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clean up a bit

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Developer
2017-04-03 12:27:45 +02:00
parent 6bc63400d6
commit 99ebce7b5f
2 changed files with 50 additions and 48 deletions
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conf/airframes/OPENUAS/openuas_eflite_t28.xml
+6 -6
View File
@@ -43,9 +43,9 @@ NOTES:
<configure name="CPU_LED" value="1"/>
<!-- TODO: After first flights try to find optimum value -->
<!-- PERIODIC_FREQUENCY should be least equal or greater than AHRS_PROPAGATE_FREQUENCY -->
<configure name="PERIODIC_FREQUENCY" value="120"/> <!-- unit="Hz" -->
<configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/><!-- unit="Hz" -->
<configure name="AHRS_CORRECT_FREQUENCY" value="100"/> <!-- unit="Hz" -->
<configure name="PERIODIC_FREQUENCY" value="512"/> <!-- unit="Hz" -->
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/><!-- unit="Hz" -->
<configure name="AHRS_CORRECT_FREQUENCY" value="500"/> <!-- unit="Hz" -->
<configure name="NAVIGATION_FREQUENCY" value="16"/> <!-- unit="Hz" -->
<configure name="CONTROL_FREQUENCY" value="120"/> <!-- unit="Hz" -->
@@ -155,8 +155,8 @@ NOTES:
<!-- Not working ATM <module name="spektrum_soft_bind"/> -->
<!-- <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/> -->
<!-- <define name="USE_AHRS_GPS_ACCELERATIONS"/>-->
<define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
<define name="USE_AHRS_GPS_ACCELERATIONS"/>
<!-- <define name="USE_MAGNETOMETER_ONGROUND" value="FALSE"/> -->
<module name="ahrs" type="float_cmpl_quat">
<configure name="AHRS_USE_MAGNETOMETER" value="FALSE"/> <!-- First autoflight set to false better make sure it works and is callibrated if set to TRUE -->
@@ -169,7 +169,7 @@ NOTES:
<define name="AHRS_BIAS_UPDATE_HEADING_THRESHOLD" value="5.0"/> <!-- don't update gyro bias if heading deviation is above this threshold in degrees"-->
<define name="AHRS_HEADING_UPDATE_GPS_MIN_SPEED" value="1.0"/> <!-- CAREFULL, Don't update heading from GPS course if GPS ground speed is below is this threshold in m/s" -->
<!-- Some insights https://lists.nongnu.org/archive/html/paparazzi-devel/2013-10/msg00126.html -->
<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="5.0"/> <!-- Default is 30. Reduce accelerometer cut-off frequency when the vehicle is accelerating: norm(ax,ay,az) 9,81 m/s2. WARNING: when the IMU is not well damped, the norm of accelerometers never equals to 9,81 m/s2. As a result, the GRAVITY_HEURISTIC_FACTOR will reduce the accelerometer bandwith even if the vehicle is not accelerating. Set to 0 in case of vibrations -->
<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="10.0"/> <!-- Default is 30. Reduce accelerometer cut-off frequency when the vehicle is accelerating: norm(ax,ay,az) 9,81 m/s2. WARNING: when the IMU is not well damped, the norm of accelerometers never equals to 9,81 m/s2. As a result, the GRAVITY_HEURISTIC_FACTOR will reduce the accelerometer bandwith even if the vehicle is not accelerating. Set to 0 in case of vibrations -->
<!-- <define name="AHRS_ICQ_IMU_ID" value="ABI_BROADCAST"/>--> <!-- ABI sender id of IMU to use -->
