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set common defines for all targets of fixedwing firmware in example airframes

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This commit is contained in:
Felix Ruess
2010-11-11 15:48:32 +01:00
parent 75be6cff96
commit a3811c4969
11 changed files with 103 additions and 139 deletions
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conf/airframes/booz2_flixr.xml
+31 -33
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@@ -1,5 +1,36 @@
<airframe name="BOOZ2_F1"> <airframe name="BOOZ2_F1">
<firmware name="rotorcraft">
<target name="ap" board="booz_1.0">
<!--<define name="KILL_MOTORS"/>--> <!-- prevent motors from ever starting -->
<!--<define name="RADIO_CONTROL_KILL_SWITCH" value="RADIO_CONTROL_SWITCH1"/>-->
<define name="USE_GPS_ACC4R"/>
<define name="USE_INS_NAV_INIT"/>
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
</target>
<define name="USE_ADAPT_HOVER"/>
<define name="GUIDANCE_H_USE_REF"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
<subsystem name="imu" type="b2_v1.0"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="ahrs" type="cmpl"/>
<subsystem name="ins" type="hff">
<define name="GPS_LAG=0.2"/>
</subsystem>
</firmware>
<firmware name="booz_test_progs">
<target name="test_telemetry" board="booz_1.0"/>
<target name="test_baro" board="booz_1.0"/>
<target name="test_spektrum" board="booz_1.0"/>
</firmware>
<modules main_freq="512"> <modules main_freq="512">
<load name="booz_drop.xml"/> <load name="booz_drop.xml"/>
<load name="sys_mon.xml"/> <load name="sys_mon.xml"/>
@@ -219,39 +250,6 @@
#empty #empty
</makefile> </makefile>
<firmware name="rotorcraft">
<target name="ap" board="booz_1.0">
<param name="FLASH_MODE" value="IAP"/> <!-- that is the default for the board but I'm putting it here as example-->
<define name="MODEM_BAUD" value="B57600"/><!-- that is the default for the board but I'm putting it here as example-->
<!--<define name="KILL_MOTORS"/>--> <!-- prevent motors from ever starting -->
<!--<define name="RADIO_CONTROL_KILL_SWITCH" value="RADIO_CONTROL_SWITCH1"/>-->
<define name="USE_ADAPT_HOVER"/>
<define name="USE_GPS_ACC4R"/>
<define name="GUIDANCE_H_USE_REF"/>
<define name="USE_INS_NAV_INIT"/>
</target>
<target name="sim" board="pc">
<define name="USE_ADAPT_HOVER"/>
<define name="GUIDANCE_H_USE_REF"/>
<subsystem name="fdm" type="nps"/>
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
<subsystem name="imu" type="b2_v1.0"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="ahrs" type="cmpl"/>
<subsystem name="ins" type="hff">
<define name="GPS_LAG=0.2"/>
</subsystem>
</firmware>
<firmware name="booz_test_progs">
<target name="test_telemetry" board="booz_1.0"/>
<target name="test_baro" board="booz_1.0"/>
<target name="test_spektrum" board="booz_1.0"/>
</firmware>
<makefile target="closure" location="after"> <makefile target="closure" location="after">
ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
sim.srcs += $(SRC_BOOZ_SIM)/booz2_pwm_hw.c sim.srcs += $(SRC_BOOZ_SIM)/booz2_pwm_hw.c
conf/airframes/easy_glider_example.xml
+5 -5
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@@ -152,11 +152,11 @@
<firmware name="fixedwing"> <firmware name="fixedwing">
<target name="sim" board="pc"/> <target name="sim" board="pc"/>
<target name="ap" board="tiny_0.99"> <target name="ap" board="tiny_0.99"/>
<define name="AGR_CLIMB" />
<define name="LOITER_TRIM" /> <define name="AGR_CLIMB" />
<define name="ALT_KALMAN" /> <define name="LOITER_TRIM" />
</target> <define name="ALT_KALMAN" />
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
conf/airframes/easystar_ets_example.xml
+8 -16
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@@ -10,23 +10,15 @@
<airframe name="EasyStar2 - TWOG v1"> <airframe name="EasyStar2 - TWOG v1">
<firmware name="fixedwing"> <firmware name="fixedwing">
<target name="ap" board="twog_1.0"> <target name="ap" board="twog_1.0"/>
<define name="AGR_CLIMB"/> <target name="sim" board="pc"/>
<define name="LOITER_TRIM"/>
<define name="WIND_INFO"/>
<define name="ALT_KALMAN"/>
<define name="USE_I2C0"/>
<define name="USE_AIRSPEED"/>
</target>
<target name="sim" board="pc"> <define name="AGR_CLIMB"/>
<define name="AGR_CLIMB"/> <define name="LOITER_TRIM"/>
<define name="LOITER_TRIM"/> <define name="WIND_INFO"/>
<define name="WIND_INFO"/> <define name="ALT_KALMAN"/>
<define name="ALT_KALMAN"/> <define name="USE_I2C0"/>
<define name="USE_I2C0"/> <define name="USE_AIRSPEED"/>
<define name="USE_AIRSPEED"/>
</target>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
conf/airframes/funjet_cam_example.xml
+5 -5
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@@ -12,11 +12,11 @@
