mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 22:17:01 +08:00
Convert subsystem to module for HooperFly frames
This commit is contained in:
Richard A Burton
@@ -17,51 +17,42 @@
|
|||||||
</target>
|
</target>
|
||||||
|
|
||||||
<target name="nps" board="pc">
|
<target name="nps" board="pc">
|
||||||
<subsystem name="fdm" type="jsbsim"/>
|
<module name="fdm" type="jsbsim"/>
|
||||||
</target>
|
</target>
|
||||||
|
|
||||||
<subsystem name="radio_control" type="spektrum">
|
<module name="radio_control" type="spektrum">
|
||||||
<define name="RADIO_MODE" value="RADIO_FLAP"/>
|
<define name="RADIO_MODE" value="RADIO_FLAP"/>
|
||||||
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
|
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
|
||||||
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
|
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
|
||||||
</subsystem>
|
</module>
|
||||||
|
|
||||||
<subsystem name="motor_mixing"/>
|
<module name="motor_mixing"/>
|
||||||
<subsystem name="actuators" type="pwm">
|
<module name="actuators" type="pwm">
|
||||||
<define name="SERVO_HZ" value="400"/>
|
<define name="SERVO_HZ" value="400"/>
|
||||||
</subsystem>
|
</module>
|
||||||
|
|
||||||
<subsystem name="telemetry" type="transparent"/>
|
<module name="telemetry" type="transparent"/>
|
||||||
<subsystem name="imu" type="aspirin_v2.2"/>
|
<module name="imu" type="aspirin_v2.2"/>
|
||||||
<subsystem name="gps" type="ublox"/>
|
<module name="gps" type="ublox"/>
|
||||||
<subsystem name="stabilization" type="int_quat"/>
|
<module name="stabilization" type="int_quat"/>
|
||||||
<subsystem name="ahrs" type="int_cmpl_quat"/>
|
<module name="ahrs" type="int_cmpl_quat"/>
|
||||||
<subsystem name="ins" type="hff"/>
|
<module name="ins" type="hff"/>
|
||||||
|
|
||||||
|
<module name="send_imu_mag_current.xml"/>
|
||||||
|
<module name="adc_generic.xml">
|
||||||
|
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
|
||||||
|
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
|
||||||
|
</module>
|
||||||
|
<module name="gps_ubx_ucenter.xml"/>
|
||||||
|
<module name="geo_mag.xml"/>
|
||||||
|
<module name="air_data.xml"/>
|
||||||
|
<module name="nav_survey_rectangle_rotorcraft.xml">
|
||||||
|
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
|
||||||
|
</module>
|
||||||
|
|
||||||
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
|
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
|
||||||
</firmware>
|
</firmware>
|
||||||
|
|
||||||
<modules>
|
|
||||||
<load name="send_imu_mag_current.xml"/>
|
|
||||||
<load name="adc_generic.xml">
|
|
||||||
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
|
|
||||||
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
|
|
||||||
</load>
|
|
||||||
<load name="gps_ubx_ucenter.xml"/>
|
|
||||||
<load name="geo_mag.xml"/>
|
|
||||||
<load name="air_data.xml"/>
|
|
||||||
<load name="nav_survey_rectangle_rotorcraft.xml">
|
|
||||||
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
|
|
||||||
</load>
|
|
||||||
<!--
|
|
||||||
<load name="nav_survey_poly_rotorcraft.xml"/>
|
|
||||||
<load name="follow.xml">
|
|
||||||
<define name="FOLLOW_AC_ID" value="218"/>
|
|
||||||
<define name="FOLLOW_WAYPOINT_ID" value="WP_p1"/>
|
|
||||||
<define name="FOLLOW_OFFSET_Z" value="2.0"/>
|
|
||||||
</load>
|
|
||||||
-->
|
|
||||||
</modules>
|
|
||||||
|
|
||||||
<servos driver="Pwm">
|
<servos driver="Pwm">
|
||||||
<servo name="FRONT_LEFT" no="0" min="1000" neutral="1100" max="1900"/>
|
<servo name="FRONT_LEFT" no="0" min="1000" neutral="1100" max="1900"/>
|
||||||
|
|||||||
@@ -16,51 +16,42 @@
|
|||||||
</target>
|
</target>
|
||||||
|
|
||||||
<target name="nps" board="pc">
|
<target name="nps" board="pc">
|
||||||
<subsystem name="fdm" type="jsbsim"/>
|
<module name="fdm" type="jsbsim"/>
|
||||||
</target>
|
</target>
|
||||||
|
|
||||||
<subsystem name="radio_control" type="spektrum">