<define name="AHRS_ICQ_MAG_ID" value="MAG_HMC58XX_SENDER_ID"/> <!-- ABI sender id of magnetometer to use, this case the external HMC on GPS board -->
sw/airborne/boards/px4fmu_4.0.h
+44 -42
View File
@@ -6,15 +6,15 @@
/* PX4FMU_V4 a.k.a. Pixracer board has a 24MHz external clock and 168MHz internal. */
/* STM32F4 STM32F427VIT6 */
#define EXT_CLK 24000000 //OK
#define AHB_CLK 168000000 //OK
#define EXT_CLK 24000000
#define AHB_CLK 168000000
//#define STM32F4 //to debug ADC on F4 does no work
//#define ADC_SAMPLE_TIME ADC_SMPR_SMP_56CYC //to debug ADC on F4 does no work
/* On PCB Multicolor LED */
/* On PCB there is a Multicolor LED */
/* Red */
//OK
#ifndef USE_LED_1
#define USE_LED_1 1
#endif
@@ -25,7 +25,6 @@
#define LED_1_AFIO_REMAP ((void)0)
/* Green */
//OK
#ifndef USE_LED_2
#define USE_LED_2 1
#endif
@@ -36,7 +35,6 @@
#define LED_2_AFIO_REMAP ((void)0)
/* Blue */
//OK
#ifndef USE_LED_3
#define USE_LED_3 1
#endif
@@ -52,6 +50,7 @@
/* UART SCHTUFFFF*/
/* -WiFi ESP Connector, it is just a serial port*/
//TODO: Test
#define UART1_GPIO_AF GPIO_AF7
#define UART1_GPIO_PORT_RX GPIOB
#define UART1_GPIO_RX GPIO7
@@ -87,12 +86,12 @@
#define UART4_GPIO_PORT_TX GPIOA
#define UART4_GPIO_TX GPIO0
/* Spektrum (only rx)*/
/* e.g. for a Spektrum satellite receiver rx only)*/
#define UART6_GPIO_AF GPIO_AF8
#define UART6_GPIO_PORT_RX GPIOC
#define UART6_GPIO_RX GPIO7
/* Serial Debugging Connector, not used with PPRZ, use JTAG, can be put to other good use */
/* Serial Debugging Connector, not used with PPRZ as of now, use JTAG, can be put to other good use */
#define UART7_GPIO_AF GPIO_AF8
#define UART7_GPIO_PORT_RX GPIOE
#define UART7_GPIO_RX GPIO7
@@ -100,6 +99,7 @@
#define UART7_GPIO_TX GPIO8
/* Connector -FRS FrSky */
//TODO: Test
#define UART8_GPIO_AF GPIO_AF8
#define UART8_GPIO_PORT_RX GPIOE
#define UART8_GPIO_RX GPIO0
@@ -107,24 +107,23 @@
#define UART8_GPIO_TX GPIO1
/* Soft binding Spektrum */
//ok
//TODO: Test and or FIXME:
#define RADIO_CONTROL_POWER_PORT GPIOE
#define RADIO_CONTROL_POWER_PIN GPIO4 //SPEKTRUM POWER
#define RADIO_CONTROL_POWER_ON gpio_clear // yes, inverted
#define RADIO_CONTROL_POWER_OFF gpio_set
//A sat
//A receiver on powered on 3.3v
#define PERIPHERAL3V3_ENABLE_PORT GPIOC //VDD_3V3_PERIPHERAL_EN
#define PERIPHERAL3V3_ENABLE_PIN GPIO5
#define PERIPHERAL3V3_ENABLE_ON gpio_set
#define PERIPHERAL3V3_ENABLE_OFF gpio_clear
/* Turn SBUS invert */
//ok
//TODO: Test
#define RC_POLARITY_GPIO_PORT GPIOC
#define RC_POLARITY_GPIO_PIN GPIO13
//ok
#define SPEKTRUM_UART6_RCC RCC_USART6
#define SPEKTRUM_UART6_BANK GPIOC
#define SPEKTRUM_UART6_PIN GPIO7
@@ -136,7 +135,6 @@
/* SPI */
/* SPI1 for MPU and extra accel/gyro/mag */
// OK
#define SPI1_GPIO_AF GPIO_AF5
#define SPI1_GPIO_PORT_MISO GPIOA
#define SPI1_GPIO_MISO GPIO6
@@ -146,7 +144,6 @@
#define SPI1_GPIO_SCK GPIO5
/* SPI2 for FRAM, connects to BARO */
// OK
#define SPI2_GPIO_AF GPIO_AF5
#define SPI2_GPIO_PORT_MISO GPIOB
#define SPI2_GPIO_MISO GPIO14
@@ -167,8 +164,9 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
* SPI slave pin declaration
*/
//So use best speced sensors as second or ref the other or determine it on task type?
