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This commit is contained in:
Antoine Drouin
2008-08-30 12:33:19 +00:00
parent 417533b6eb
commit 9cc401a015
5 changed files with 38 additions and 10 deletions
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conf/airframes/booz2.xml
+9
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@@ -164,6 +164,15 @@
</section>
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
<define name="HOVER_POWER" value="60"/>
<define name="HOVER_KP" value="-200"/>
<define name="HOVER_KD" value="-100"/>
<define name="HOVER_KI" value="0"/>
</section>
<makefile>
include $(PAPARAZZI_SRC)/conf/autopilot/conf_booz2.makefile
conf/autopilot/conf_booz2.makefile
+7 -6
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@@ -127,11 +127,6 @@ ap.srcs += AMI601.c
ap.srcs += $(BOOZ_PRIV)/booz2_autopilot.c
ap.srcs += $(BOOZ_PRIV)/booz2_stabilization.c
ap.srcs += $(BOOZ_PRIV)/booz2_stabilization_rate.c
ap.srcs += $(BOOZ_PRIV)/booz2_stabilization_attitude.c
ap.srcs += $(BOOZ_PRIV)/booz_supervision_int.c
ap.CFLAGS += -DFILTER_ALIGNER_LED=6
ap.srcs += $(BOOZ_PRIV)/booz2_filter_aligner.c
ap.srcs += $(BOOZ_PRIV)/booz2_filter_attitude_cmpl_euler.c
@@ -140,7 +135,13 @@ ap.srcs += $(BOOZ_PRIV)/booz_trig_int.c
ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400 -DUART1_VIC_SLOT=6
ap.CFLAGS += -DGPS_LINK=Uart1 -DGPS_LED=7
ap.srcs += $(BOOZ_PRIV)/booz2_gps.c
ap.srcs += $(BOOZ_PRIV)/booz2_guidance.c
ap.srcs += $(BOOZ_PRIV)/booz2_guidance_h.c
ap.srcs += $(BOOZ_PRIV)/booz2_guidance_v.c
ap.srcs += $(BOOZ_PRIV)/booz2_stabilization.c
ap.srcs += $(BOOZ_PRIV)/booz2_stabilization_rate.c
ap.srcs += $(BOOZ_PRIV)/booz2_stabilization_attitude.c
ap.srcs += $(BOOZ_PRIV)/booz_supervision_int.c
conf/messages.xml
+15 -3
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@@ -482,7 +482,9 @@
<field name="link_imu_nb_err" type="uint32"/>
<field name="imu_status" type="uint8" values="NO_LINK|UNINIT|RUNNING|CRASHED"/>
<field name="rc_status" type="uint8" values="OK|LOST|REALLY_LOST"/>
<field name="ap_mode" type="uint8" values="FAILSAFE|KILL|RATE|ATTITUDE|NAV"/>
<field name="ap_mode" type="uint8" values=""/>
<field name="ap_h_mode" type="uint8" values=""/>
<field name="ap_v_mode" type="uint8" values=""/>
<field name="vsupply" type="uint8" unit="decivolt"/>
<field name="cpu_time" type="uint16" unit="s"></field>
<field name="blmc_nb_err" type="uint8"/>
@@ -1043,12 +1045,22 @@
</message>
<message name="BOOZ2_GUIDANCE" ID="144">
<message name="BOOZ2_GUIDANCE" ID="144">
<field name="pos_n" type="int32"/>
<field name="pos_e" type="int32"/>
<field name="sp_pos_n" type="int32"/>
<field name="sp_pos_e" type="int32"/>
</message>
</message>
<message name="BOOZ2_VERT_LOOP" ID="145">
<field name="z_sp" type="int32"/>
<field name="z_meas" type="int32"/>
<field name="zd_est" type="int32"/>
<field name="sum_err" type="int32"/>
<field name="g_est" type="int32"/>
<field name="delta_t" type="int32"/>
</message>
conf/settings/settings_booz2.xml
+1 -1
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@@ -30,7 +30,7 @@
<dl_settings NAME="Misc">
<dl_setting var="telemetry_mode_Main" min="0" step="1" max="5" module="booz2_telemetry" shortname="telemetry mode"/>
<dl_setting var="telemetry_mode_Main" min="0" step="1" max="6" module="booz2_telemetry" shortname="telemetry mode"/>
</dl_settings>
conf/telemetry/telemetry_booz2.xml
+6
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@@ -72,6 +72,12 @@
<message name="BOOZ2_STAB_ATTITUDE_REF" period=".2"/>
</mode>
<mode name="vert_loop">
<message name="BOOZ_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="0.9"/>
<message name="BOOZ2_VERT_LOOP" period=".02"/>
</mode>