|
<module name="radio_control" type="spektrum">
|
||||||
<define name="RADIO_MODE" value="RADIO_FLAP"/>
|
<define name="RADIO_MODE" value="RADIO_FLAP"/>
|
||||||
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
|
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
|
||||||
<!-- <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/> -->
|
<!-- <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/> -->
|
||||||
</subsystem>
|
</module>
|
||||||
|
|
||||||
<subsystem name="motor_mixing"/>
|
<module name="motor_mixing"/>
|
||||||
<subsystem name="actuators" type="pwm">
|
<module name="actuators" type="pwm">
|
||||||
<define name="SERVO_HZ" value="400"/>
|
<define name="SERVO_HZ" value="400"/>
|
||||||
</subsystem>
|
</module>
|
||||||
|
|
||||||
<subsystem name="telemetry" type="transparent"/>
|
<module name="telemetry" type="transparent"/>
|
||||||
<subsystem name="imu" type="aspirin_v2.2"/>
|
<module name="imu" type="aspirin_v2.2"/>
|
||||||
<subsystem name="gps" type="ublox"/>
|
<module name="gps" type="ublox"/>
|
||||||
<subsystem name="stabilization" type="int_quat"/>
|
<module name="stabilization" type="int_quat"/>
|
||||||
<subsystem name="ahrs" type="int_cmpl_quat"/>
|
<module name="ahrs" type="int_cmpl_quat"/>
|
||||||
<subsystem name="ins" type="hff"/>
|
<module name="ins" type="hff"/>
|
||||||
|
|
||||||
|
<module name="send_imu_mag_current.xml"/>
|
||||||
|
<module name="adc_generic.xml">
|
||||||
|
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
|
||||||
|
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
|
||||||
|
</module>
|
||||||
|
<module name="gps_ubx_ucenter.xml"/>
|
||||||
|
<module name="geo_mag.xml"/>
|
||||||
|
<module name="air_data.xml"/>
|
||||||
|
<module name="nav_survey_rectangle_rotorcraft.xml">
|
||||||
|
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
|
||||||
|
</module>
|
||||||
|
|
||||||
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
|
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
|
||||||
</firmware>
|
</firmware>
|
||||||
|
|
||||||
<modules>
|
|
||||||
<load name="send_imu_mag_current.xml"/>
|
|
||||||
<load name="adc_generic.xml">
|
|
||||||
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
|
|
||||||
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
|
|
||||||
</load>
|
|
||||||
<load name="gps_ubx_ucenter.xml"/>
|
|
||||||
<load name="geo_mag.xml"/>
|
|
||||||
<load name="air_data.xml"/>
|
|
||||||
<load name="nav_survey_rectangle_rotorcraft.xml">
|
|
||||||
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
|
|
||||||
</load>
|
|
||||||
<!--
|
|
||||||
<load name="nav_survey_poly_rotorcraft.xml"/>
|
|
||||||
<load name="follow.xml">
|
|
||||||
<define name="FOLLOW_AC_ID" value="101"/>
|
|
||||||
<define name="FOLLOW_WAYPOINT_ID" value="WP_p1"/>
|
|
||||||
<define name="FOLLOW_OFFSET_Z" value="2.0"/>
|
|
||||||
</load>
|
|
||||||
-->
|
|
||||||
</modules>
|
|
||||||
|
|
||||||
<servos driver="Pwm">
|
<servos driver="Pwm">
|
||||||
<servo name="FL_1" no="0" min="1000" neutral="1100" max="1900"/>
|
<servo name="FL_1" no="0" min="1000" neutral="1100" max="1900"/>
|
||||||
|
|||||||
@@ -17,51 +17,42 @@
|
|||||||
</target>
|
</target>
|
||||||
|
|
||||||
<target name="nps" board="pc">
|
<target name="nps" board="pc">
|
||||||
<subsystem name="fdm" type="jsbsim"/>
|
<module name="fdm" type="jsbsim"/>
|
||||||
</target>
|
</target>
|
||||||
|
|
||||||
<subsystem name="radio_control" type="spektrum">
|
<module name="radio_control" type="spektrum">
|
||||||
<define name="RADIO_MODE" value="RADIO_FLAP"/>
|
<define name="RADIO_MODE" value="RADIO_FLAP"/>
|
||||||
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
|
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
|
||||||
<!-- <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/> -->
|
<!-- <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/> -->
|
||||||
</subsystem>
|
</module>
|
||||||
|
|
||||||