//So use best spec'd sensors as second or ref the other or determine it on task type?
/* EXTRA ACC_GYRO_CS on SPI1 ICM 20609-G*/
// TODO: Make it useful
#define SPI_SELECT_SLAVE0_PORT GPIOC
#define SPI_SELECT_SLAVE0_PIN GPIO15
@@ -177,17 +175,16 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
#define SPI_SELECT_SLAVE1_PORT GPIOE
#define SPI_SELECT_SLAVE1_PIN GPIO15
/* MDL
/* MDL */
// FIXME: Test n fix of not working
#define SPI_SELECT_SLAVE1_PORT GPIOE
#define SPI_SELECT_SLAVE1_PIN GPIO15 */
/* MPU_9250_CS on SPI1 */
//OK
#define SPI_SELECT_SLAVE2_PORT GPIOC
#define SPI_SELECT_SLAVE2_PIN GPIO2
/* MS5611 BARO_CS on SPI2 - FRAM*/
//OK
#define SPI_SELECT_SLAVE3_PORT GPIOD
#define SPI_SELECT_SLAVE3_PIN GPIO7
@@ -196,11 +193,13 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
#define SPI_SELECT_SLAVE4_PIN GPIO10
/* SPI3 NSS on microSD connector */
//FIXME: not tested
//#define SPI_SELECT_SLAVE4_PORT GPIOA
//#define SPI_SELECT_SLAVE4_PIN GPIO4
/* SDIO to microSD card connector */
//FIXME: Fix and test
#define SDIO_AF GPIO_AF12
#define SDIO_D0_PORT GPIOC
#define SDIO_D0_PIN GPIO8
@@ -222,6 +221,7 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
#define USE_AD_TIM3 1
// Internal ADC for voltage level measurement
////FIXME: test and fix if still not working
#ifndef USE_ADC_1
#define USE_ADC_1 1
#endif
@@ -233,11 +233,11 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
#define ADC_1_GPIO_PIN GPIO4
#endif
// Sense voltage level via external sensor on ADC
// Per default for the board to sense voltage level via external sensor on ADC
//FIXME: test and fix if still not working
#ifndef USE_ADC_2
#define USE_ADC_2 1
#endif
#if USE_ADC_2
#define AD1_2_CHANNEL 2 // ADC123_IN2 (--> IN2 corresponds to channel 2)
#define ADC_2 AD1_2 // ADC123 means it can be used by ADC 1 and 2 and 3 (the f4 supports 3 adc's), does not matter which. Each ADC can address 4 pins, so in this case we are using ADC 1, on its second pin.
@@ -245,34 +245,35 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
#define ADC_2_GPIO_PIN GPIO2
#endif
// Sense current via external sensor on ADC
// Per default for the board to sense current via external sensor on ADC
#ifndef USE_ADC_3
#define USE_ADC_3 1
#endif
#if USE_ADC_3
#define AD1_3_CHANNEL 3 // ADC123_IN3
#define ADC_3 AD1_3
#define ADC_3_GPIO_PORT GPIOA
#define ADC_3_GPIO_PIN GPIO3
#endif
#define MilliAmpereOfAdc(adc)((float)adc) * (3.3f / 4096.0f) * (90.0f / 5.0f)
#define MilliAmpereOfAdc(adc)((float)adc) * (3.3f / 4096.0f) * (90.0f / 5.0f) //TODO: test if valid
/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
//#ifndef ADC_CHANNEL_VSUPPLY
#define ADC_CHANNEL_VSUPPLY ADC_1
//#endif
/* Allow to define ADC_CHANNEL_VSUPPLY in the airframe file */
#ifndef ADC_CHANNEL_VSUPPLY
#define ADC_CHANNEL_VSUPPLY ADC_2
#endif
/* Allow to define another ADC for Current measurement in the airframe file */
#ifndef ADC_CHANNEL_CURRENT
#define ADC_CHANNEL_CURRENT ADC_3
#endif
//??FT = Five-volt tolerant. In order to sustain a voltage higher than VDD+0.3 the internal pull-up/pull-down resistors must be disabled.
