmd_roll" type="int32"/>
<field name="cmd_pitch" type="int32"/>
<field name="cmd_yaw" type="int32"/>
<field name="cmd_thrust" type="int32"/>
<field name="ua_phi" type="int32"/>
<field name="ua_theta" type="int32"/>
<field name="ua_psi" type="int32"/>
</message>
<message name="WT" id="150">
<message name="WT" id="151">
<field name="rpm" type="float"/>
</message>
conf/settings/settings_booz2.xml
+1 -1
View File
@@ -4,7 +4,7 @@
<dl_settings>
<dl_settings NAME="Misc">
<dl_setting var="telemetry_mode_Main" min="0" step="1" max="9" module="booz2_telemetry" shortname="telemetry" values="Default|Raw sensors|Scaled sensors|Filter|Rate loop|Att loop|Vert loop|H loop|Aligner|HS_att_roll"/>
<dl_setting var="telemetry_mode_Main" min="0" step="1" max="10" module="booz2_telemetry" shortname="telemetry" values="Default|Raw sensors|Scaled sensors|Filter|Rate loop|Att loop|Vert loop|H loop|Aligner|HS_att_roll|Tune_hover"/>
<dl_setting var="booz_fms_on" min="0" step="1" max="1" module="booz2_fms" shortname="fms_on" values="OFF|ON"/>
<!-- <dl_setting var="booz2_autopilot_mode_auto2" min="0" step="1" max="8" module="booz2_autopilot" shortname="auto2" values="Fail|Kill|Rate|Att|Rate_Z|Att_Z|Hover|Hover_Z|Nav"/> -->
</dl_settings>
conf/telemetry/telemetry_booz2.xml
+6
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@@ -81,6 +81,12 @@
<message name="BOOZ2_STAB_ATTITUDE_HS_ROLL" period="0.02"/>
</mode>
<mode name="tune_hover">
<message name="BOOZ2_TUNE_HOVER" period=".05"/>
</mode>
</process>