<subsystem name="motor_mixing"/>
|
<module name="motor_mixing"/>
|
||||||
<subsystem name="actuators" type="pwm">
|
<module name="actuators" type="pwm">
|
||||||
<define name="SERVO_HZ" value="400"/>
|
<define name="SERVO_HZ" value="400"/>
|
||||||
</subsystem>
|
</module>
|
||||||
|
|
||||||
<subsystem name="telemetry" type="transparent"/>
|
<module name="telemetry" type="transparent"/>
|
||||||
<subsystem name="imu" type="aspirin_v2.2"/>
|
<module name="imu" type="aspirin_v2.2"/>
|
||||||
<subsystem name="gps" type="ublox"/>
|
<module name="gps" type="ublox"/>
|
||||||
<subsystem name="stabilization" type="int_quat"/>
|
<module name="stabilization" type="int_quat"/>
|
||||||
<subsystem name="ahrs" type="int_cmpl_quat"/>
|
<module name="ahrs" type="int_cmpl_quat"/>
|
||||||
<subsystem name="ins" type="hff"/>
|
<module name="ins" type="hff"/>
|
||||||
|
|
||||||
|
<module name="send_imu_mag_current.xml"/>
|
||||||
|
<module name="adc_generic.xml">
|
||||||
|
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
|
||||||
|
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
|
||||||
|
</module>
|
||||||
|
<module name="gps_ubx_ucenter.xml"/>
|
||||||
|
<module name="geo_mag.xml"/>
|
||||||
|
<module name="air_data.xml"/>
|
||||||
|
<module name="nav_survey_rectangle_rotorcraft.xml">
|
||||||
|
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
|
||||||
|
</module>
|
||||||
|
|
||||||
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
|
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
|
||||||
</firmware>
|
</firmware>
|
||||||
|
|
||||||
<modules>
|
|
||||||
<load name="send_imu_mag_current.xml"/>
|
|
||||||
<load name="adc_generic.xml">
|
|
||||||
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
|
|
||||||
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
|
|
||||||
</load>
|
|
||||||
<load name="gps_ubx_ucenter.xml"/>
|
|
||||||
<load name="geo_mag.xml"/>
|
|
||||||
<load name="air_data.xml"/>
|
|
||||||
<load name="nav_survey_rectangle_rotorcraft.xml">
|
|
||||||
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
|
|
||||||
</load>
|
|
||||||
<!--
|
|
||||||
<load name="nav_survey_poly_rotorcraft.xml"/>
|
|
||||||
<load name="follow.xml">
|
|
||||||
<define name="FOLLOW_AC_ID" value="101"/>
|
|
||||||
<define name="FOLLOW_WAYPOINT_ID" value="WP_p1"/>
|
|
||||||
<define name="FOLLOW_OFFSET_Z" value="2.0"/>
|
|
||||||
</load>
|
|
||||||
-->
|
|
||||||
</modules>
|
|
||||||
|
|
||||||
<servos driver="Pwm">
|
<servos driver="Pwm">
|
||||||
<servo name="FRONT_LEFT" no="0" min="1000" neutral="1100" max="1900"/>
|
<servo name="FRONT_LEFT" no="0" min="1000" neutral="1100" max="1900"/>
|
||||||
|
|||||||
@@ -17,51 +17,42 @@
|
|||||||
</target>
|
</target>
|
||||||
|
|
||||||
<target name="nps" board="pc">
|
<target name="nps" board="pc">
|
||||||
<subsystem name="fdm" type="jsbsim"/>
|
<module name="fdm" type="jsbsim"/>
|
||||||
</target>
|
</target>
|
||||||
|
|
||||||
<subsystem name="radio_control" type="spektrum">
|
<module name="radio_control" type="spektrum">
|
||||||
<define name="RADIO_MODE" value="RADIO_FLAP"/>
|
<define name="RADIO_MODE" value="RADIO_FLAP"/>
|
||||||
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
|
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
|
||||||
<!-- <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/> -->
|
<!-- <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/> -->
|
||||||
</subsystem>
|
</module>
|
||||||
|
|
||||||
<subsystem name="motor_mixing"/>
|
<module name="motor_mixing"/>
|
||||||
<subsystem name="actuators" type="pwm">
|
<module name="actuators" type="pwm">
|
||||||
<define name="SERVO_HZ" value="400"/>
|
<define name="SERVO_HZ" value="400"/>
|
||||||
</subsystem>
|
</module>
|
||||||
|
|
||||||
<subsystem name="telemetry" type="transparent"/>
|
<module name="telemetry" type="transparent"/>
|
||||||
<subsystem name="imu" type="aspirin_v2.2"/>
|
