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Merge pull request #59 from Bruzzlee/AoA

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AoA Module to use the USDigital M3 as an AoA-Sensor
This commit is contained in:
Felix Ruess
2011-06-27 00:32:12 -07:00
parent 506278b180 f840fc61f6
commit 96a638191a
10 changed files with 197 additions and 3 deletions
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conf/airframes/microjet_example.xml
+10
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@@ -8,6 +8,16 @@
<airframe name="Microjet Tiny 1.1">
<modules>
<load name="AOA_adc.xml">
<configure name="ADC_AOA" value="ADC_6"/>
<define name="AOA_OFFSET" value="-0.135000005364"/>
<define name="AOA_FILTER" value="0.875999987125"/>
<define name="USE_AOA"/>
</load>
</modules>
<servos>
<servo name="MOTOR" no="0" min="1290" neutral="1290" max="1810"/>
<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1510" max="1000"/>
conf/messages.xml
+4 -1
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@@ -516,7 +516,10 @@
<!-- 66 is free -->
<!-- 67 is free -->
<!-- 68 is free -->
<!-- 69 is free -->
<message name="AOA_adc" id="69">
<field name="adcVal" type="uint16"></field>
<field name="AOA" type="float" unit="rad"></field>
</message>
<!-- 70 is free -->
<!-- 71 is free -->
<!-- 72 is free -->
conf/modules/AOA_adc.xml
+24
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@@ -0,0 +1,24 @@
<!DOCTYPE module SYSTEM "module.dtd">
<!--
Angle of Attack ADC module
-->
<module name="AOA_adc" dir="sensors">
<header>
<file name="AOA_adc.h"/>
</header>
<init fun="AOA_adc_init()"/>
<periodic fun="AOA_adc_update()" freq="60."/>
<makefile>
<file name="AOA_adc.c"/>
</makefile>
<makefile target="ap">
<define name="ADC_CHANNEL_AOA" value="$(ADC_AOA)"/>
<define name="USE_$(ADC_AOA)"/>
</makefile>
</module>
conf/settings/AOA_adc.xml
Executable
+11
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@@ -0,0 +1,11 @@
<!DOCTYPE settings SYSTEM "settings.dtd">
<settings>
<dl_settings>
<dl_settings NAME="AOA">
<dl_setting MAX="4" MIN="-4" STEP="0.0001" VAR="AOA_offset" shortname="AOA_offset" module="modules/sensors/AOA_adc" param="AOA_OFFSET"/>
<dl_setting MAX="0.95" MIN="0" STEP="0.001" VAR="AOA_filter" shortname="AOA_filter" module="modules/sensors/AOA_adc" param="AOA_FILTER"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="h_ctl_pitch_mode" shortname="PITCH_Mode" module="stabilization/stabilization_attitude" />
</dl_settings>
</dl_settings>
</settings>