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update airframe files

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This commit is contained in:
Gautier Hattenberger
2010-09-28 08:45:28 +00:00
parent 478fbb84ba
commit 8ed537daa0
2 changed files with 64 additions and 72 deletions
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conf/airframes/ENAC/quadrotor/booz2_g1.xml
+31 -48
View File
@@ -1,12 +1,36 @@
<airframe name="BOOZ2_G1">
<modules main_freq="512">
<load name="booz_drop.xml"/>
<!--load name="booz_drop.xml"/-->
<!--load name="booz_cam.xml"/-->
<!--load name="sonar_maxbotix_booz.xml"/-->
<!--load name="adc_generic_booz.xml"/-->
<!--load name="sys_mon.xml"/-->
</modules>
<firmware name="rotorcraft">
<target name="ap" board="booz_1.0">
<define name="BOOZ_FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R"/>
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="asctec"/>
<subsystem name="imu" type="b2_v1.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="ahrs" type="cmpl"/>
<subsystem name="ins" type="hff"/>
</firmware>
<firmware name="booz_test_progs">
<target name="test_telemetry" board="booz_1.0"/>
<target name="test_baro" board="booz_1.0"/>
<target name="test_rc_spektrum" board="booz_1.0"/>
<target name="test_rc_ppm" board="booz_1.0"/>
</firmware>
<servos min="0" neutral="0" max="0xff">
<servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
<servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
@@ -29,10 +53,6 @@
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_CHAN" value="1"/>
<define name="GYRO_Q_CHAN" value="0"/>
<define name="GYRO_R_CHAN" value="2"/>
<define name="GYRO_P_NEUTRAL" value="32238"/>
<define name="GYRO_Q_NEUTRAL" value="32391"/>
<define name="GYRO_R_NEUTRAL" value="32853"/>
@@ -41,10 +61,6 @@
<define name="GYRO_Q_SENS" value="1.00" integer="16"/>
<define name="GYRO_R_SENS" value="1.00" integer="16"/>
<define name="ACCEL_X_CHAN" value="5"/>
<define name="ACCEL_Y_CHAN" value="3"/>
<define name="ACCEL_Z_CHAN" value="4"/>
<define name="ACCEL_X_SENS" value="2.55975587" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.55643340" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.57178460" integer="16"/>
@@ -53,10 +69,6 @@
<define name="ACCEL_Y_NEUTRAL" value="32778"/>
<define name="ACCEL_Z_NEUTRAL" value="32140"/>
<define name="MAG_X_CHAN" value="0"/>
<define name="MAG_Y_CHAN" value="1"/>
<define name="MAG_Z_CHAN" value="2"/>
<define name="MAG_X_NEUTRAL" value="-12"/>
<define name="MAG_Y_NEUTRAL" value="-10"/>
<define name="MAG_Z_NEUTRAL" value="-11"/>
@@ -116,8 +128,8 @@
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/>
<define name="PSI_PGAIN" value="-2000"/>
<define name="PSI_DGAIN" value="-400"/>
<define name="PSI_IGAIN" value="-10"/>
<!-- feedforward -->
@@ -209,49 +221,20 @@
</section>
<makefile>
ARCH=lpc21
BOARD_CFG = \"boards/booz2_v1_0.h\"
FLASH_MODE=IAP
<makefile location="after">
# prevents motors from ever starting
#ap.CFLAGS += -DKILL_MOTORS
ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile
ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
sim.CFLAGS += -DNPS_NO_SUPERVISION
include $(CFG_BOOZ)/booz2_simulator_nps.makefile
ap.CFLAGS += -DMODEM_BAUD=B57600
include $(CFG_BOOZ)/subsystems/booz2_actuators_asctec.makefile
include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
include $(CFG_BOOZ)/subsystems/booz_gps_ublox.makefile
#include $(CFG_BOOZ)/subsystems/booz2_analog_bat_baro.makefile
include $(CFG_BOOZ)/subsystems/booz2_fms_datalink.makefile
include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
#set GPS lag for horizontal filter
#ap.CFLAGS += -DGPS_LAG=0.8
ap.CFLAGS += -DUSE_GPS_ACC4R
ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
sim.CFLAGS += -DB2_GUIDANCE_H_USE_REF
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
sim.srcs += $(SRC_BOOZ_SIM)/booz2_pwm_hw.c
ap.CFLAGS += -DUSE_MODULES
</makefile>
</airframe>
conf/airframes/ENAC/quadrotor/mkk1.xml
+33 -24
View File
@@ -2,6 +2,39 @@
<airframe name="Booz Mkk1 Enac">
<firmware name="rotorcraft">
<!--target name="ap" board="booz_1.0"-->
<target name="ap" board="lisa_l_1.0">
<define name="BOOZ_FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R"/>
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
<subsystem name="imu" type="b2_v1.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="ahrs" type="cmpl"/>
<subsystem name="ins" type="hff"/>
</firmware>
<firmware name="lisa_l_test_progs">
<target name="test_imu_b2" board="lisa_l_1.0"/>
<target name="test_telemetry" board="lisa_l_1.0"/>
<target name="test_baro" board="lisa_l_1.0"/>
<target name="test_rc_spektrum" board="lisa_l_1.0"/>
<target name="test_rc_ppm" board="lisa_l_1.0"/>
<target name="test_actuators_mkk" board="lisa_l_1.0"/>
</firmware>
<!--firmware name="booz_test_progs">
<target name="test_telemetry" board="booz_1.0"/>
<target name="test_baro" board="booz_1.0"/>
<target name="test_rc_spektrum" board="booz_1.0"/>
<target name="test_rc_ppm" board="booz_1.0"/>
<target name="test_actuators_mkk" board="booz_1.0"/>
</firmware-->
<servos min="0" neutral="0" max="0xff">
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" min="0" neutral="0" max="255"/>
@@ -221,41 +254,17 @@
<makefile>
ARCH=lpc21
BOARD_CFG = \"boards/booz2_v1_0.h\"
FLASH_MODE=IAP
# prevents motors from ever starting
#ap.CFLAGS += -DKILL_MOTORS
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile
ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
ap.CFLAGS += -DMODEM_BAUD=B57600
include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
include $(CFG_BOOZ)/subsystems/booz2_analog_bat_baro.makefile
include $(CFG_BOOZ)/subsystems/booz2_fms_datalink.makefile
include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
#set GPS lag for horizontal filter
#ap.CFLAGS += -DUSE_GPS_ACC4R
#ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT
ap.CFLAGS += -DUSE_MODULES
include $(CFG_BOOZ)/booz2_simulator_nps.makefile
#sim.CFLAGS += -DB2_GUIDANCE_H_USE_REF
sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT
sim.CFLAGS += -DUSE_MODULES
</makefile>