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This commit is contained in:
Antoine Drouin
2009-01-08 01:13:37 +00:00
parent 59797063cd
commit 9eb0a5dbb2
5 changed files with 30 additions and 28 deletions
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conf/airframes/booz2_a1.xml
+8 -7
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@@ -8,10 +8,10 @@
</servos>
<commands>
<axis name="FRONT" failsafe_value="0"/>
<axis name="BACK" failsafe_value="0"/>
<axis name="RIGHT" failsafe_value="0"/>
<axis name="LEFT" failsafe_value="0"/>
<axis name="DELTA_A" failsafe_value="0"/>
<axis name="DELTA_E" failsafe_value="0"/>
<axis name="DELTA_R" failsafe_value="0"/>
<axis name="DELTA_T" failsafe_value="0"/>
</commands>
<section name="BUSS_BLMC" prefix="BUSS_BLMC_">
@@ -138,15 +138,16 @@
# prevents motors from ever starting
#ap.CFLAGS += -DKILL_MOTORS
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_autopilot.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_test_progs.makefile
sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_simulator.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_buss.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_imu_b2v1.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_autopilot.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_test_progs.makefile
sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a1.h\"
</makefile>
conf/airframes/booz2_a2.xml
+9 -13
View File
@@ -1,23 +1,19 @@
<airframe name="BOOZ2_A1">
<airframe name="BOOZ2_A2">
<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"/>
<servo name="YAW" no="2" min="0" neutral="0" max="255"/>
<servo name="POWER" no="3" min="0" neutral="0" max="255"/>
<servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
<servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
<servo name="YAW" no="2" min="0" neutral="0" max="255"/>
<servo name="THRUST" no="3" min="0" neutral="0" max="255"/>
</servos>
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="POWER" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<section name="BUSS_BLMC" prefix="BUSS_BLMC_">
<define name="ADDR" value="{ 0x52, 0x54, 0x58, 0x56 }"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="GYRO_X_CHAN" value="4"/>
conf/autopilot/booz2_imu_b2v1.makefile
+4 -6
View File
@@ -21,14 +21,14 @@
# <define name="ACCEL_Y_CHAN" value="5"/>
# <define name="ACCEL_Z_CHAN" value="6"/>
#
# <define name="ACCEL_X_SENS" value="-2.50411474" integer="16"/>
# <define name="ACCEL_Y_SENS" value="-2.48126183" integer="16"/>
# <define name="ACCEL_Z_SENS" value="-2.51396167" integer="16"/>
#
# <define name="ACCEL_X_NEUTRAL" value="32081"/>
# <define name="ACCEL_Y_NEUTRAL" value="33738"/>
# <define name="ACCEL_Z_NEUTRAL" value="32441"/>
#
# <define name="ACCEL_X_SENS" value="-2.50411474" integer="16"/>
# <define name="ACCEL_Y_SENS" value="-2.48126183" integer="16"/>
# <define name="ACCEL_Z_SENS" value="-2.51396167" integer="16"/>
#
# <define name="MAG_X_CHAN" value="4"/>
# <define name="MAG_Y_CHAN" value="0"/>
# <define name="MAG_Z_CHAN" value="2"/>
@@ -37,8 +37,6 @@
# <define name="MAG_Y_NEUTRAL" value="2362"/>
# <define name="MAG_Z_NEUTRAL" value="2119"/>
#
#<!-- <define name="MAG_X_SENS" value="-4.94075530" integer="16"/>
# <define name="MAG_Y_SENS" value="5.10207664" integer="16"/> * sqrt(2)/2 -->
# <define name="MAG_X_SENS" value="-3.4936416" integer="16"/>
# <define name="MAG_Y_SENS" value=" 3.607713" integer="16"/>
# <define name="MAG_Z_SENS" value="-4.90788848" integer="16"/>
conf/settings/settings_booz2_asctec.xml
+1 -1
View File
@@ -7,7 +7,7 @@
<dl_setting var="asctec_twi_blmc_motor_power[SERVO_PITCH]" min="-100" step="1" max="100" module="actuators_asctec_twi_blmc_hw" shortname="pitch"/>
<dl_setting var="asctec_twi_blmc_motor_power[SERVO_ROLL]" min="-100" step="1" max="100" module="actuators_asctec_twi_blmc_hw" shortname="roll"/>
<dl_setting var="asctec_twi_blmc_motor_power[SERVO_YAW]" min="-100" step="1" max="100" module="actuators_asctec_twi_blmc_hw" shortname="yaw"/>
<dl_setting var="asctec_twi_blmc_motor_power[SERVO_POWER]" min="0" step="1" max="200" module="actuators_asctec_twi_blmc_hw" shortname="power"/>
<dl_setting var="asctec_twi_blmc_motor_power[SERVO_THRUST]" min="0" step="1" max="200" module="actuators_asctec_twi_blmc_hw" shortname="power"/>
</dl_settings>
</dl_settings>
sw/simulator/booz2_sim_main.c
+8 -1
View File
@@ -204,12 +204,19 @@ static void on_DL_SETTING(IvyClientPtr app __attribute__ ((unused)),
#include "actuators.h"
#include "booz_supervision_int.h"
static void booz_sim_read_actuators(void) {
printf("actatuors %d %d %d %d\n",
Actuator(SERVO_FRONT), Actuator(SERVO_BACK), Actuator(SERVO_RIGHT), Actuator(SERVO_LEFT));
printf("actatuors %d %d %d %d\n",
Actuator(SERVO_FRONT), Actuator(SERVO_BACK), Actuator(SERVO_RIGHT), Actuator(SERVO_LEFT));
booz_sim_actuators_values[0] = (double)Actuator(SERVO_FRONT) / BOOZ_SUPERVISION_MAX_CMD;
booz_sim_actuators_values[1] = (double)Actuator(SERVO_BACK) / BOOZ_SUPERVISION_MAX_CMD;
booz_sim_actuators_values[2] = (double)Actuator(SERVO_RIGHT) / BOOZ_SUPERVISION_MAX_CMD;
booz_sim_actuators_values[3] = (double)Actuator(SERVO_LEFT) / BOOZ_SUPERVISION_MAX_CMD;
printf("%f %f %f %f\n", booz_sim_actuators_values[0], booz_sim_actuators_values[1], booz_sim_actuators_values[2], booz_sim_actuators_values[3]);
// printf("%f %f %f %f\n", booz_sim_actuators_values[0], booz_sim_actuators_values[1], booz_sim_actuators_values[2], booz_sim_actuators_values[3]);
}