<module name="imu" type="aspirin_v2.2"/>
|
||||||
<subsystem name="gps" type="ublox"/>
|
<module name="gps" type="ublox"/>
|
||||||
<subsystem name="stabilization" type="int_quat"/>
|
<module name="stabilization" type="int_quat"/>
|
||||||
<subsystem name="ahrs" type="int_cmpl_quat"/>
|
<module name="ahrs" type="int_cmpl_quat"/>
|
||||||
<subsystem name="ins" type="hff"/>
|
<module name="ins" type="hff"/>
|
||||||
|
|
||||||
|
<module name="send_imu_mag_current.xml"/>
|
||||||
|
<module name="adc_generic.xml">
|
||||||
|
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
|
||||||
|
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
|
||||||
|
</module>
|
||||||
|
<module name="gps_ubx_ucenter.xml"/>
|
||||||
|
<module name="geo_mag.xml"/>
|
||||||
|
<module name="air_data.xml"/>
|
||||||
|
<module name="nav_survey_rectangle_rotorcraft.xml">
|
||||||
|
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
|
||||||
|
</module>
|
||||||
|
|
||||||
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
|
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
|
||||||
</firmware>
|
</firmware>
|
||||||
|
|
||||||
<modules>
|
|
||||||
<load name="send_imu_mag_current.xml"/>
|
|
||||||
<load name="adc_generic.xml">
|
|
||||||
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
|
|
||||||
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
|
|
||||||
</load>
|
|
||||||
<load name="gps_ubx_ucenter.xml"/>
|
|
||||||
<load name="geo_mag.xml"/>
|
|
||||||
<load name="air_data.xml"/>
|
|
||||||
<load name="nav_survey_rectangle_rotorcraft.xml">
|
|
||||||
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
|
|
||||||
</load>
|
|
||||||
<!--
|
|
||||||
<load name="nav_survey_poly_rotorcraft.xml"/>
|
|
||||||
<load name="follow.xml">
|
|
||||||
<define name="FOLLOW_AC_ID" value="218"/>
|
|
||||||
<define name="FOLLOW_WAYPOINT_ID" value="WP_p1"/>
|
|
||||||
<define name="FOLLOW_OFFSET_Z" value="2.0"/>
|
|
||||||
</load>
|
|
||||||
-->
|
|
||||||
</modules>
|
|
||||||
|
|
||||||
<servos driver="Pwm">
|
<servos driver="Pwm">
|
||||||
<servo name="FRONT_LEFT" no="0" min="1000" neutral="1100" max="1900"/>
|
<servo name="FRONT_LEFT" no="0" min="1000" neutral="1100" max="1900"/>
|
||||||
|
|||||||
@@ -15,51 +15,42 @@
|
|||||||
</target>
|
</target>
|
||||||
|
|
||||||
<target name="nps" board="pc">
|
<target name="nps" board="pc">
|
||||||
<subsystem name="fdm" type="jsbsim"/>
|
<module name="fdm" type="jsbsim"/>
|
||||||
</target>
|
</target>
|
||||||
|
|
||||||
<subsystem name="radio_control" type="spektrum">
|
<module name="radio_control" type="spektrum">
|
||||||
<define name="RADIO_MODE" value="RADIO_FLAP"/>
|
<define name="RADIO_MODE" value="RADIO_FLAP"/>
|
||||||
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
|
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
|
||||||
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
|
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
|
||||||
</subsystem>
|
</module>
|
||||||
|
|
||||||
<subsystem name="motor_mixing"/>
|
<module name="motor_mixing"/>
|
||||||
<subsystem name="actuators" type="pwm">
|
<module name="actuators" type="pwm">
|
||||||
<define name="SERVO_HZ" value="400"/>
|
<define name="SERVO_HZ" value="400"/>
|
||||||
</subsystem>
|
</module>
|
||||||
|
|
||||||
<subsystem name="telemetry" type="transparent"/>
|
<module name="telemetry" type="transparent"/>
|
||||||
<subsystem name="imu" type="elle0"/>
|
<module name="imu" type="elle0"/>
|
||||||
<subsystem name="gps" type="ublox"/>
|
<module name="gps" type="ublox"/>
|
||||||
<subsystem name="stabilization" type="int_quat"/>
|
<module name="stabilization" type="int_quat"/>
|
||||||
<subsystem name="ahrs" type="int_cmpl_quat"/>
|
<module name="ahrs" type="int_cmpl_quat"/>
|
||||||
<subsystem name="ins" type="hff"/>
|
<module name="ins" type="hff"/>
|
||||||
|
|
||||||
|
<module name="send_imu_mag_current.xml"/>
|
||||||
|
<module name="adc_generic.xml">