<firmware name="fixedwing"> <firmware name="fixedwing">
<target name="sim" board="pc"/> <target name="sim" board="pc"/>
<target name="ap" board="tiny_2.11"> <target name="ap" board="tiny_2.11"/>
<define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/> <define name="AGR_CLIMB"/>
<define name="ALT_KALMAN"/> <define name="LOITER_TRIM"/>
</target> <define name="ALT_KALMAN"/>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
<subsystem name="joystick"/> <subsystem name="joystick"/>
conf/airframes/funjet_example.xml
+5 -5
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@@ -12,11 +12,11 @@
<firmware name="fixedwing"> <firmware name="fixedwing">
<target name="sim" board="pc"/> <target name="sim" board="pc"/>
<target name="ap" board="tiny_2.11"> <target name="ap" board="tiny_2.11"/>
<define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/> <define name="AGR_CLIMB"/>
<define name="ALT_KALMAN"/> <define name="LOITER_TRIM"/>
</target> <define name="ALT_KALMAN"/>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
<subsystem name="joystick"/> <subsystem name="joystick"/>
conf/airframes/mentor_tum.xml
+7 -19
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@@ -10,26 +10,14 @@
<airframe name="Mentor Twog AkaModell"> <airframe name="Mentor Twog AkaModell">
<firmware name="fixedwing"> <firmware name="fixedwing">
<target name="ap" board="twog_1.0"> <target name="ap" board="twog_1.0"/>
<define name="AGR_CLIMB"/> <target name="sim" board="pc"/>
<define name="LOITER_TRIM"/> <target name="jsbsim" board="pc"/>
<define name="WIND_INFO"/>
<define name="ALT_KALMAN"/>
</target>
<target name="sim" board="pc"> <define name="AGR_CLIMB"/>
<define name="AGR_CLIMB"/> <define name="LOITER_TRIM"/>
<define name="LOITER_TRIM"/> <define name="WIND_INFO"/>
<define name="WIND_INFO"/> <define name="ALT_KALMAN"/>
<define name="ALT_KALMAN"/>
</target>
<target name="jsbsim" board="pc">
<define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/>
<define name="WIND_INFO"/>
<define name="ALT_KALMAN"/>
</target>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
<!--<define name="TELEMETRY_MODE_FBW" value="1"/>--> <!--<define name="TELEMETRY_MODE_FBW" value="1"/>-->
conf/airframes/microjet_example.xml
+5 -5
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@@ -161,11 +161,11 @@
<firmware name="fixedwing"> <firmware name="fixedwing">
<target name="sim" board="pc" /> <target name="sim" board="pc" />
<target name="ap" board="tiny_1.1"> <target name="ap" board="tiny_1.1"/>
<define name="AGR_CLIMB" />
<define name="LOITER_TRIM" /> <define name="AGR_CLIMB" />
<define name="ALT_KALMAN" /> <define name="LOITER_TRIM" />
</target> <define name="ALT_KALMAN" />
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
conf/airframes/microjet_raw_makefile.xml
+15 -15
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@@ -1,13 +1,13 @@
<!DOCTYPE airframe SYSTEM "./airframe.dtd"> <!DOCTYPE airframe SYSTEM "./airframe.dtd">
<!-- <!--
Microjet Multiplex (http://www.multiplex-rc.de/) Microjet Multiplex (http://www.multiplex-rc.de/)
Tiny 2.11 board (http://paparazzi.enac.fr/wiki/Tiny_v2) Tiny 2.11 board (http://paparazzi.enac.fr/wiki/Tiny_v2)
Tilted infrared sensor Tilted infrared sensor
Transparent modem Transparent modem
This airframe demonstrate the old raw makefile syntax This airframe demonstrate the old raw makefile syntax
Look at conf/airframes/microjet_xml_only.xml for equivalent new syntax Look at conf/airframes/microjet_example.xml for equivalent new syntax
--> -->
<airframe name="microjet raw makefile"> <airframe name="microjet raw makefile">
@@ -38,7 +38,7 @@
<command_laws> <command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/> <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/> <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="MOTOR" value="@THROTTLE"/> <set servo="MOTOR" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/> <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/> <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -84,13 +84,13 @@
<section name="GYRO" prefix="GYRO_"> <section name="GYRO" prefix="GYRO_">
<define name="ADC_ROLL_NEUTRAL" value="520"/> <define name="ADC_ROLL_NEUTRAL" value="520"/>
<define name="ADC_TEMP_NEUTRAL" value="476"/> <define name="ADC_TEMP_NEUTRAL" value="476"/>
<define name="ADC_TEMP_SLOPE" value="0"/> <define name="ADC_TEMP_SLOPE" value="0"/>
<define name="DYNAMIC_RANGE" value="300" unit="deg/s"/> <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
<define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/> <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
<define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/> <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