//#define DefaultVoltageOfAdc(adc) (0.0045*adc)
//Set stock values
//#if USE_ADC_2
//#define DefaultVoltageOfAdc(adc) (0.0005f * (float)adc)//FIXME: Value...
//#else
#define DefaultVoltageOfAdc(adc) (0.004 * adc) // scale internal vdd to 5V
//#endif
//FIXME: Determine best stock values
#if USE_ADC_2
#define DefaultVoltageOfAdc(adc) (0.004f * (float)adc) // FIXME: Value scale for a common PowerBrick
#else
#define DefaultVoltageOfAdc(adc) (0.004f * (float)adc) // FIXME: Value scale internal vdd to 5V
#endif
/* I2C mapping */
#define I2C1_GPIO_PORT GPIOB
@@ -285,7 +286,7 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
#endif
/* Another Magnetometer on board a HMC5983 not the one in the IMU 9250*/
//TODO:
//FIXME: better default option for use of maybe fuse data
#ifndef USE_MAGNETOMETER_B
#define USE_MAGNETOMETER_B 0
#endif
@@ -307,7 +308,7 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
#define USE_PWM5 1
#define USE_PWM6 1
/* -ESC Servo 1 */
/* Servo 1 */
#if USE_PWM1
#define PWM_SERVO_1 0
#define PWM_SERVO_1_TIMER TIM1
@@ -320,7 +321,7 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
#define PWM_SERVO_1_OC_BIT 0
#endif
/* -ESC Servo 2 */
/* Servo 2 */
#if USE_PWM2
#define PWM_SERVO_2 1
#define PWM_SERVO_2_TIMER TIM1
@@ -333,7 +334,7 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
#define PWM_SERVO_2_OC_BIT 0
#endif
/* -ESC Servo 3 */
/* Servo 3 */
#if USE_PWM3
#define PWM_SERVO_3 2 //#define PWM_SERVO_3_IDX 2
#define PWM_SERVO_3_TIMER TIM1
@@ -346,7 +347,7 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
#define PWM_SERVO_3_OC_BIT 0
#endif
/* -ESC Servo 4 */
/* Servo 4 */
#if USE_PWM4
#define PWM_SERVO_4 3
#define PWM_SERVO_4_TIMER TIM1
@@ -359,7 +360,7 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
#define PWM_SERVO_4_OC_BIT 0
#endif
/* -ESC or Servo 5 */
/* Servo 5 */
#if USE_PWM5
#define PWM_SERVO_5 4
#define PWM_SERVO_5_TIMER TIM4
@@ -372,7 +373,7 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
#define PWM_SERVO_5_OC_BIT 0
#endif
/* -ESC or Servo 6 */
/* Servo 6 */
#if USE_PWM6
#define PWM_SERVO_6 5
#define PWM_SERVO_6_TIMER TIM4
@@ -389,6 +390,7 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
#define PWM_TIM4_CHAN_MASK (PWM_SERVO_5_OC_BIT|PWM_SERVO_6_OC_BIT)
/* Buzzer (A.k.a. Alarm) */
//TODO: Test
#if USE_BUZZER
#define PWM_BUZZER
#define PWM_BUZZER_TIMER TIM2