|
||||||
|
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
|
||||||
|
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
|
||||||
|
</module>
|
||||||
|
<module name="gps_ubx_ucenter.xml"/>
|
||||||
|
<module name="geo_mag.xml"/>
|
||||||
|
<module name="air_data.xml"/>
|
||||||
|
<module name="nav_survey_rectangle_rotorcraft.xml">
|
||||||
|
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
|
||||||
|
</module>
|
||||||
|
|
||||||
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
|
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
|
||||||
</firmware>
|
</firmware>
|
||||||
|
|
||||||
<modules>
|
|
||||||
<load name="send_imu_mag_current.xml"/>
|
|
||||||
<load name="adc_generic.xml">
|
|
||||||
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
|
|
||||||
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
|
|
||||||
</load>
|
|
||||||
<load name="gps_ubx_ucenter.xml"/>
|
|
||||||
<load name="geo_mag.xml"/>
|
|
||||||
<load name="air_data.xml"/>
|
|
||||||
<load name="nav_survey_rectangle_rotorcraft.xml">
|
|
||||||
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
|
|
||||||
</load>
|
|
||||||
<!--
|
|
||||||
<load name="nav_survey_poly_rotorcraft.xml"/>
|
|
||||||
<load name="follow.xml">
|
|
||||||
<define name="FOLLOW_AC_ID" value="101"/>
|
|
||||||
<define name="FOLLOW_WAYPOINT_ID" value="WP_p1"/>
|
|
||||||
<define name="FOLLOW_OFFSET_Z" value="2.0"/>
|
|
||||||
</load>
|
|
||||||
-->
|
|
||||||
</modules>
|
|
||||||
|
|
||||||
<servos driver="Pwm">
|
<servos driver="Pwm">
|
||||||
<servo name="FRONT_LEFT" no="0" min="1000" neutral="1100" max="1900"/>
|
<servo name="FRONT_LEFT" no="0" min="1000" neutral="1100" max="1900"/>
|
||||||
|
|||||||
@@ -0,0 +1,227 @@
|
|||||||
|
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||||
|
|
||||||
|
<!-- this is a quadrotor frame in X-configuration equiped with
|
||||||
|
* Autopilot: ELLE0 1.2 with STM32F4 http://wiki.paparazziuav.org/wiki/ELLE0
|
||||||
|
* IMU: MPU9250 & MS5611 http://wiki.paparazziuav.org/wiki/ELLE0#IMU
|
||||||
|
* Actuators: PWM motor controllers http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
|
||||||
|
* GPS: Ublox http://wiki.paparazziuav.org/wiki/Subsystem/gps
|
||||||
|
* RC: two Spektrum sats http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
|
||||||
|
-->
|
||||||
|
|
||||||
|
<airframe name="TeensyFly Quad Elle0">
|
||||||
|
|
||||||
|
<firmware name="rotorcraft">
|
||||||
|
<target name="ap" board="elle0_1.2">
|
||||||
|
</target>
|
||||||
|
|
||||||
|
<target name="nps" board="pc">
|
||||||
|
<module name="fdm" type="jsbsim"/>
|
||||||
|
</target>
|
||||||
|
|
||||||
|
<module name="radio_control" type="spektrum">
|
||||||
|
<define name="RADIO_MODE" value="RADIO_FLAP"/>
|
||||||
|
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
|
||||||
|
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
|
||||||
|
</module>
|
||||||
|
|
||||||
|
<module name="motor_mixing"/>
|
||||||
|
<module name="actuators" type="pwm">
|
||||||
|
<define name="SERVO_HZ" value="400"/>
|
||||||
|
</module>
|
||||||
|
|
||||||
|
<module name="telemetry" type="transparent"/>
|
||||||
|
<module name="imu" type="elle0"/>
|
||||||
|
<module name="gps" type="ublox"/>
|
||||||
|
<module name="stabilization" type="int_quat"/>
|
||||||
|
<module name="ahrs" type="int_cmpl_quat"/>
|
||||||
|
<module name="ins" type="hff"/>
|
||||||
|
|
||||||
|
<module name="send_imu_mag_current.xml"/>
|
||||||
|
<module name="adc_generic.xml">
|
||||||
|
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
|
||||||
|
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
|
||||||
|
</module>
|
||||||
|
<module name="gps_ubx_ucenter.xml"/>
|
||||||
|
<module name="geo_mag.xml"/>
|
||||||
|
<module name="air_data.xml"/>
|
||||||
|
<module name="nav_survey_rectangle_rotorcraft.xml">
|
||||||
|
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
|
||||||