<define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/> <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
<define name="ROLL_DIRECTION" value="-1."/> <define name="ROLL_DIRECTION" value="-1."/>
</section> </section>
<section name="BAT"> <section name="BAT">
@@ -98,7 +98,7 @@
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/> <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section> </section>
<section name="MISC"> <section name="MISC">
<define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/> <define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/> <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
@@ -110,7 +110,7 @@
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
</section> </section>
<section name="VERTICAL CONTROL" prefix="V_CTL_"> <section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- outer loop proportional gain --> <!-- outer loop proportional gain -->
@@ -167,11 +167,11 @@
</section> </section>
<section name="FAILSAFE" prefix="FAILSAFE_"> <section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/> <define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/> <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/> <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/> <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/> <define name="HOME_RADIUS" value="100" unit="m"/>
</section> </section>
@@ -187,11 +187,11 @@
ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL ap.CFLAGS += -DRADIO_CONTROL
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
ap.CFLAGS += -DINTER_MCU ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c ap.srcs += inter_mcu.c
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
ap.srcs += $(SRC_ARCH)/adc_hw.c ap.srcs += $(SRC_ARCH)/adc_hw.c
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
conf/airframes/twinjet_example.xml
+5 -10
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@@ -11,17 +11,12 @@
<airframe name="Twinjet"> <airframe name="Twinjet">
<firmware name="fixedwing"> <firmware name="fixedwing">
<target name="ap" board="twog_1.0"> <target name="ap" board="twog_1.0"/>
<define name="LOITER_TRIM"/> <target name="sim" board="pc"/>
<define name="ALT_KALMAN"/>
<define name="AGR_CLIMB"/>
</target>
<target name="sim" board="pc"> <define name="LOITER_TRIM"/>
<define name="LOITER_TRIM"/> <define name="ALT_KALMAN"/>
<define name="ALT_KALMAN"/> <define name="AGR_CLIMB"/>
<define name="AGR_CLIMB"/>
</target>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
conf/airframes/twinjet_overo.xml
+12 -16
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@@ -11,26 +11,22 @@
<airframe name="Twinjet"> <airframe name="Twinjet">
<firmware name="fixedwing"> <firmware name="fixedwing">
<target name="ap" board="twog_1.0"> <target name="ap" board="twog_1.0">
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="AGR_CLIMB"/>
<define name="UBX_EXTERNAL"/> <define name="UBX_EXTERNAL"/>
<define name="USE_ADC_GENERIC"/> <define name="USE_ADC_GENERIC"/>
</target> </target>
<target name="sim" board="pc"> <target name="sim" board="pc"/>
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/> <define name="LOITER_TRIM"/>
<define name="AGR_CLIMB"/> <define name="ALT_KALMAN"/>
</target> <define name="AGR_CLIMB"/>
<subsystem name="adc" type="generic"> <subsystem name="adc" type="generic">
<param name="ADC_GENERIC1" value="ADC_3"/> <param name="ADC_GENERIC1" value="ADC_3"/>
<param name="ADC_GENERIC2" value="ADC_5"/> <param name="ADC_GENERIC2" value="ADC_5"/>
</subsystem> </subsystem>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/> <subsystem name="control"/>
@@ -42,8 +38,8 @@
</firmware> </firmware>
<firmware name="setup"> <firmware name="setup">
<target name="tunnel" board="twog_1.0" /> <target name="tunnel" board="twog_1.0" />
<target name="setup_actuators" board="twog_1.0" /> <target name="setup_actuators" board="twog_1.0" />
</firmware> </firmware>
<modules> <modules>
conf/airframes/twinstar_example.xml
+5 -10
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@@ -12,17 +12,12 @@
<airframe name="Twinstar"> <airframe name="Twinstar">
<firmware name="fixedwing"> <firmware name="fixedwing">
<target name="ap" board="twog_1.0"> <target name="ap" board="twog_1.0"/>
<define name="LOITER_TRIM"/> <target name="sim" board="pc"/>
<define name="ALT_KALMAN"/>
<define name="AGR_CLIMB"/>
</target>
<target name="sim" board="pc"> <define name="LOITER_TRIM"/>
<define name="LOITER_TRIM"/> <define name="ALT_KALMAN"/>
<define name="ALT_KALMAN"/> <define name="AGR_CLIMB"/>
<define name="AGR_CLIMB"/>
</target>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>