|
</module>
|
||||||
|
|
||||||
|
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
|
||||||
|
</firmware>
|
||||||
|
|
||||||
|
|
||||||
|
<servos driver="Pwm">
|
||||||
|
<servo name="FRONT_LEFT" no="0" min="1000" neutral="1100" max="1900"/>
|
||||||
|
<servo name="FRONT_RIGHT" no="1" min="1000" neutral="1100" max="1900"/>
|
||||||
|
<servo name="BACK_RIGHT" no="2" min="1000" neutral="1100" max="1900"/>
|
||||||
|
<servo name="BACK_LEFT" no="3" min="1000" neutral="1100" max="1900"/>
|
||||||
|
</servos>
|
||||||
|
|
||||||
|
<commands>
|
||||||
|
<axis name="ROLL" failsafe_value="0"/>
|
||||||
|
<axis name="PITCH" failsafe_value="0"/>
|
||||||
|
<axis name="YAW" failsafe_value="0"/>
|
||||||
|
<axis name="THRUST" failsafe_value="0"/>
|
||||||
|
</commands>
|
||||||
|
|
||||||
|
<section name="MIXING" prefix="MOTOR_MIXING_">
|
||||||
|
<define name="TRIM_ROLL" value="0"/>
|
||||||
|
<define name="TRIM_PITCH" value="0"/>
|
||||||
|
<define name="TRIM_YAW" value="0"/>
|
||||||
|
<define name="NB_MOTOR" value="4"/>
|
||||||
|
<define name="SCALE" value="256"/>
|
||||||
|
<!-- order (and rotation direction) : FL(CW), FR(CCW), BR(CW), BL(CCW) -->
|
||||||
|
<define name="ROLL_COEF" value="{ 256, -256, -256, 256 }"/>
|
||||||
|
<define name="PITCH_COEF" value="{ 256, 256, -256, -256 }"/>
|
||||||
|
<define name="YAW_COEF" value="{ -144, 144, -144, 144 }"/>
|
||||||
|
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
|
||||||
|
</section>
|
||||||
|
|
||||||
|
<command_laws>
|
||||||
|
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
|
||||||
|
<set servo="FRONT_LEFT" value="motor_mixing.commands[0]"/>
|
||||||
|
<set servo="FRONT_RIGHT" value="motor_mixing.commands[1]"/>
|
||||||
|
<set servo="BACK_RIGHT" value="motor_mixing.commands[2]"/>
|
||||||
|
<set servo="BACK_LEFT" value="motor_mixing.commands[3]"/>
|
||||||
|
</command_laws>
|
||||||
|
|
||||||
|
<section name="IMU" prefix="IMU_">
|
||||||
|
|
||||||
|
<!-- Accelerometer calibration -->
|
||||||
|
<define name="ACCEL_X_NEUTRAL" value="-54"/>
|
||||||
|
<define name="ACCEL_Y_NEUTRAL" value="64"/>
|
||||||
|
<define name="ACCEL_Z_NEUTRAL" value="-63"/>
|
||||||
|
<define name="ACCEL_X_SENS" value="2.45160788954" integer="16"/>
|
||||||
|
<define name="ACCEL_Y_SENS" value="2.44726332903" integer="16"/>
|
||||||
|
<define name="ACCEL_Z_SENS" value="2.44708055795" integer="16"/>
|
||||||
|
|
||||||
|
<!-- Magnetometer calibration -->
|
||||||
|
<define name="MAG_X_NEUTRAL" value="-166"/>
|
||||||
|
<define name="MAG_Y_NEUTRAL" value="-264"/>
|
||||||
|
<define name="MAG_Z_NEUTRAL" value="42"/>
|
||||||
|
<define name="MAG_X_SENS" value="7.07470334279" integer="16"/>
|
||||||
|
<define name="MAG_Y_SENS" value="7.10785179117" integer="16"/>
|
||||||
|
<define name="MAG_Z_SENS" value="6.84586545929" integer="16"/>
|
||||||
|
|
||||||
|
<!-- Magnetometer current calibration -->
|
||||||
|
<define name= "MAG_X_CURRENT_COEF" value="-0.00211511755236"/>
|
||||||
|
<define name= "MAG_Y_CURRENT_COEF" value="0.00139744019375"/>
|
||||||
|
<define name= "MAG_Z_CURRENT_COEF" value="0.00102508387905"/>
|
||||||
|
|
||||||
|
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
|
||||||
|
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
|
||||||
|
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
|
||||||
|
</section>
|
||||||
|
|
||||||
|
<section name="AHRS" prefix="AHRS_">
|
||||||
|
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
|
||||||
|
<define name="H_X" value="0.36852472"/>
|
||||||
|
<define name="H_Y" value="0.10300471"/>
|
||||||
|
<define name="H_Z" value="0.9238937"/>
|
||||||
|
</section>
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
||||||
|
<!-- setpoints -->
|
||||||
|
<define name="SP_MAX_PHI" value="30." unit="deg"/>
|
||||||
|
<define name="SP_MAX_THETA" value="30." unit="deg"/>
|
||||||
|
<define name="SP_MAX_R" value="90." unit="deg/s"/>
|
||||||
|
<define name="DEADBAND_A" value="0"/>
|
||||||
|
<define name="DEADBAND_E" value="0"/>
|
||||||
|
<define name="DEADBAND_R" value="250"/>
|
||||||
|
|
||||||
|
<!-- reference -->
|
||||||
|
<define name="REF_OMEGA_P" value="400" unit="deg/s"/>
|
||||||
|
<define name="REF_ZETA_P" value="0.85"/>
|
||||||
|
<define name="REF_MAX_P" value="400." unit="deg/s"/>
|
||||||
|
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
|
||||||
|
|
||||||
|
<define name="REF_OMEGA_Q" value="400" unit="deg/s"/>
|
||||||
|
<define name="REF_ZETA_Q" value="0.85"/>
|
||||||
|
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
|
||||||
|
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
|
||||||
|
|
||||||
|
<define name="REF_OMEGA_R" value="250" unit="deg/s"/>
|
||||||
|
<define name="REF_ZETA_R" value="0.85"/>
|
||||||
|
<define name="REF_MAX_R" value="180." unit="deg/s"/>
|
||||||
|
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
|
||||||
|
|
||||||
|
<!-- feedback -->
|
||||||
|
<define name="PHI_PGAIN" value="750"/>
|
||||||
|
<define name="PHI_DGAIN" value="300"/>
|
||||||
|
<define name="PHI_IGAIN" value="200"/>
|
||||||
|
|
||||||
|
<define name="THETA_PGAIN" value="750"/>
|
||||||
|
<define name="THETA_DGAIN" value="300"/>
|
||||||
|
<define name="THETA_IGAIN" value="200"/>
|
||||||
|
|
||||||
|
<define name="PSI_PGAIN" value="2820"/>
|
||||||
|
<define name="PSI_DGAIN" value="1536"/>
|
||||||
|
<define name="PSI_IGAIN" value="10"/>
|
||||||
|
|
||||||
|
<!-- feedforward -->
|
||||||
|
<define name="PHI_DDGAIN" value="300"/>
|
||||||
|
<define name="THETA_DDGAIN" value="300"/>
|
||||||
|
<define name="PSI_DDGAIN" value="300"/>
|
||||||
|
</section>
|
||||||
|
|
||||||
|
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||||
|
<define name="HOVER_KP" value="150"/>
|
||||||
|
<define name="HOVER_KD" value="80"/>
|
||||||
|
<define name="HOVER_KI" value="20"/>
|
||||||
|
<define name="NOMINAL_HOVER_THROTTLE" value="0.63"/>
|
||||||
|
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
|
||||||
|
</section>
|
||||||
|
|
||||||
|
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||||
|
<define name="MAX_BANK" value="20" unit="deg"/>
|
||||||
|
<define name="USE_SPEED_REF" value="TRUE"/>
|
||||||
|
<define name="PGAIN" value="50"/>
|
||||||
|
<define name="DGAIN" value="100"/>
|
||||||
|
<define name="AGAIN" value="70"/>
|
||||||
|
<define name="IGAIN" value="20"/>
|
||||||
|
</section>
|
||||||
|
|
||||||
|
<section name="NAVIGATION" prefix="NAV_">
|
||||||
|
<define name="CLIMB_VSPEED" value="1.5" />
|
||||||
|
<define name="DESCEND_VSPEED" value="-1.0" />
|
||||||
|
</section>
|
||||||
|
|
||||||
|
<section name="SIMULATOR" prefix="NPS_">
|
||||||
|
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
|
||||||
|
<define name="JSBSIM_MODEL" value="HOOPERFLY/hooperfly_teensyfly_quad" type="string"/>
|
||||||
|
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
|
||||||
|
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
|
||||||
|
<define name="JS_AXIS_MODE" value="4"/>
|
||||||
|
</section>
|
||||||
|
|
||||||
|
<section name="AUTOPILOT">
|
||||||
|
<!-- TOGGLE STATES -->
|
||||||
|
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
|
||||||
|
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||||
|
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
|
||||||
|
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
|
||||||
|
</section>
|
||||||
|
|
||||||
|
<section name="BAT">
|
||||||
|
<define name="MILLIAMP_AT_IDLE_THROTTLE" value="3920" />
|
||||||
|
<define name="MILLIAMP_AT_FULL_THROTTLE" value="39200"/>
|
||||||
|
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||||
|
<define name="CRITIC_BAT_LEVEL" value="9.9" unit="V"/>
|
||||||
|
<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
|
||||||
|
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
|
||||||
|
</section>
|
||||||
|
|
||||||
|
<section name="GCS">
|
||||||
|
<define name="ICONS_THEME" value="flat_theme"/>
|
||||||
|
<define name="ALT_SHIFT_PLUS_PLUS" value="30"/>
|
||||||
|
<define name="ALT_SHIFT_PLUS" value="10"/>
|
||||||
|
<define name="ALT_SHIFT_MINUS" value="-10"/>
|
||||||
|
<define name="SPEECH_NAME" value="Teensy Fly Quad Elle0"/>
|
||||||
|
<define name="AC_ICON" value="quadrotor_x"/>
|
||||||
|
</section>
|
||||||
|
|
||||||
|
</airframe>
|
||||||
@@ -17,51 +17,42 @@
|
|||||||
</target>
|
</target>
|
||||||
|
|
||||||
<target name="nps" board="pc">
|
<target name="nps" board="pc">
|
||||||
<subsystem name="fdm" type="jsbsim"/>
|
<module name="fdm" type="jsbsim"/>
|
||||||
</target>
|
</target>
|
||||||
|
|
||||||
<subsystem name="radio_control" type="spektrum">
|
<module name="radio_control" type="spektrum">
|
||||||
<define name="RADIO_MODE" value="RADIO_FLAP"/>
|
<define name="RADIO_MODE" value="RADIO_FLAP"/>
|
||||||
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
|
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
|
||||||
<!-- <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/> -->
|
<!-- <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/> -->
|
||||||
</subsystem>
|
</module>
|
||||||
|
|
||||||
<subsystem name="motor_mixing"/>
|
<module name="motor_mixing"/>
|
||||||
<subsystem name="actuators" type="pwm">
|
<module name="actuators" type="pwm">
|
||||||
<define name="SERVO_HZ" value="400"/>
|
<define name="SERVO_HZ" value="400"/>
|
||||||
</subsystem>
|
</module>
|
||||||
|
|
||||||
<subsystem name="telemetry" type="transparent"/>
|
<module name="telemetry" type="transparent"/>
|
||||||
<subsystem name="imu" type="aspirin_v2.2"/>
|
<module name="imu" type="aspirin_v2.2"/>
|
||||||
<subsystem name="gps" type="ublox"/>
|
<module name="gps" type="ublox"/>
|
||||||
<subsystem name="stabilization" type="int_quat"/>
|
<module name="stabilization" type="int_quat"/>
|
||||||
<subsystem name="ahrs" type="int_cmpl_quat"/>
|
<module name="ahrs" type="int_cmpl_quat"/>
|
||||||
<subsystem name="ins" type="hff"/>
|
<module name="ins" type="hff"/>
|
||||||
|
|
||||||
|
<module name="send_imu_mag_current.xml"/>
|
||||||
|
<module name="adc_generic.xml">
|
||||||
|
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
|
||||||
|
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
|
||||||
|
</module>
|
||||||
|
<module name="gps_ubx_ucenter.xml"/>
|
||||||
|
<module name="geo_mag.xml"/>
|
||||||
|
<module name="air_data.xml"/>
|
||||||
|
<module name="nav_survey_rectangle_rotorcraft.xml">
|
||||||
|
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
|
||||||
|
</module>
|
||||||
|
|
||||||
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
|
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
|
||||||
</firmware>
|
</firmware>
|
||||||
|
|
||||||
<modules>
|
|
||||||
<load name="send_imu_mag_current.xml"/>
|
|
||||||
<load name="adc_generic.xml">
|
|
||||||
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
|
|
||||||
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
|
|
||||||
</load>
|
|
||||||
<load name="gps_ubx_ucenter.xml"/>
|
|
||||||
<load name="geo_mag.xml"/>
|
|
||||||
<load name="air_data.xml"/>
|
|
||||||
<load name="nav_survey_rectangle_rotorcraft.xml">
|
|
||||||
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
|
|
||||||
</load>
|
|
||||||
<!--
|
|
||||||
<load name="nav_survey_poly_rotorcraft.xml"/>
|
|
||||||
<load name="follow.xml">
|
|
||||||
<define name="FOLLOW_AC_ID" value="101"/>
|
|
||||||
<define name="FOLLOW_WAYPOINT_ID" value="WP_p1"/>
|
|
||||||
<define name="FOLLOW_OFFSET_Z" value="2.0"/>
|
|
||||||
</load>
|
|
||||||
-->
|
|
||||||
</modules>
|
|
||||||
|
|
||||||
<servos driver="Pwm">
|
<servos driver="Pwm">
|
||||||
<servo name="FRONT_LEFT" no="0" min="1000" neutral="1100" max="1900"/>
|
<servo name="FRONT_LEFT" no="0" min="1000" neutral="1100" max="1900"/>
|
||||||
|
|||||||
Reference in New Issue
Block a user